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  • 1
    Electronic Resource
    Electronic Resource
    Locally Weighted Learning (1997)
    Springer
    Artificial intelligence review 11 (1997), S. 11-73 
    Details
    ISSN: 1573-7462
    Keywords: locally weighted regression ; LOESS ; LWR ; lazy learning ; memory-based learning ; least commitment learning ; distance functions ; smoothing parameters ; weighting functions ; global tuning ; local tuning ; interference
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper surveys locally weighted learning, a form of lazy learning and memory-based learning, and focuses on locally weighted linear regression. The survey discusses distance functions, smoothing parameters, weighting functions, local model structures, regularization of the estimates and bias, assessing predictions, handling noisy data and outliers, improving the quality of predictions by tuning fit parameters, interference between old and new data, implementing locally weighted learning efficiently, and applications of locally weighted learning. A companion paper surveys how locally weighted learning can be used in robot learning and control.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1006559212014
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Locally Weighted Learning for Control (1997)
    Springer
    Artificial intelligence review 11 (1997), S. 75-113 
    Details
    ISSN: 1573-7462
    Keywords: locally weighted regression ; LOESS ; LWR ; lazy learning ; memory-based learning ; least commitment learning ; forward models ; inverse models ; linear quadratic regulation (LQR) ; shifting setpoint algorithm ; dynamic programming
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract Lazy learning methods provide useful representations and training algorithms for learning about complex phenomena during autonomous adaptive control of complex systems. This paper surveys ways in which locally weighted learning, a type of lazy learning, has been applied by us to control tasks. We explain various forms that control tasks can take, and how this affects the choice of learning paradigm. The discussion section explores the interesting impact that explicitly remembering all previous experiences has on the problem of learning to control.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1006511328852
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    Paper (German National Licenses)
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  • 3
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    Machine Vision for Airport Runway Identification (2015)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: No abstract available
    Keywords: Air Transportation and Safety
    Type: NF1676L-21230 , SPIE DSS 2015 Conference; Apr 20, 2015 - Apr 24, 2015; Baltimore, MD; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 4
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    UAV Inspection of Electrical Transmission Infrastructure with Path Conformance Autonomy and Lidar-Based Geofences NASA Report on UTM Reference Mission Flights at Southern Company Flights November 2016 (2017)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: Flights at low altitudes in close proximity to electrical transmission infrastructure present serious navigational challenges: GPS and radio communication quality is variable and yet tight position control is needed to measure defects while avoiding collisions with ground structures. To advance unmanned aerial vehicle (UAV) navigation technology while accomplishing a task with economic and societal benefit, a high voltage electrical infrastructure inspection reference mission was designed. An integrated air-ground platform was developed for this mission and tested in two days of experimental flights to determine whether navigational augmentation was needed to successfully conduct a controlled inspection experiment. The airborne component of the platform was a multirotor UAV built from commercial off-the-shelf hardware and software, and the ground component was a commercial laptop running open source software. A compact ultraviolet sensor mounted on the UAV can locate 'hot spots' (potential failure points in the electric grid), so long as the UAV flight path adequately samples the airspace near the power grid structures. To improve navigation, the platform was supplemented with two navigation technologies: lidar-to-polyhedron preflight processing for obstacle demarcation and inspection distance planning, and trajectory management software to enforce inspection standoff distance. Both navigation technologies were essential to obtaining useful results from the hot spot sensor in this obstacle-rich, low-altitude airspace. Because the electrical grid extends into crowded airspaces, the UAV position was tracked with NASA unmanned aerial system traffic management (UTM) technology. The following results were obtained: (1) Inspection of high-voltage electrical transmission infrastructure to locate 'hot spots' of ultraviolet emission requires navigation methods that are not broadly available and are not needed at higher altitude flights above ground structures. (2) The sensing capability of a novel airborne UV detector was verified with a standard ground-based instrument. Flights with this sensor showed that UAV measurement operations and recording methods are viable. With improved sensor range, UAVs equipped with compact UV sensors could serve as the detection elements in a self-diagnosing power grid. (3) Simplification of rich lidar maps to polyhedral obstacle maps reduces data volume by orders of magnitude, so that computation with the resultant maps in real time is possible. This enables real-time obstacle avoidance autonomy. Stable navigation may be feasible in the GPS-deprived environment near transmission lines by a UAV that senses ground structures and compares them to these simplified maps. (4) A new, formally verified path conformance software system that runs onboard a UAV was demonstrated in flight for the first time. It successfully maneuvered the aircraft after a sudden lateral perturbation that models a gust of wind, and processed lidar-derived polyhedral obstacle maps in real time. (5) Tracking of the UAV in the national airspace using the NASA UTM technology was a key safety component of this reference mission, since the flights were conducted beneath the landing approach to a heavily used runway. Comparison to autopilot tracking showed that UTM tracking accurately records the UAV position throughout the flight path.
    Keywords: Air Transportation and Safety
    Type: NASA/TM-2017-219673 , L-20871 , NF1676L-28033
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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