In applied mathematics, multimodal optimization deals with optimization tasks that involve finding all or most of the multiple (at least locally optimal) solutions of a problem, as opposed to a single best solution. Evolutionary multimodal optimization is a branch of evolutionary computation, which is closely related to machine learning. Wong provides a short survey, wherein the chapter of Shir and the book of Preuss cover the topic in more detail. == Motivation == Knowledge of multiple solutions to an optimization task is especially helpful in engineering, when due to physical (and/or cost) constraints, the best results may not always be realizable. In such a scenario, if multiple solutions (locally and/or globally optimal) are known, the implementation can be quickly switched to another solution and still obtain the best possible system performance. Multiple solutions could also be analyzed to discover hidden properties (or relationships) of the underlying optimization problem, which makes them important for obtaining domain knowledge. In addition, the algorithms for multimodal optimization usually not only locate multiple optima in a single run, but also preserve their population diversity, resulting in their global optimization ability on multimodal functions. Moreover, the techniques for multimodal optimization are usually borrowed as diversity maintenance techniques to other problems. == Background == Classical techniques of optimization would need multiple restart points and multiple runs in the hope that a different solution may be discovered every run, with no guarantee however. Evolutionary algorithms (EAs) due to their population based approach, provide a natural advantage over classical optimization techniques. They maintain a population of possible solutions, which are processed every generation, and if the multiple solutions can be preserved over all these generations, then at termination of the algorithm we will have multiple good solutions, rather than only the best solution. Note that this is against the natural tendency of classical optimization techniques, which will always converge to the best solution, or a sub-optimal solution (in a rugged, “badly behaving” function). Finding and maintenance of multiple solutions is wherein lies the challenge of using EAs for multi-modal optimization. Niching is a generic term referred to as the technique of finding and preserving multiple stable niches, or favorable parts of the solution space possibly around multiple solutions, so as to prevent convergence to a single solution. The field of Evolutionary algorithms encompasses genetic algorithms (GAs), evolution strategy (ES), differential evolution (DE), particle swarm optimization (PSO), and other methods. Attempts have been made to solve multi-modal optimization in all these realms and most, if not all the various methods implement niching in some form or the other. == Multimodal optimization using genetic algorithms/evolution strategies == De Jong's crowding method, Goldberg's sharing function approach, Petrowski's clearing method, restricted mating, maintaining multiple subpopulations are some of the popular approaches that have been proposed by the community. The first two methods are especially well studied, however, they do not perform explicit separation into solutions belonging to different basins of attraction. The application of multimodal optimization within ES was not explicit for many years, and has been explored only recently. A niching framework utilizing derandomized ES was introduced by Shir, proposing the CMA-ES as a niching optimizer for the first time. The underpinning of that framework was the selection of a peak individual per subpopulation in each generation, followed by its sampling to produce the consecutive dispersion of search-points. The biological analogy of this machinery is an alpha-male winning all the imposed competitions and dominating thereafter its ecological niche, which then obtains all the sexual resources therein to generate its offspring. Recently, an evolutionary multiobjective optimization (EMO) approach was proposed, in which a suitable second objective is added to the originally single objective multimodal optimization problem, so that the multiple solutions form a weak pareto-optimal front. Hence, the multimodal optimization problem can be solved for its multiple solutions using an EMO algorithm. Improving upon their work, the same authors have made their algorithm self-adaptive, thus eliminating the need for pre-specifying the parameters. An approach that does not use any radius for separating the population into subpopulations (or species) but employs the space topology instead is proposed in.
Anderson's rule (computer science)
In the field of computer security, Anderson's rule refers to a principle formulated by Ross J. Anderson: systems that handle sensitive personal information involve a trilemma of security, functionality, and scale, of which you can choose any two. A system that has information on many data subjects and to which many people require access is hard to secure unless its functionality is severely restricted. If it has rich functionality, you may have to restrict the number of people with access, or accept that some information will leak.
