We introduce the special issue on “Learning, Optimization, and the Theory of G-Networks” of the journal Probability in the Engineering and Informational Sciences that appears in 2019. We first outline some of the applications and developments of G-Networks which motivate the ongoing interest for this area, including some areas which could not be covered in this special issue. We then briefly discuss the contributions presented in the ten papers that are published in this special issue in the context of related work.

We consider an M/M/1 queue with a removable server that dynamically chooses its service rate from a set of finitely many rates. If the server is off, the system must warm up for a random, exponentially distributed amount of time, before it can begin processing jobs. We show under the average cost criterion, that work conserving policies are optimal. We then demonstrate the optimal policy can be characterized by a threshold for turning on the server and the optimal service rate increases monotonically with the number in system. Finally, we present some numerical experiments to provide insights into the practicality of having both a removable server and service rate control.

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using deep neural networks as function approximators to learn directly from raw input images. However, learning directly from raw images is data inefficient. The agent must learn feature representation of complex states in addition to learning a policy. As a result, deep RL typically suffers from slow learning speeds and often requires a prohibitively large amount of training time and data to reach reasonable performance, making it inapplicable to real-world settings where data are expensive. In this work, we improve data efficiency in deep RL by addressing one of the two learning goals, feature learning. We leverage supervised learning to pre-train on a small set of non-expert human demonstrations and empirically evaluate our approach using the asynchronous advantage actor-critic algorithms in the Atari domain. Our results show significant improvements in learning speed, even when the provided demonstration is noisy and of low quality.

In this paper, we propose a novel unified framework for virtual guides. The human–robot interaction is based on a virtual robot, which is controlled by the admittance control. The unified framework combines virtual guides, control of the dynamic behavior, and path tracking. Different virtual guides and active constraints can be realized by using dead-zones in the position part of the admittance controller. The proposed algorithm can act in a changing task space and allows selection of the tasks-space and redundant degrees-of-freedom during the task execution. The admittance control algorithm can be implemented either on a velocity or on acceleration level. The proposed framework has been validated by an experiment on a KUKA LWR robot performing the Buzz-Wire task.

This special issue is devoted to the Mathematical Analysis of Algorithms, which aims to predict the performance of fundamental algorithms and data structures in general use in Computer Science. The simplest measure of performance is the expected value of a cost function under natural models of randomness for the data, and finer properties of the cost distribution provide a deeper understanding of the complexity. Research in this area, which is intimately connected to combinatorics and random discrete structures, uses a rich variety of combinatorial, analytic and probabilistic methods.

In this paper, optimal control of a 3PRS robot is performed, and its related optimal path is extracted accordingly. This robot is a kind of parallel spatial robot with six DOFs which can be controlled using three active prismatic joints and three passive rotary ones. Carrying a load between two initial and final positions is the main application of this robot. Therefore, extracting the optimal path is a valuable study for maximizing the load capacity of the robot. First of all, the complete kinematic and kinetic modeling of the robot is extracted to control and optimize the robot. As the robot is categorized as a constrained robot, its kinematics is studied using a Jacobian matrix and its pseudo inverse whereas its kinetics is studied using Lagrange multipliers. The robot is then controlled using feedforward term of the inverse dynamics. Afterward, the extracted dynamics equation of the robot is transferred to state space to be employed for calculus of variations. Considering the constrained entity of the robot, null space of the robot is employed to eliminate the Lagrange multipliers to provide the applicability of indirect variation algorithm for the robot. As a result, not only are the optimal controlling signals calculated but also the corresponding optimal path of the robot between two boundary conditions is extracted. All the modeling, controlling, and optimization process are verified using MATLAB simulation. The profiles are then double-checked by comparing the results with SimMechanics. It is proved that with the aid of the proposed controlling and optimization method of this article, the robot can be controlled along its optimal path through which the maximum load can be carried.

This paper presents the computation of the safe working zone (SWZ) of a parallel manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R̲RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.

Let G(n,M) be a uniform random graph with n vertices and M edges. Let ${\wp_{n,m}}$ be the maximum block size of G(n,M), that is, the maximum size of its maximal 2-connected induced subgraphs. We determine the expectation of ${\wp_{n,m}}$ near the critical point M = n/2. When n − 2M ≫ n2/3, we find a constant c1 such that

$$c_1 = \lim_{n \rightarrow \infty} \left({1 - \frac{2M}{n}} \right) \,\E({\wp_{n,m}}).$$

$$c_2(\lambda) = \lim_{n \rightarrow \infty} \frac{\E{\left({\wp_{n,{{(n/2)}({1+\lambda n^{-1/3}})}}}\right)}}{n^{1/3}}.$$

$n^{-1/3}\,\E{\left({\wp_{n,{{(n/2)}({1+\lambda n^{-1/3}})}}}\right)}$

Over the last two decades, determining the similarity between words as well as between their meanings, that is, word senses, has been proven to be of vital importance in the field of Natural Language Processing. This paper provides the reader with an introduction to the tasks of computing word and sense similarity. These consist in computing the degree of semantic likeness between words and senses, respectively. First, we distinguish between two major approaches: the knowledge-based approaches and the distributional approaches. Second, we detail the representations and measures employed for computing similarity. We then illustrate the evaluation settings available in the literature and, finally, discuss suggestions for future research.

