Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection

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Publisher : Springer Nature
ISBN 13 : 9811562636
Total Pages : 149 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection by : Xuefeng Zhou

Download or read book Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection written by Xuefeng Zhou and published by Springer Nature. This book was released on 2020-01-01 with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book focuses on robot introspection, which has a direct impact on physical human-robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is a direct way to improve autonomous behaviors. To this end, the authors start by considering the underlying pattern of multimodal observation during robot manipulation, which can effectively be modeled as a parametric hidden Markov model (HMM). They then adopt a nonparametric Bayesian approach in defining a prior using the hierarchical Dirichlet process (HDP) on the standard HMM parameters, known as the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM). The HDP-HMM can examine an HMM with an unbounded number of possible states and allows flexibility in the complexity of the learned model and the development of reliable and scalable variational inference methods. This book is a valuable reference resource for researchers and designers in the field of robot learning and multimodal perception, as well as for senior undergraduate and graduate university students.

Bayesian Nonparametrics

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Publisher : Cambridge University Press
ISBN 13 : 1139484605
Total Pages : 309 pages
Book Rating : 4.1/5 (394 download)

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Book Synopsis Bayesian Nonparametrics by : Nils Lid Hjort

Download or read book Bayesian Nonparametrics written by Nils Lid Hjort and published by Cambridge University Press. This book was released on 2010-04-12 with total page 309 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bayesian nonparametrics works - theoretically, computationally. The theory provides highly flexible models whose complexity grows appropriately with the amount of data. Computational issues, though challenging, are no longer intractable. All that is needed is an entry point: this intelligent book is the perfect guide to what can seem a forbidding landscape. Tutorial chapters by Ghosal, Lijoi and Prünster, Teh and Jordan, and Dunson advance from theory, to basic models and hierarchical modeling, to applications and implementation, particularly in computer science and biostatistics. These are complemented by companion chapters by the editors and Griffin and Quintana, providing additional models, examining computational issues, identifying future growth areas, and giving links to related topics. This coherent text gives ready access both to underlying principles and to state-of-the-art practice. Specific examples are drawn from information retrieval, NLP, machine vision, computational biology, biostatistics, and bioinformatics.

27th European Symposium on Computer Aided Process Engineering

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Publisher : Elsevier
ISBN 13 : 0444639705
Total Pages : 3064 pages
Book Rating : 4.4/5 (446 download)

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Book Synopsis 27th European Symposium on Computer Aided Process Engineering by :

Download or read book 27th European Symposium on Computer Aided Process Engineering written by and published by Elsevier. This book was released on 2017-09-21 with total page 3064 pages. Available in PDF, EPUB and Kindle. Book excerpt: 27th European Symposium on Computer Aided Process Engineering, Volume 40 contains the papers presented at the 27th European Society of Computer-Aided Process Engineering (ESCAPE) event held in Barcelona, October 1-5, 2017. It is a valuable resource for chemical engineers, chemical process engineers, researchers in industry and academia, students, and consultants for chemical industries. - Presents findings and discussions from the 27th European Society of Computer-Aided Process Engineering (ESCAPE) event

Decision Making Under Uncertainty

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Publisher : MIT Press
ISBN 13 : 0262331713
Total Pages : 350 pages
Book Rating : 4.2/5 (623 download)

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Book Synopsis Decision Making Under Uncertainty by : Mykel J. Kochenderfer

Download or read book Decision Making Under Uncertainty written by Mykel J. Kochenderfer and published by MIT Press. This book was released on 2015-07-24 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to decision making under uncertainty from a computational perspective, covering both theory and applications ranging from speech recognition to airborne collision avoidance. Many important problems involve decision making under uncertainty—that is, choosing actions based on often imperfect observations, with unknown outcomes. Designers of automated decision support systems must take into account the various sources of uncertainty while balancing the multiple objectives of the system. This book provides an introduction to the challenges of decision making under uncertainty from a computational perspective. It presents both the theory behind decision making models and algorithms and a collection of example applications that range from speech recognition to aircraft collision avoidance. Focusing on two methods for designing decision agents, planning and reinforcement learning, the book covers probabilistic models, introducing Bayesian networks as a graphical model that captures probabilistic relationships between variables; utility theory as a framework for understanding optimal decision making under uncertainty; Markov decision processes as a method for modeling sequential problems; model uncertainty; state uncertainty; and cooperative decision making involving multiple interacting agents. A series of applications shows how the theoretical concepts can be applied to systems for attribute-based person search, speech applications, collision avoidance, and unmanned aircraft persistent surveillance. Decision Making Under Uncertainty unifies research from different communities using consistent notation, and is accessible to students and researchers across engineering disciplines who have some prior exposure to probability theory and calculus. It can be used as a text for advanced undergraduate and graduate students in fields including computer science, aerospace and electrical engineering, and management science. It will also be a valuable professional reference for researchers in a variety of disciplines.

Multisensor Data Fusion

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Publisher : CRC Press
ISBN 13 : 1482263750
Total Pages : 639 pages
Book Rating : 4.4/5 (822 download)

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Book Synopsis Multisensor Data Fusion by : Hassen Fourati

Download or read book Multisensor Data Fusion written by Hassen Fourati and published by CRC Press. This book was released on 2017-12-19 with total page 639 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multisensor Data Fusion: From Algorithms and Architectural Design to Applications covers the contemporary theory and practice of multisensor data fusion, from fundamental concepts to cutting-edge techniques drawn from a broad array of disciplines. Featuring contributions from the world’s leading data fusion researchers and academicians, this authoritative book: Presents state-of-the-art advances in the design of multisensor data fusion algorithms, addressing issues related to the nature, location, and computational ability of the sensors Describes new materials and achievements in optimal fusion and multisensor filters Discusses the advantages and challenges associated with multisensor data fusion, from extended spatial and temporal coverage to imperfection and diversity in sensor technologies Explores the topology, communication structure, computational resources, fusion level, goals, and optimization of multisensor data fusion system architectures Showcases applications of multisensor data fusion in fields such as medicine, transportation's traffic, defense, and navigation Multisensor Data Fusion: From Algorithms and Architectural Design to Applications is a robust collection of modern multisensor data fusion methodologies. The book instills a deeper understanding of the basics of multisensor data fusion as well as a practical knowledge of the problems that can be faced during its execution.

Bayesian Data Analysis, Third Edition

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Publisher : CRC Press
ISBN 13 : 1439840954
Total Pages : 677 pages
Book Rating : 4.4/5 (398 download)

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Book Synopsis Bayesian Data Analysis, Third Edition by : Andrew Gelman

Download or read book Bayesian Data Analysis, Third Edition written by Andrew Gelman and published by CRC Press. This book was released on 2013-11-01 with total page 677 pages. Available in PDF, EPUB and Kindle. Book excerpt: Now in its third edition, this classic book is widely considered the leading text on Bayesian methods, lauded for its accessible, practical approach to analyzing data and solving research problems. Bayesian Data Analysis, Third Edition continues to take an applied approach to analysis using up-to-date Bayesian methods. The authors—all leaders in the statistics community—introduce basic concepts from a data-analytic perspective before presenting advanced methods. Throughout the text, numerous worked examples drawn from real applications and research emphasize the use of Bayesian inference in practice. New to the Third Edition Four new chapters on nonparametric modeling Coverage of weakly informative priors and boundary-avoiding priors Updated discussion of cross-validation and predictive information criteria Improved convergence monitoring and effective sample size calculations for iterative simulation Presentations of Hamiltonian Monte Carlo, variational Bayes, and expectation propagation New and revised software code The book can be used in three different ways. For undergraduate students, it introduces Bayesian inference starting from first principles. For graduate students, the text presents effective current approaches to Bayesian modeling and computation in statistics and related fields. For researchers, it provides an assortment of Bayesian methods in applied statistics. Additional materials, including data sets used in the examples, solutions to selected exercises, and software instructions, are available on the book’s web page.