Sentiment analysis
Sentiment analysis (also known as opinion mining) is the use of natural language processing, text analysis, computational linguistics, and biometrics to systematically identify, extract, quantify, and study affective states and subjective information. Sentiment analysis is widely applied to voice of the customer materials such as reviews and survey responses, online and social media, and healthcare materials for applications that range from marketing to customer service to clinical medicine. With the rise of deep language models, such as RoBERTa, more difficult data domains can be analyzed, e.g., news texts where authors typically express their opinion/sentiment less explicitly. == Types == A basic task in sentiment analysis is classifying the polarity of a given text at the document, sentence, or feature/aspect level—whether the expressed opinion in a document, a sentence or an entity feature/aspect is positive, negative, or neutral. Advanced, "beyond polarity" sentiment classification looks, for instance, at emotional states such as enjoyment, anger, disgust, sadness, fear, and surprise. Precursors to sentimental analysis include the General Inquirer, which provided hints toward quantifying patterns in text and, separately, psychological research that examined a person's psychological state based on analysis of their verbal behavior. Subsequently, the method described in a patent by Volcani and Fogel, looked specifically at sentiment and identified individual words and phrases in text with respect to different emotional scales. A current system based on their work, called EffectCheck, presents synonyms that can be used to increase or decrease the level of evoked emotion in each scale. Many other subsequent efforts were less sophisticated, using a mere polar view of sentiment, from positive to negative, such as work by Turney, and Pang who applied different methods for detecting the polarity of product reviews and movie reviews respectively. This work is at the document level. One can also classify a document's polarity on a multi-way scale, which was attempted by Pang and Snyder among others: Pang and Lee expanded the basic task of classifying a movie review as either positive or negative to predict star ratings on either a 3- or a 4-star scale, while Snyder performed an in-depth analysis of restaurant reviews, predicting ratings for various aspects of the given restaurant, such as the food and atmosphere (on a five-star scale). First steps to bringing together various approaches—learning, lexical, knowledge-based, etc.—were taken in the 2004 AAAI Spring Symposium where linguists, computer scientists, and other interested researchers first aligned interests and proposed shared tasks and benchmark data sets for the systematic computational research on affect, appeal, subjectivity, and sentiment in text. Even though in most statistical classification methods, the neutral class is ignored under the assumption that neutral texts lie near the boundary of the binary classifier, several researchers suggest that, as in every polarity problem, three categories must be identified. Moreover, it can be proven that specific classifiers such as the Max Entropy and SVMs can benefit from the introduction of a neutral class and improve the overall accuracy of the classification. There are in principle two ways for operating with a neutral class. Either, the algorithm proceeds by first identifying the neutral language, filtering it out and then assessing the rest in terms of positive and negative sentiments, or it builds a three-way classification in one step. This second approach often involves estimating a probability distribution over all categories (e.g. naive Bayes classifiers as implemented by the NLTK). Whether and how to use a neutral class depends on the nature of the data: if the data is clearly clustered into neutral, negative and positive language, it makes sense to filter the neutral language out and focus on the polarity between positive and negative sentiments. If, in contrast, the data are mostly neutral with small deviations towards positive and negative affect, this strategy would make it harder to clearly distinguish between the two poles. A different method for determining sentiment is the use of a scaling system whereby words commonly associated with having a negative, neutral, or positive sentiment are given an associated number on a −10 to +10 scale (most negative up to most positive) or simply from 0 to a positive upper limit such as +4. This makes it possible to adjust the sentiment of a given term relative to its environment (usually on the level of the sentence). When a piece of unstructured text is analyzed using natural language processing, each concept in the specified environment is given a score based on the way sentiment words relate to the concept and its associated score. This allows movement to a more sophisticated understanding of sentiment, because it is now possible to adjust the sentiment value of a concept relative to modifications that may surround it. Words, for example, that intensify, relax or negate the sentiment expressed by the concept can affect its score. Alternatively, texts can be given a positive and negative sentiment strength score if the goal is to determine the sentiment in a text rather than the overall polarity and strength of the text. There are various other types of sentiment analysis, such as aspect-based sentiment analysis, grading sentiment analysis (positive, negative, neutral), multilingual sentiment analysis and detection of emotions. === Subjectivity/objectivity identification === This task is commonly defined as classifying a given text (usually a sentence) into one of two classes: objective or subjective. This problem can sometimes be more difficult than polarity classification. The subjectivity of words and phrases may depend on their context and an objective document may contain subjective sentences (e.g., a news article quoting people's