Cilden, Erkin
Polat, Faruk
Options framework is one of the prominent models serving as a basis to improve learning speed by means of temporal abstractions. An option is mainly composed of three elements: initiation set, option's local policy and termination condition. Although various attempts exist that focus on how to derive high-quality termination conditions for a given problem, the impact of initiation set generation is relatively unexplored. In this work, we propose an effective goal-oriented heuristic method to derive useful initiation set elements via an analysis of the recent history of events. Effectiveness of the method is experimented on various benchmark problems, and the results are discussed.


Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization
Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01)
Our work focuses on developing methods of determining the optimal preshape of a robot hand closing onto an object in order to achieve at contact a certain stability and manipulability degree based on kinematic considerations. This purposive closing of a preshaped hand should then be kinematically modelled in such a way that impact force patterns on the object can naturally be deduced from the model and be optimized such that upon contacting the object the desired optimum initial conditions of manipulation a...
Quantitative measure of observability for linear stochastic systems
Subasi, Yuksel; Demirekler, Mübeccel (Elsevier BV, 2014-06-01)
In this study we define a new observability measure for stochastic systems: the mutual information between the state sequence and the corresponding measurement sequence for a given time horizon. Although the definition is given for a general system representation, the paper focuses on the linear time invariant Gaussian case. Some basic analytical results are derived for this special case. The measure is extended to the observability of a subspace of the state space, specifically an individual state and/or t...
Verification and transformation of complex and uncertain conceptual schemas
Yazıcı, Adnan (World Scientific Pub Co Pte Lt, 1997-12-01)
In database environment it is necessary to represent complex and uncertain information at conceptual level and then transform the conceptual schema into the logical one for ultimate implementation. It is also important to verify the conceptual schema with respect to the constraints imposed on the schema definition. In this paper we primarily focus on the verification and transformation of the conceptual schema For the purpose of verification of the conceptual schema represented by the ExIFO data model (the ...
On-line controller tuning by matlab using real system responses
Pektaş, Seda; Balkan, Raif Tuna; Department of Mechanical Engineering (2004)
This thesis attempts to tune any controller without the mathematical model knowledge of the system it is controlling. For that purpose, the optimization algorithm of MATLAB® 6.5 / Nonlinear Control Design Blockset (NCD) is adapted for real-time executions and combined with a hardware-in-the-loop simulation provided by MATLAB® 6.5 / Real-Time Windows Target (RTWT). A noise-included model of a DC motor position control system is obtained in MATLAB® / SIMULINK first and simulated to test the modified algorithm...
design and implementation of a two-axes linear positioning system for rapid prototyping applications
Yazıcıoğlu, Faruk; Söylemez, Erses; Department of Mechanical Engineering (2007)
In this study, a two axes linear positioning system for testing and applying different rapid prototyping techniques was designed and manufactured. A cable/ pulley mechanism is utilized in the system for transmitting motion from motors into linear motion. Use of a cable/ pulley mechanism overcomes the problems resulting from the utilization of conventional drive systems like ball screws and decreases the overall cost of the system. The carriage elements of both axes were designed and manufactured by using in...
Citation Formats
A. DEMİR, E. Cilden, and F. Polat, “GENERATING EFFECTIVE INITIATION SETS FOR SUBGOAL-DRIVEN OPTIONS,” ADVANCES IN COMPLEX SYSTEMS, pp. 0–0, 2019, Accessed: 00, 2020. [Online]. Available: