RESUMO
Selecting the right tuning parameters for algorithms is a pravelent problem in machine learning that can significantly affect the performance of algorithms. Data-efficient optimization algorithms, such as Bayesian optimization, have been used to automate this process. During experiments on real-world systems such as robotic platforms these methods can evaluate unsafe parameters that lead to safety-critical system failures and can destroy the system. Recently, a safe Bayesian optimization algorithm, called SafeOpt, has been developed, which guarantees that the performance of the system never falls below a critical value; that is, safety is defined based on the performance function. However, coupling performance and safety is often not desirable in practice, since they are often opposing objectives. In this paper, we present a generalized algorithm that allows for multiple safety constraints separate from the objective. Given an initial set of safe parameters, the algorithm maximizes performance but only evaluates parameters that satisfy safety for all constraints with high probability. To this end, it carefully explores the parameter space by exploiting regularity assumptions in terms of a Gaussian process prior. Moreover, we show how context variables can be used to safely transfer knowledge to new situations and tasks. We provide a theoretical analysis and demonstrate that the proposed algorithm enables fast, automatic, and safe optimization of tuning parameters in experiments on a quadrotor vehicle.
RESUMO
BACKGROUND: Public access defibrillation programs can improve survival after out-of-hospital cardiac arrest, but automated external defibrillators (AEDs) are rarely available for bystander use at the scene. Drones are an emerging technology that can deliver an AED to the scene of an out-of-hospital cardiac arrest for bystander use. We hypothesize that a drone network designed with the aid of a mathematical model combining both optimization and queuing can reduce the time to AED arrival. METHODS: We applied our model to 53 702 out-of-hospital cardiac arrests that occurred in the 8 regions of the Toronto Regional RescuNET between January 1, 2006, and December 31, 2014. Our primary analysis quantified the drone network size required to deliver an AED 1, 2, or 3 minutes faster than historical median 911 response times for each region independently. A secondary analysis quantified the reduction in drone resources required if RescuNET was treated as a large coordinated region. RESULTS: The region-specific analysis determined that 81 bases and 100 drones would be required to deliver an AED ahead of median 911 response times by 3 minutes. In the most urban region, the 90th percentile of the AED arrival time was reduced by 6 minutes and 43 seconds relative to historical 911 response times in the region. In the most rural region, the 90th percentile was reduced by 10 minutes and 34 seconds. A single coordinated drone network across all regions required 39.5% fewer bases and 30.0% fewer drones to achieve similar AED delivery times. CONCLUSIONS: An optimized drone network designed with the aid of a novel mathematical model can substantially reduce the AED delivery time to an out-of-hospital cardiac arrest event.