opinions). Moreover, as mentioned by Su, results are largely dependent on the definition of subjectivity used when annotating texts. However, Pang showed that removing objective sentences from a document before classifying its polarity helped improve performance. Subjective and objective identification, emerging subtasks of sentiment analysis to use syntactic, semantic features, and machine learning knowledge to identify if a sentence or document contains facts or opinions. Awareness of recognizing factual and opinions is not recent, having possibly first presented by Carbonell at Yale University in 1979. The term objective refers to the incident carrying factual information. Example of an objective sentence: 'To be elected president of the United States, a candidate must be at least thirty-five years of age.' The term subjective describes the incident contains non-factual information in various forms, such as personal opinions, judgment, and predictions, also known as 'private states'. In the example down below, it reflects a private states 'We Americans'. Moreover, the target entity commented by the opinions can take several forms from tangible product to intangible topic matters stated in Liu (2010). Furthermore, three types of attitudes were observed by Liu (2010), 1) positive opinions, 2) neutral opinions, and 3) negative opinions. Example of a subjective sentence: 'We Americans need to elect a president who is mature and who is able to make wise decisions.' This analysis is a classification problem. Each class's collections of words or phrase indicators are defined for to locate desirable patterns on unannotated text. For subjective expression, a different word list has been created. Lists of subjective indicators in words or phrases have been developed by multiple researchers in the linguist and natural language processing field states in Riloff et al. (2003). A dictionary of extraction rules has to be created for measuring given expressions. Over the years, in subjective detection, the features extraction progression from curating features by hand to automated features learning. At the moment, automated learning methods can further separate into supervised and unsupervised machine learning. Patterns extraction with machine learning process annotated and unannotated text have been explored extensively by academic researchers. However, researchers recognized several challenges in developing fixed sets of rules for expressions respectably. Much of the challenges in rule development stems from the nature of textual information. Six challenges have been recognized by several researchers: 1) metaphorical expressions, 2) discrepancies in writings, 3) context-sensitive, 4) represented words with fewer usages, 5) time-sensitive, and 6) ever-growing volume. Metaphorical expressions. The text contains metaphoric expression may impact on the performance on the extraction. Besides, metaphors take in different forms, which may have been contribu
Web presence
A web presence is a location on the World Wide Web where a person, business, or some other entity is represented (see also web property and point of presence). Examples of a web presence for a person could be a personal website, a blog, a profile page, a wiki page, or a social media point of presence (e.g. a LinkedIn profile, a Facebook account, or a Twitter account). Examples of a web presence for a business or some other entity could be a corporate website, a microsite, a page on a review site, a wiki page, or a social media point of presence (e.g., a LinkedIn company page and/or group, a Facebook business/brand/product page, or a Twitter account). Every web presence is associated with a unique web address to distinguish one point of presence from another. == Owned vs. unowned == Web presence can either be owned or unowned. Owned media exists when a single person or group can control the content that is published on its web presence (e.g. a corporate website or a personal Twitter account). However, when a single person or group cannot solely control the content, the creator is different from the owner. This is considered unowned media (see earned media). A Wikipedia page or a Yelp page about a person, company, or product would be an example of a known (or "earned") web presence. Occasionally, a first form of media known as "paid media" is often included in the discussion of media types: "earned vs. owned vs. paid". Paid media is commonly found in the form of advertisements, but it is not considered a form of web presence. == Management == Web presence management is the process of establishing and maintaining a digital footprint on the web. The three factors that are considered include the following: where a person or business has web presence; how each web presence represents its enterprise; and what is published at a point of presence. Web presence management is the discipline of determining and governing: the distribution of policy documents which platforms are most appropriate (e.g. internal vs. external blog, YouTube vs. Vimeo) the single inventory of personal or corporate web presence (e.g. partners or advocates) where on the web a business and any relatable assets are represented where on the web a business and any relatable assets are impersonated or pirated web properties with the particular entities they represent who has control over which web properties new web properties which are not in the personal or corporate inventory (e.g. someone creates a new presence) authorized and unauthorized changes to the creation (e.g. branding) of a web presence a workflow for creating a web property that follows its corporate standards === Management system === The purpose of a web presence management system is to manage the web presence of a person or business. This includes the collection of domain names, websites, social media, and other web pages where he, she, or it is being represented. The tool generally offers the following key functions: new presence discovery, inventory management, change detection, access control, stakeholder coordination, and compliance workflow. A web presence management system is meant to have a broader reach so that it emphasizes where a presence has been established, will be established, must be maintained, or must be remediated. An example of a web presence management system is the Brandle Presence Manager. In order to publish content to the various points of web presence, multiple content management systems and sometimes even social media management systems are often used. The primary focus of most content and social media management systems is limited to their specific web platforms. === Domain names === Another aspect of web presence management is managing the collection of domain names registered to the person or business. Any entity may register multiple domain names for the same property. As a result, they can link alternative spellings, different top-level domains, aliases, brands, or products to the same website. Similarly, negative or derogatory domain names may also be registered. This is done to prevent certain domain names from being used against the person or business. It is common for a larger business to have domain names registered by multiple employees at multiple domain name registrars, possibly a result of organizational or geographical requirements. Consequently, a web presence management system can be used to monitor all domain names registered by the business, regardless of the registrars used. == Discovery == Web presence discovery is the process of monitoring the web for a new point of presence about a person or business. Web presence discovery is often included in a web presence management system. Whether a new domain is registered, a new website is published, or a new social media account is established, it occurs outside of the person's or business’ control. As a result, its purpose is to assess a new point of presence and appropriately handle any violations. Web presence discovery differs from content listening. The former involves looking for new properties on the web, whereas the latter refers to analyzing content that already exists to hear how a person or business is seen often in near real time. Examples of content listening systems include Sysomos and Radian6, which is now a subsidiary of Salesforce.com. === Brand protection === A person or business may choose to watch for a new web presence that might appear to misrepresent or mislead an audience, such as counterfeiters, spoofers, or malicious hackers. One of the early software in the online brand protection marketplace was MarkMonitor, now part of Thomson Reuters. This software helped detect rogue domain names and websites. However, the modern day growth of social media has seen a rise in the number of fraudulent brand impersonations. It has become much easier for a new web presence to be created on those platforms, which results in a greater frequency of them today. As a preventive measure, online brand protection providers are now adding social media to their domain and website discovery options. === Security === The widespread growth of social media has also made it easier for unauthorized individuals to impersonate an employee. Consequently, social media has now become a recognized threat vector in that it can be used to socially engineer an attack on a business. To counter this, companies are able to use web presence monitoring tools to detect new points of presence on the web and thereby defend against socially engineered attacks. === Distributed inventory management === A web presence monitoring system can be used by a business to associate a new web property with its corporate inventory. It is designed to address autonomous, distributed behaviors. This usually applies to larger businesses whose geographically diverse employees are more prone to creating new points of presence on the web. For example, a retail chain may allow each local store to create and manage their web presence to market to and communicate with their local customer base. Similarly, a global business may have teams in each country or region who create and manage a web presence to adapt to local languages or cultures. == Monitoring == Web presence monitoring is the process of monitoring a known inventory of web presence to detect any changes that are made. Web presence monitoring is often included in a web presence management system and can serve multiple purposes for both larger corporations and certain individuals, such as celebrities. It is important to note that presence monitoring differs from content listening. The former involves monitoring the properties (e.g. branding) of a web property in an established inventory, whereas the latter refers to analyzing content that already exists to hear how a person or business is seen often in near real time. Additionally, presence monitoring focuses on owned media and content listening on earned media. === Corporate, brand, and regulatory compliance === Many companies ensure that certain standards are met for a property on the web that represents their business. For companies in regulated industries, such as finance and healthcare, the company may be required by law to ensure that all publicized content, regardless of platform or technology, follow specific requirements. The widespread growth of social media has seen a rise in the number of fraudulent corporate impersonations. It has become much easier for a new web presence to be created on these platforms, and so these are much more prevalent than they used to be. As a preventive measure, a web presence monitoring system alerts the company when a known property is changed, allowing for the property to be reviewed and amended so that it follows the proper standards. . A web presence monitoring system helps alert the company when a known property is changed, so it can be reviewed and brought back, if necessary, into compliance with the appro
Online Safety Amendment (Social Media Minimum Age) Act 2024
