Perte d'audition due au bruit

Résumé

La perte auditive due au bruit (NIHL- Noise Induced Hearing Loss) est la perte irrémédiable d'audition due à l'exposition à des sons trop forts. Cette perte d'audition peut survenir subitement après un traumatisme sonore aigu, ou insidieusement à travers le temps, à la suite de multiples expositions à des sons trop forts. La perte d'audition associée à l'âge, la presbyacousie, est en réalité fortement liée à la perte auditive due au bruit, surtout dans le cas d'une exposition au bruit pendant la jeunesse. Épidémiologie La perte d'audition due au bruit est une déficience auditive évitable qui affecte les personnes de tout âge et de toutes conditions. Malheureusement, environ 30 millions d'adultes aux États-Unis sont exposés à des niveaux sonores dangereux en milieu de travail. Parmi ces 30 millions de personnes, une sur quatre sera atteinte d'une perte auditive permanente à la suite de son activité professionnelle. Même si cette forme de surdité atteint pr

Source officielle

https://fr.wikipedia.org/wiki/Perte_d'audition_due_au_bruit

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, ,

In this paper we study the automatic synthesis of robotic controllers for the coordinated movement of multiple mobile robots. The algorithm used to learn the controllers is a noise-resistant version of Particle Swarm Optimization, which is applied in two different settings: centralized and distributed learning. In centralized learning, every robot runs the same controller and the performance is evaluated with a global metric. In the distributed learning, robots run different controllers and the performance is evaluated independently on each robot with a local metric. Our results from learning in simulation show that it is possible to learn a cooperative task in a fully distributed way employing a local metric, and we validate the simulations with real robot experiments where the best solutions from distributed and centralized learning achieve similar performances.

2014

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Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors

Ezequiel Leonardo Di Mario, Alcherio Martinoli, Inaki Navarro Oiza

In this paper we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots. We use a noise-resistant version of Particle Swarm Optimization to learn in simulation a set of 50 weights of a plastic artificial neural network. Two learning strategies are applied: homogeneous centralized learning, in which every robot runs the same controller and the performance is evaluated externally with a global metric, and heterogeneous distributed learning, in which robots run different controllers and the performance is evaluated independently on each robot with a local metric. The two sets of metrics enforce Reynolds’ flocking rules, resulting in a good correspondence between the metrics and the flocking behaviors obtained. Results demonstrate that it is possible to learn the collective task using both learning approaches. The solutions from the centralized learning have higher fitness and lower standard deviation than those learned in a distributed manner. We test the learned controllers in real robot experiments and also show in simulation the performance of the controllers with increasing number of robots.

The MIT Press2015

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The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance

Ezequiel Leonardo Di Mario, Alcherio Martinoli, Inaki Navarro Oiza

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. Increasing the controller complexity may be a desirable choice in order to obtain an improved performance. However, these two aspects may pose a considerable challenge on the optimization of robotic controllers. In this paper, we study the trade-offs between the complexity of reactive controllers and the complexity of the environment in the optimization of multi-robot obstacle avoidance for resource-constrained platforms. The optimization is carried out in simulation using a distributed, noise-resistant implementation of Particle Swarm Optimization, and the resulting controllers are evaluated both in simulation and with real robots. We show that in a simple environment, linear controllers with only two parameters perform similarly to more complex non-linear controllers with up to twenty parameters, even though the latter ones require more evaluation time to be learned. In a more complicated environment, we show that there is an increase in performance when the controllers can differentiate between front and backwards sensors, but increasing further the number of sensors and adding non-linear activation functions provide no further benefit. In both environments, augmenting reactive control laws with simple memory capabilities causes the highest increase in performance. We also show that in the complex environment the performance measurements are noisier, the optimal parameter region is smaller, and more iterations are required for the optimization process to converge.

2014

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