Ryerson University

About: Ryerson University is a education organization based out in Toronto, Ontario, Canada. It is known for research contribution in the topics: Computer science & Population. The organization has 7671 authors who have published 20164 publications receiving 394976 citations. The organization is also known as: Ryerson Polytechnical Institute & Ryerson Institute of Technology.

Trajectory Learning for Robot Programming by Demonstration Using Hidden Markov Model and Dynamic Time Warping

Abstract: The main objective of this paper is to develop an efficient method for learning and reproduction of complex trajectories for robot programming by demonstration. Encoding of the demonstrated trajectories is performed with hidden Markov model, and generation of a generalized trajectory is achieved by using the concept of key points. Identification of the key points is based on significant changes in position and velocity in the demonstrated trajectories. The resulting sequences of trajectory key points are temporally aligned using the multidimensional dynamic time warping algorithm, and a generalized trajectory is obtained by smoothing spline interpolation of the clustered key points. The principal advantage of our proposed approach is utilization of the trajectory key points from all demonstrations for generation of a generalized trajectory. In addition, variability of the key points' clusters across the demonstrated set is employed for assigning weighting coefficients, resulting in a generalization procedure which accounts for the relevance of reproduction of different parts of the trajectories. The approach is verified experimentally for trajectories with two different levels of complexity.

Uo-convergence and its applications to Cesàro means in Banach lattices

Abstract: A net (x α ) in a vector lattice X is said to uo-converge to x if $$\left| {{x_\alpha } - x} \right| \wedge u\xrightarrow{o}0$$ for every u ≥ 0. In the first part of this paper, we study some functional-analytic aspects of uo-convergence. We prove that uoconvergence is stable under passing to and from regular sublattices. This fact leads to numerous applications presented throughout the paper. In particular, it allows us to improve several results in [27, 26]. In the second part, we use uo-convergence to study convergence of Cesaro means in Banach lattices. In particular, we establish an intrinsic version of Komlos’ Theorem, which extends the main results of [35, 16, 31] in a uniform way. We also develop a new and unified approach to Banach–Saks properties and Banach–Saks operators based on uo-convergence. This approach yields, in particular, short direct proofs of several results in [20, 24, 25].

The Source of Turnout Decline: New Values or New Contexts?

Abstract: Voter turnout has consistently declined since the 1980s across a wide range of advanced democracies. Much of this decline appears to be the result of young people abstaining. In this article the au...