The Online Safety Amendment (Social Media Minimum Age) Act 2024 is an Australian act of parliament that prohibits minors under the age of 16 from holding an account on certain social media platforms. It is an amendment to the Online Safety Act 2021 and was passed by the Parliament of Australia on 29 November 2024. It imposes monetary penalties on social media companies that fail to take reasonable steps to prevent minors under 16 that are located in Australia from having accounts on their services. The legislation allows the government to determine which social media platforms must ban age‑restricted users and proclaim a date for the commencement of the ban, with those provisions taking effect on 10 December 2025. Facebook, Instagram, Reddit, Snapchat, TikTok, Twitter, Threads, Twitch, Kick, and YouTube were age‑restricted on 10 December 2025, with the possibility that more platforms may be added. The act is being challenged in the High Court by the Digital Freedom Project. == Background == The ban on access to social media by young people by the federal government originated in November 2023, when shadow communications minister David Coleman introduced a private member's bill requiring the government to conduct a trial for age-verification technology on pornography and social media platforms. While the bill did not succeed, the Albanese government funded the trial in the 2024 Australian federal budget. In June 2024, opposition leader Peter Dutton pledged that a Coalition government would implement a ban on social media for under-16s within 100 days of taking office. The following month, prime minister Anthony Albanese announced the government would introduce legislation banning under-16s from social media. The Online Safety Amendment (Social Media Minimum Age) Bill 2024 was introduced into parliament by minister for communications Michelle Rowland on 21 November 2024, passing both houses on 28 November 2024. The ban on access to social media by young people by the federal government also gained momentum following an entreaty by the wife of the premier of South Australia, Peter Malinauskas, to her husband. She requested that he read The Anxious Generation by Jonathan Haidt and take action to address the impact of social media on the mental health of children. The couple have four young children, and, thinking of them, the premier thought that government should play a part in helping parents to regulate use of social media by their children at home. Malinauskas contacted former High Court chief justice Robert French, who agreed to look at the issue, and in September 2024 handed the premier a 267 page proposal, which he dubbed a "Swiss Army knife" rather than a machete, to adjust to social media's "changing landscape and its complexity". The leaders of other states and territories gave their support to Malinauskas's idea, and he took the French report to National Cabinet to collaborate with chief ministers, premiers, and the prime minister. Community support swelled after stories of parents who had lost their children to suicide after being bullied on social media were published. Albanese himself was moved by a personal letter received from Kelly O'Brien, whose 12-year-old daughter Charlotte had taken her own life due to bullying at school. An event took place at the sidelines of the United Nations General Assembly session in September 2025 at which a mother spoke of her daughter's suicide as "death by bullying ... enabled by social media". The speech won support from world leaders in Greece, Fiji, Tonga and the president of the European Commission Ursula von der Leyen. In early September 2024, South Australia proposed legislation similar to the federal law now in place. The state-based version was intended to ban users under the age of 14, unlike the federal law, which bans those under 16. The state-based law also proposed to require parental consent for 14 and 15‑year‑olds. Later in September, prime minister Anthony Albanese announced that his government intended to introduce legislation to set a minimum age requirement for social media. In November 2024, the federal government indicated their intention to engage the Age Check Certification Scheme following a tender process for an age assurance technology trial. The Albanese government's proposed ban was supported by the governments of every state and territory. Albanese described social media as a "scourge", and said "I want people to spend more time on the footy field or the netball court than they're spending on their phones", that family members are "worried sick about the safety of our kids online", and that social media "is having a negative impact on young people's mental health and on anxiety". Albanese's statements followed an earlier pledge by Liberal opposition leader Peter Dutton who was pushed by the early advocacy of shadow communications minister David Coleman to implement a ban on social media for under 16s within 100 days of being elected. The opposition organised an open letter signed by 140 experts who specialise in child welfare and technology. The opposition was concerned about the invasion of privacy that will occur with the introduction of identification-based age checks. An advocacy group for digital companies in Australia called the plans a "20th Century response to 21st Century challenges". A director of a mental health service voiced concerns, stating that "73% of young people across Australia who accessed mental health support did so through social media". == Implementation == Social media companies will receive a transition period of one year after the legislation is enacted to introduce reasonable controls preventing minors under the age of 16 from holding accounts on their services while physically located in Australia. Enforcement will involve fines of up to A$49.5 million for companies failing to take such steps, with no consequences for parents and children who violate the restrictions. There are no parental