Term
Machine Learning
What are some example applications? |
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Definition
Classification
text categorization
• Recommendation engines (iTunes, Netflix, etc.)
Face recognition
•Election/sports analysis (Moneyball, Nate Silver
• Diagnostics, medical and otherwise |
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Term
| ◦ What are some possible features to use for text classification? |
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Definition
Spam filtering
- Grammar guides
- “Threat” analysis
- Author/Plagiarism detection
- average word length
- punctuation frequency
- average sentence length
- sentence structure |
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Term
| ◦ What is the difference between supervised and unsupervised learning? |
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Definition
supervised:
training” data
Develop the weighting vector and create classifications using this data
goal is prediction
unsupervised
(no training)
No human interaction
•Goal is categorization of data |
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Term
| ◦ What is the k-Nearest Neighbor (kNN) algorithm? |
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Definition
| “Distance”-based unsupervised classification |
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Term
| ◦ What is k-Means Clustering? |
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Definition
• Classification not known a priori
pick centers, then cluster each group |
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Term
| ◦ What are potential problems of kNN and k-Means Clustering? |
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Definition
Can become computationally “expensive” with large
data sets
One dimension can dominate (normalize) |
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Term
What are the effects of increasing the learning gain in a Repetitive Learning
Controller? |
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Definition
•Overfitting:
- Learning too specific to “training” data
- Doesn’t allow generalization
- Can result from improper feature selection
•Feature dominance
- Weighting factors chosen such that one feature
dominates
- Most algorithms have methods to prevent one feature
from dominating |
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Term
| ◦ What is the basic idea of a Repetitive Learning Controller? |
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Definition
"Learn" a good control input while tracking a repeated
(periodic) trajectory |
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Term
| What is the basic idea of the Zero Phase Error Tracking Controller (ZPETC)? |
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Definition
| separates acceptable and unacceptable signals for inversion to aoivd rhp zeros |
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Term
| ◦ What are the problems with plant inversion? |
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Definition
| impossible to implement infinite force. model won't match actual sys. |
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Term
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Definition
| inverting the system as a plant |
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Term
How can we use these stability margin?
- Machine safety (aerial lifts, etc)
- Walking robots |
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Definition
• Can be used during both mechanical design and
motion planning |
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Term
- COM projection
- Energy Stability Margin
◦ How does the "optimal" configuration different between these two? |
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Definition
COM projecttion optimal is located between supports.
SESM optimal pos is equally likely to tip in any direction |
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Term
| Know the different stability margins |
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Definition
energy stability margin
COM projection |
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Term
| ◦ What is a support polygon? |
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Definition
| polygon connecting points of contact of supports. |
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Term
| why does Blurring improve machine vision? |
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Definition
| it eliminates noise in other areas... allowing the machine to find whats important. |
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Term
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Definition
| removes sharp features by averaging values in a box |
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Term
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Definition
| red green blue color space. uses an array HxWx3 |
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Term
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Definition
Hue, Saturation, and Value
• Hue, Saturation, and Lightness |
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Term
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Definition
| Cyan, Magenta, Yellow, Black |
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Term
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Definition
| Cyan, Magenta, Yellow, Black |
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Term
| How do image sensors detect color? |
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Definition
| they filter all other colors |
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Term
| How are images digitized? How are they represented to the computer? |
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Definition
| turn image into a grid of pixels and fill each pixel with a color |
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Term
| What is depth of field? What affects it? Why? |
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Definition
• How much of an image is in focus
Large Aperture ➔ Small Depth of Field
- Small Aperture ➔ Large Depth of Field |
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Term
| What are the components of exposure triangle? |
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Definition
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Term
| What are some applications of machine vision? |
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Definition
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Term
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Definition
| only allows signals with freq less than some value to pass. |
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Term
| what is Exponential Moving Average |
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Definition
| like moving average but it keeps weighting of old values. |
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Term
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Definition
| take the av of the last n measurements. |
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Term
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Definition
| take average of data up to current time |
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Term
| what are the types of sensor processing? |
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Definition
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Term
What are the issues with changing domains (pos <-> accel)?
◦ Sensor Processing |
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Definition
| noise becomes amplified with each change in domain. |
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Term
| What are "general" sensors concerns? |
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Definition
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Term
| Inertial Measurement Units (IMU) |
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Definition
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Term
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Definition
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Definition
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Definition
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What is the tradeoff between shaper duration and robustness to changes in
frequency? |
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Definition
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Term
| How is input shaping implemented? |
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Definition
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Term
- How do you convolve a series of impulses with a command?
- How is input shaping implemented? |
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Definition
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Term
| Impulse response explanation |
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Definition
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Term
| How can we reduce vibration? |
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Definition
Move slow
- Intelligently design commands |
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Term
| What are the problems when these commands are issued to flexible systems? |
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Definition
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Term
What’s the relationship between bang-bang and bang-coast-bang force commands and
resulting velocity and position? |
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Definition
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Term
| When should I use either? |
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Definition
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Term
| What is a bang-coast-bang input? |
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Definition
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Term
| What is a bang-bang input? |
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Definition
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Term
| How can we choose/tune the gains? |
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Definition
| (Ziegler-Nichols is one way) |
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Term
| What is the function of each of the gains in P,PD,PID controls? |
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Definition
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Term
P, PD, and PID control
- What’s the basic setup? |
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Definition
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Term
| What’s the basic purpose of each block in a generic block diagram? |
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Definition
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Term
| what are the Basic Arduino functions |
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Definition
- pinMode
- analogRead
- analogWrite (actually PWM)
- digitalRead
- digitalWrite |
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Term
Serial Comm. with Serial Monitor
why is it usefule and how to set up? |
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Definition
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Term
| what are Basics of control structures |
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Definition
What are the comparison operators?
- If… else
- Switch… case
- For loops
- While loops
- Do-while loops |
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Term
| How are functions defined? |
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Definition
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Term
| Know variable scope within a sketch (Arduino program) |
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Definition
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Term
| What is the basic setup of an Arduino program? |
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Definition
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Definition
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Term
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Definition
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Term
| How is a variable declared? |
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Definition
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Term
Data types
- Names
- Range of possible values |
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Definition
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Term
| in serial communication, What are the parameters we have to set? |
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Definition
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Term
| what is serial communication? |
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Definition
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Term
| in PWM What is duty cycle? |
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Definition
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Term
| How does PWM approximate analog? |
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Definition
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Term
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Definition
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Term
| What pins on the RedBoard are analog? Digital? |
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Definition
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Term
| Basic equation/relationship between analog and digital in ADC |
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Definition
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Term
| Effect of number of bits on resolution (8bit vs 10bit) |
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Definition
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Term
| Analog vs Digital (conceptually) |
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Definition
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