Given graphs G and H, a family of vertex-disjoint copies of H in G is called an H-tiling. Conlon, Gowers, Samotij and Schacht showed that for a given graph H and a constant γ>0, there exists C>0 such that if $p \ge C{n^{ - 1/{m_2}(H)}}$, then asymptotically almost surely every spanning subgraph G of the random graph 𝒢(n, p) with minimum degree at least

$\delta (G) \ge (1 - \frac{1}{{{\chi _{{\rm{cr}}}}(H)}} + \gamma )np$

$\gamma {(C/p)^{{m_2}(H)}}$

$p \ge C{n^{ - 1/{m_2}(H)}}$

In recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.

This article presents a pedagogical design for teacher education that combines flipped materials, in-class instruction, and telecollaboration (also known as virtual exchange) for foreign language teacher education. The context of this study is a course on technology and language learning for future teachers in which the flipped classroom concept was applied to technology-infused collaborative teacher training between future ESL/EFL instructors located at two partner universities (one in the USA, one in Europe). The three main teaching approaches (flipped materials, in class, and telecollaborative, or “FIT”) were symbiotic in that each structure reinforced the other through reception, discussion, and reflection as a means to help the student teachers bridge the gap between theory and practice. We apply classroom ethnographic discourse analysis to data sources (face-to-face and online discussion groups, student e-portfolios) to look at uptake of ideas, conceptual understanding, and successful transfer of new knowledge, and thereby identify whether the design provides significant learning opportunities for the future teachers. Although most studies of telecollaboration in language teacher education look principally at output, this approach allows an in-depth look at the learning process as knowledge is developed collaboratively between the participants.

It is usually proposed to use a robotic manipulator for performing on-orbit capture of a target satellite in the planned active debris removal and on-orbit servicing missions. Control of the satellite-manipulator system is challenging because motion of the manipulator influences position and orientation of the chaser satellite. Moreover, the trajectory selected for the capture manoeuvre must be collision-free. In this article, we consider the case of a nonredundant manipulator mounted on a free-floating satellite.We propose to use the bi-directional rapidly-exploring random trees (RRT) algorithm to achieve two purposes: to plan a collision-free manipulator trajectory that, at the same time, will result in a desired change of the chaser satellite orientation. Several improvements are introduced in comparison to the previous applications of the RRT method for manipulator mounted on a free-floating satellite. Feasibility of the proposed approach is demonstrated in numerical simulations performed for the planar case in which the chaser satellite is equipped with a 2-DoF (Degree of Freedom) manipulator. The obtained results are analysed and compared with the results obtained from collision-free trajectory planning methods that do not allow to set the desired final orientation of the chaser satellite.

In this paper, we present and implement a novel approach for position-based visual servoing. The challenge of controlling the mobile robot while simultaneously estimating the camera to mobile robot transformation is solved. This is achieved using gradient descent (GD)-based estimation and the sliding-mode approach. The GD approach allows online parameter estimation for controlling the robot to achieve a desired position and orientation. The adaptive nature of the parameters demonstrates the robustness of the system. In contrast to existing work, the proposed technique achieves both estimation and control tasks in a single experiment. Simulation and experimental results are provided to validate the performance of the proposed scheme.

This paper concerns with comparing simulation studies for a newly developed concept of turning point to be used in multiple robot path planning. Different critical factors and design parameters are collected and statistical analyses are performed. After configuring different simulation scenarios, the efficient one is evaluated using a robust data envelopment analysis (RDEA). Due to uncertain aspects of various simulations scenarios, robust version of data envelopment analysis is proposed. Here, major criteria in robot path planning are deadlock and conflict avoidance, throughput, mean flow time, and effective total distance travelled. To determine the effective experiment for the proposed simulation model, RDEA is used. A comparative study with respect to different experiments having various simulation setting is developed. The results for a real robotic manufacturing cell system show effectiveness of the proposed process. Also, the efficient simulation software is determined by multiaspect analysis.

The objective of this work is to set a corpus-driven methodology to quantify automatically diachronic language distance between chronological periods of several languages. We apply a perplexity-based measure to written text representing different historical periods of three languages: European English, European Portuguese, and European Spanish. For this purpose, we have built historical corpora for each period, which have been compiled from different open corpus sources containing texts as close as possible to its original spelling. The results of our experiments show that a diachronic language distance based on perplexity detects the linguistic evolution that had already been explained by the historians of the three languages. It is remarkable to underline that it is an unsupervised multilingual method which only needs a raw corpora organized by periods.

In order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

An increase in volumes of data and a shift towards live data enabled a stronger focus on resource-intensive tasks which run continuously over long periods. A Grid has potential to offer the required resources for these tasks, while considering a fair and balanced allocation of resources among multiple client agents. Taking this into account, a Grid might be unwilling to allocate its resources for long time, leading to task interruptions. This problem becomes even more serious if an interruption of one task may lead to the interruption of dependent tasks. Here, we discuss a new strategy for resource re-allocation which is utilized by a client with the aim to prevent too long interruptions by re-allocating resources between its own tasks. Those re-allocations are suggested by a client agent, but only a Grid can re-allocate resources if agreed. Our strategy was tested under the different Grid settings, accounting for the adjusted coefficients, and demonstrated noticeable improvements in client utilities as compared to when it is not considered. Our experiment was also extended to tests with environmental modelling and realistic Grid resource simulation, grounded in real-life Grid studies. These tests have also shown a useful application of our strategy.

There was an incorrect argument in the proof of the main theorem in ‘On percolation and the bunkbed conjecture’, in Combin. Probab. Comput. (2011) 20 103–117 doi: 10.1017/S0963548309990666. I thus no longer claim to have a proof for the bunkbed conjecture for outerplanar graphs.