consent exceptions to the ban, and while the use of virtual private networks (VPNs) to access these services remains legal in Australia, the services are expected to try to stop under 16s from using VPNs to pretend to be outside Australia. The expectation is to make best-efforts to implement the ban on platforms including Facebook, Instagram, Reddit, Snapchat, TikTok, Twitter, Threads, Twitch, Kick and YouTube. Some social media companies are now obligated to become good enough at profiling Australian children under 16 to satisfy the Australian government they tried to implement the ban to avoid being fined. Consequently, social media companies said they will try to identify restricted users using various methods including behavioural inferencing. On 5 November 2025, it was announced that online gaming platform Roblox will not be banned, but Reddit and live-streaming platform Kick will be added to the list of platforms to be banned. A report by Age Check Certification Scheme, a UK company recruited by the government to consult on the technology used to implement the restrictions, was issued in June 2025, ahead of the December deadline to implement the ban. In June 2025, the preliminary report was released, which stated that "there are no significant technological barriers" to implementing the ban. In late July 2025, Google warned that it would sue the Australian government if YouTube was included in the ban. On 30 July, the government announced that it would extend its social media age limit to include YouTube, following advice from Grant. On 30 July 2025, the minister for communications, Anika Wells, published the Online Safety (Age-Restricted Social Media Platforms) Rules 2025, which specify exactly which types of social media platforms will be banned for certain users. On 31 August 2025, the full report was released, which stated that it would technically be possible to implement the ban; however, coordination among different services is required to successfully implement it. It also highlighted the benefits and flaws of different methods of age verification. On 16 September 2025, it was announced that the eSafety Commissioner will be able to take legal action against social media companies that have not pursued reasonable steps to bar users under the age of 16, and that fines can range up to A$49.5 million against these companies in court. On 19 November 2025, Meta announced that from 4 December their platforms (Instagram, Facebook, and Threads) would be removing users under the age of 16 ahead of the 10 December deadline. Users will be able to scan a face or provide an identity document to prove their age. On 21 November 2025, the eSafety Commissioner announced that the live-streaming platform Twitch will be included in the ban, but that Pinterest would not be. In December 2025, eSafety Commissioner Julie Inman Grant suggested efforts to block users include use by social media companies of various "signals" to identify children that are
Apprenticeship learning
In artificial intelligence, apprenticeship learning (or learning from demonstration or imitation learning) is the process of learning by observing an expert. It can be viewed as a form of supervised learning, where the training dataset consists of task executions by a demonstration teacher. == Mapping function approach == Mapping methods try to mimic the expert by forming a direct mapping either from states to actions, or from states to reward values. For example, in 2002 researchers used such an approach to teach an AIBO robot basic soccer skills. === Inverse reinforcement learning approach === Inverse reinforcement learning (IRL) is the process of deriving a reward function from observed behavior. While ordinary "reinforcement learning" involves using rewards and punishments to learn behavior, in IRL the direction is reversed, and a robot observes a person's behavior to figure out what goal that behavior seems to be trying to achieve. The IRL problem can be defined as: Given 1) measurements of an agent's behaviour over time, in a variety of circumstances; 2) measurements of the sensory inputs to that agent; 3) a model of the physical environment (including the agent's body): Determine the reward function that the agent is optimizing. IRL researcher Stuart J. Russell proposes that IRL might be used to observe humans and attempt to codify their complex "ethical values", in an effort to create "ethical robots" that might someday know "not to cook your cat" without needing to be explicitly told. The scenario can be modeled as a "cooperative inverse reinforcement learning game", where a "person" player and a "robot" player cooperate to secure the person's implicit goals, despite these goals not being explicitly known by either the person nor the robot. In 2017, OpenAI and DeepMind applied deep learning to the cooperative inverse reinforcement learning in simple domains such as Atari games and straightforward robot tasks such as backflips. The human role was limited to answering queries from the robot as to which of two different actions were preferred. The researchers found evidence that the techniques may be economically scalable to modern systems. Apprenticeship via inverse reinforcement learning (AIRP) was developed by in 2004 Pieter Abbeel, Professor in Berkeley's EECS department, and Andrew Ng, Associate Professor in Stanford University's Computer Science Department. AIRP deals with "Markov decision process where we are not explicitly given a reward function, but where instead we can observe an expert demonstrating the task that we want to learn to perform". AIRP has been used to model reward functions of highly dynamic scenarios where there is no obvious reward function intuitively. Take the task of driving for example, there are many different objectives working simultaneously - such as maintaining safe following distance, a good speed, not changing lanes too often, etc. This task, may seem easy at first glance, but a trivial reward function may