958 research outputs found
Digging through the dirt: a general method for abstract discrete state estimation with limited prior knowledge
No full textAutonomous robots are often successfully deployed in controlled environments. Operation in uncontrolled situations remains challenging; it is hypothesized that the detection of abstract discrete states (ADS) can improve operation in these circumstances. ADS are high-level system states that are not directly detectable and influence system dynamics. An example of a typical ADS problem that is used in this thesis is that of a wheeled robot driving through puddles of mud that, when entered, alters the velocity of the robot. When the robot is in such a puddle, it is in an ADS 'mud', and when it is not, it is in an ADS 'free'. ADS can be indirectly inferred through the analysis of lower-level data such as the velocity of the robot. The goal of this thesis is to design a general abstract discrete state estimator (ADSE) operating with limited prior knowledge. An ADSE is a hierarchical system for detecting changes in ADS. The ADSE should be general; applicable to multiple ADSE problems. The ADSE should further operate under limited prior knowledge: only assuming that the amount of ADS and the ADS that describes the regular operation are known. The basis for the ADSE designed in this thesis is a Gaussian hidden Markov model (GHMM), a hidden Markov model enhanced with Gaussian emissions. Randomly generated experiments are done on a simple but general ADSE problem. Two unsupervised learning methods derived from Expectation Maximization are evaluated, namely Baum-Welch (BW) and forward extraction (FWE). FWE is introduced in this thesis and is a simpler implementation of Viterbi extraction, leveraging assumptions of ADSE to in theory gain computational efficiency. We found that both BW and FWE exhibit superior performance compared to a likelihood-based baseline estimator when the maximum score of the learning curve is considered. When the final score is considered, in some cases, FWE displays a deteriorating learning curve, resulting in worse final scores compared to the baseline. Furthermore, it was found that the lower the overlap coefficient (therefore the less similar the ADS), the higher the maximum reached score. It was further shown that BW exhibits better convergence than FWE to the true model parameters. Besides this, FWE obtained comparable or in some cases even superior scores compared to BW. In general, from the results, the diversity of the experiments conducted, and the assumptions made we can conclude that the GHMM can be a general method for an ADSE with limited prior knowledge. To quantify the suitability of the GHMM for ADSE, further research should include the evaluation of different ADSE methods on the same problem. There exists a tradeoff between the lower computational cost FWE and the more stable but more computationally intensive BW learning. Therefore, future research can include a combination of these methods. Other extensions include extending the GHMM to a Gaussian mixture hidden Markov model to allow for the modeling of more complex distributions, or the application to multiple states or a changing environment.https://github.com/Wouter-deBoer/adseMechanical Engineering | Vehicle Engineering | Cognitive Robotic
embalming and reperfusion of porcine kidneys
No full text<p>These are the data of the following article:</p>
<p>Understanding Thiel embalming in pig kidneys to develop a new circulation model</p>
<p>First author: Wouter Willaert</p
Should teachers use Platonic or Aristotelian dialogues for the moral education of young people?
No full textIs a neo-Platonic theory of moral education better than a neo-Aristotelian one, because the former offers a dialogue method that teachers can use in universities to induce epiphanies in students, in order to jump-start the moral development of those with a rather vicious character? In this paper, this claim, put forward by Jonas and Nakazawa in their book A Platonic Theory of Moral Education, is evaluated. Admittedly, the Nicomachean Ethics, which came to us in the form of a collection of edited lecture notes, gives the impression that Aristotle was not interested in dialogue. But by looking at the dialogical form of the Ethics and by consulting some of his ideas on logic, I show that Aristotle’s oeuvre does include valuable ideas about how teachers may conduct dialogues with their students. These dialogues may not yield epiphanies and will not convert vicious adults, but they are suitable for reaching most students and can appeal to their emotions and practical wisdom. While Jonas and Nakazawa argue that Plato and Aristotle only agree on the centrality of habituation, imitation, and role-modelling in their accounts of moral education, I conclude that dialogue should be added to that list
Nederland op een kantelpunt: Interview met Wouter Veldhuis over het Stedelijk Netwerk Nederland en het sociaal netwerk van woonwijken
Full text linkDe stedenbouwkundige en architect Wouter Veldhuis en landschapsarchitect Jannemarie de Jonge zijn per 1 december 2020 Rijksadviseur voor de fysieke leefomgeving. Later in september 2021 komt daar de architect Francesco Veenstra bij als Rijksbouwmeester en dan is het nieuwe trio College van Rijksadviseurs weer compleet. De uitdagingen voor het college zijn groot. De ruimteclaims die er liggen in stad en land, de hooggestemde ambities om klimaatneutraal en circulair te zijn in 2050, de roep om een minister voor de fysieke leefomgeving en of wonen en weer een echt ministerie met budget. Het enorme probleem op de woningmarkt en de druk om één miljoen woningen ergens bij te bouwen. Op 24 april sprak het team van 1M Homes initiative van de TU Delft met de nieuw benoemde rijksadviseur voor de fysieke leefomgeving Wouter Veldhuis over de aanstaande veranderingen
Blurring the Lines between Imitation and Emulation in Moral Development
No full textThis article investigates the roles of imitation and emulation in the development of virtue by questioning the way these learning mechanisms are distinguished in the literature. Conventional views distinguish a deliberate kind of emulation, necessary for the acquisition of practical wisdom and virtue, from the unconscious and automatic imitation of virtuous actions. In this article, this binary is challenged through an analysis of two (autobiographical) novels by the French author Edouard Louis. Eddy, the main character in both novels, adopts behaviours from his friends and teachers on purpose, driven by personal goals rather than the models’ virtuous motives. The novels help us to imagine a new category of moral learning, called ‘deliberate imitation’: it is goal-driven but not fully aligned with the virtuous intentions of the role models. This type of imitation blurs the distinction between imitation and emulation and may serve as a transitional phase. The article ends with a discussion of the implications this type of imitation may have for moral education. It is suggested that teachers may have less control over which of their actions students take to be exemplary and which ones not
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