not converge to the policy wanted. One domain where AIRP has been used extensively is helicopter control. While simple trajectories can be intuitively derived, complicated tasks like aerobatics for shows has been successful. These include aerobatic maneuvers like - in-place flips, in-place rolls, loops, hurricanes and even auto-rotation landings. This work was developed by Pieter Abbeel, Adam Coates, and Andrew Ng - "Autonomous Helicopter Aerobatics through Apprenticeship Learning" === System model approach === System models try to mimic the expert by modeling world dynamics. == Plan approach == The system learns rules to associate preconditions and postconditions with each action. In one 1994 demonstration, a humanoid learns a generalized plan from only two demonstrations of a repetitive ball collection task. == Example == Learning from demonstration is often explained from a perspective that the working Robot-control-system is available and the human-demonstrator is using it. And indeed, if the software works, the Human operator takes the robot-arm, makes a move with it, and the robot will reproduce the action later. For example, he teaches the robot-arm how to put a cup under a coffeemaker and press the start-button. In the replay phase, the robot is imitating this behavior 1:1. But that is not how the system works internally; it is only what the audience can observe. In reality, Learning from demonstration is much more complex. One of the first works on learning by robot apprentices (anthropomorphic robots learning by imitation) was Adrian Stoica's PhD thesis in 1995. In 1997, robotics expert Stefan Schaal was working on the Sarcos robot-arm. The goal was simple: solve the pendulum swingup task. The robot itself can execute a movement, and as a result, the pendulum is moving. The problem is, that it is unclear what actions will result into which movement. It is an Optimal control-problem which can be described with mathematical formulas but is hard to solve. The idea from Schaal was, not to use a Brute-force solver but record the movements of a human-demonstration. The angle of the pendulum is logged over three seconds at the y-axis. This results into a diagram which produces a pattern. In computer animation, the principle is called spline animation. That means, on the x-axis the time is given, for example 0.5 seconds, 1.0 seconds, 1.5 seconds, while on the y-axis is the variable given. In most cases it's the position of an object. In the inverted pendulum it is the angle. The overall task consists of two parts: recording the angle over time and reproducing the recorded motion. The reproducing step is surprisingly simple. As an input we know, in which time step which angle the pendulum must have. Bringing the system to a state is called “Tracking control” or PID control. That means, we have a trajectory over time, and must find control actions to map the system to this trajectory. Other authors call the principle “steering behavior”, because the aim is to bring a robot to a given line.
TRAME
TRAME (TRAnsmission of MEssages) was the name of the second computer network in the world similar to the internet to be used in an electric utility. Like the internet, the base technology was packet switching; it was developed by the electric utility ENHER in Barcelona. It was deployed by the same utility, first in Catalonia and Aragón, Spain, and later in other places. Its development started in 1974 and the first routers, called nodes at that time, were deployed by 1978. The network was in operation until 2016 (38 years) with successive technological software and hardware updates. == Beginnings == In 1974, packet switching was a technology known only in research circles. The concept began in 1968 in association with the United States' Advanced Research Projects Agency (ARPA) research project ARPANET. The idea of applying the packet switching concept to electric utilities control communication networks first appeared in 1974 when the Swedish power utility Vattenfall started to create its TIDAS packet-switching network and was followed by the Spanish electric utility ENHER, which aimed to telecontrol and automate its high-voltage power grid. For this purpose, ENHER created a specific team of people to develop both the packet-switching network and the supervisory control and data acquisition (SCADA) system, also called the telecontrol system. By 1978 the first four TRAME routers were available and by 1980, eight of them were deployed and operating. The printed circuit boards (PCBs) controlling the communication lines were connected to a shared memory PCB allowing them to exchange data and messages. The project was developed together with its main initial application, the Telecontrol or SCADA system SICL (Sistema Integral de Control Local) with which initially they shared a very similar hardware. The maximum link capacity was 9600 bit/s, which in 1980 was the maximum possible on a 4 kHz wide voice channel at the time. These channels were the basic unit of the then-analog communication systems in use. By that time power utilities used either telephone calls or low speed (below 1200bit/s) dedicated links for telecontrol, typically shared among ten high-voltage electrical substations. == Services == The basic service provided by the TRAME network was SCADA or Telecontrol to automate the high-voltage power grid, thus improving operational efficiency, which was until then operated manually with telephone communication between human operators. Each TRAME router was associated with one or more remote terminal units (RTUs) of the SICL telecontrol system. It also had connected screens, and later PCs, located in electrical substations to interchange messages between them and with the Control Center located in the well-known Casa Fuster in Barcelona. It was a kind of predecessor to today's e-mail. Later, in the 1990s, other protocols (X.25, IP) were developed to include corporate information technology (IT) terminals, company physical surveillance systems and other services. Additionally, applications and terminals were developed for the transmission of voice and video over the TRAME network. == Protocols == The TRAME routing system, like that of the original ARPANET, was based on the Bellman-Ford algorithm but with "split-horizon" as in the Swedish TIDAS network, but with an original improvement. This protocol allows optimal paths to be found in meshed networks for each packet to be transmitted, allowing the shared use of the same network by multiple services. In contrast, traditional circuit-switched technology used to establish dedicated circuits for each service or communication. The addressing of routers and terminals used a proprietary system with a 16-bit address; it would be the equivalent of the well-known IP (Internet Protocol) version 4 (IPv4), still in use on the internet today, which uses 32-bit addresses. It is necessary to take into account that in 1978, the IPv4 protocol did not yet exist since the IPv4 version used on the internet did not appear until 1981, and in fact, did not reach the general public until much later. The line protocols were also proprietary and were called UCL (Unidad de Control de Línea, 'line control unit'), which linked the routers together, and UTR (Unión TRAME-Remotas), the access protocol. They were designed to offer the highest quality of service required by the telecontrol/SCADA function in terms of data integrity and availability set by the International Electrotechnical Commission (IEC) IEC-870-5-1 and ANSI C37.1. standards, and because the protocol used at the time in corporate computer networks, HDLC (high-level data link control), did not offer enough quality for critical industrial applications. Later on, other protocols like X.25 and IP were also made compatible with the aforementioned TRAME protocols. In 2000, the UTR protocol was replaced by the international standard IEC 60870- 5-101/104. Initially network flow control was based on the management of eight data priorities in head-of-the-line (HOL) waiting queues. Later and after some experimentation, a flow control method based on a bit indicating route congestion and management of the gap between packets when accessing the network was adopted. This required measuring the capacity of the route bottleneck. An end-to-end protocol was also added for some flows requiring order preservation like X.25. == Evolution == To last for 38 years, the technology had to endure intense evolution. There were essentially four TRAME generations which are summarized in the table. A description of the four generations of TRAME is provided below. === TRAME 1 === The project began in 1974 and in 1978 a first network with four routers was already installed and in operation at the electric utility ENHER. In 1980, the network had eight nodes in operation (see Figure I). The hardware was based on the Zilog Z80 processor and had a multiprocessor structure with 16 processors sharing a common memory. The software was developed at ENHER's headquarters located in the well-known Casa Fuster, Passeig de Gràcia, 132, Barcelona, using the Z80 assembly language. Beyond 1980 the software began to be written in C programming language and an HP64000 Logic Development System emulator was used for the purpose. The hardware was produced by ISEL, an INI (Instituto Nacional de Indústria) company. The routing system was a variant of Bellman-Ford with split-horizon. It was an improvement of the original ARPA network routing system consisting of an original update procedure which allowed for a faster reaction to changes. The distance function was the number of packets in the output waiting queues plus one. The line protocols (UCL for internal lines linking routers and UTR for accessing the network) were designed to meet the stringent requirements set for telecontrol (SCADA) of high-voltage power networks (IEC-870-5-1 and ANSI C37.1 standards). At the OSI transport layer, windows with a width of 1 to 8, depending on the required service, residing in the terminals were used. Initially, addresses were only 14 bits long to address both the routers (called nodes by then) and the devices connected to them. They were made up of two fields, an 8-bit field to address the router and a 6-bit sub-address to address the terminals connected to it. The node address was assigned to the nodes and not to the ends of the links as in the internet. The basic advantages of TRAME over other technologies used in electric utilities at the time were in part due to the packet technology itself: ability to manage any network topology, automatic adaptability to topological and traffic changes, integration of different link technologies (digital or analog) and capacities in a single network, open and decentralized intercommunicability between users and devices, simultaneous communication with several users and locations from a single physical connection, and integrated network supervision. In fact, the network was provided from its inception with a supervision center consisting of a computer and a synoptic board located at the company's headquarters (see Figure II). But other advantages were due to the specific design of TRAME: high data integrity, priority support for packets, and ease of including special protocols such as the many SCADA protocols in use at that time. All of the above resulted in improved quality of service, especially with respect to data availability and data integrity, and in the integration of services in a single network. Part of the evolution of its deployment can be seen in Figures II to IV. === TRAME 2 === In 1990, TRAME 2 was fully deployed and TRAME 1 was replaced. The processor of the new hardware was Intel 80286 and the hardware structure and external appearance of the routers was very similar to that of TRAME 1. The software was written in C and the above-mentioned emulator continued to be used. Improvements over TRAME 1 were the introduction of the standardized X.25 access protocol