14th International Symposium on Process Systems Engineering

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Publisher : Elsevier
ISBN 13 : 0323853668
Total Pages : 2304 pages
Book Rating : 4.3/5 (238 download)

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Book Synopsis 14th International Symposium on Process Systems Engineering by : Yoshiyuki Yamashita

Download or read book 14th International Symposium on Process Systems Engineering written by Yoshiyuki Yamashita and published by Elsevier. This book was released on 2022-06-24 with total page 2304 pages. Available in PDF, EPUB and Kindle. Book excerpt: 14th International Symposium on Process Systems Engineering, Volume 49 brings together the international community of researchers and engineers interested in computing-based methods in process engineering. The conference highlights the contributions of the PSE community towards the sustainability of modern society and is based on the 2021 event held in Tokyo, Japan, July 1-23, 2021. It contains contributions from academia and industry, establishing the core products of PSE, defining the new and changing scope of our results, and covering future challenges. Plenary and keynote lectures discuss real-world challenges (globalization, energy, environment and health) and contribute to discussions on the widening scope of PSE versus the consolidation of the core topics of PSE. - Highlights how the Process Systems Engineering community contributes to the sustainability of modern society - Establishes the core products of Process Systems Engineering - Defines the future challenges of Process Systems Engineering

Experts in Uncertainty

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Publisher : Oxford University Press, USA
ISBN 13 : 0195064658
Total Pages : 334 pages
Book Rating : 4.1/5 (95 download)

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Book Synopsis Experts in Uncertainty by : Roger Cooke

Download or read book Experts in Uncertainty written by Roger Cooke and published by Oxford University Press, USA. This book was released on 1991 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an extensive survey and critical examination of the literature on the use of expert opinion in scientific inquiry and policy making. The elicitation, representation, and use of expert opinion is increasingly important for two reasons: advancing technology leads to more and more complex decision problems, and technologists are turning in greater numbers to "expert systems" and other similar artifacts of artificial intelligence. Cooke here considers how expert opinion is being used today, how an expert's uncertainty is or should be represented, how people do or should reason with uncertainty, how the quality and usefulness of expert opinion can be assessed, and how the views of several experts might be combined. He argues for the importance of developing practical models with a transparent mathematic foundation for the use of expert opinion in science, and presents three tested models, termed "classical," "Bayesian," and "psychological scaling." Detailed case studies illustrate how they can be applied to a diversity of real problems in engineering and planning.

Bayesian Statistical Modelling

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Publisher : John Wiley & Sons
ISBN 13 : 0470035935
Total Pages : 596 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Bayesian Statistical Modelling by : Peter Congdon

Download or read book Bayesian Statistical Modelling written by Peter Congdon and published by John Wiley & Sons. This book was released on 2007-04-04 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bayesian methods combine the evidence from the data at hand with previous quantitative knowledge to analyse practical problems in a wide range of areas. The calculations were previously complex, but it is now possible to routinely apply Bayesian methods due to advances in computing technology and the use of new sampling methods for estimating parameters. Such developments together with the availability of freeware such as WINBUGS and R have facilitated a rapid growth in the use of Bayesian methods, allowing their application in many scientific disciplines, including applied statistics, public health research, medical science, the social sciences and economics. Following the success of the first edition, this reworked and updated book provides an accessible approach to Bayesian computing and analysis, with an emphasis on the principles of prior selection, identification and the interpretation of real data sets. The second edition: Provides an integrated presentation of theory, examples, applications and computer algorithms. Discusses the role of Markov Chain Monte Carlo methods in computing and estimation. Includes a wide range of interdisciplinary applications, and a large selection of worked examples from the health and social sciences. Features a comprehensive range of methodologies and modelling techniques, and examines model fitting in practice using Bayesian principles. Provides exercises designed to help reinforce the reader’s knowledge and a supplementary website containing data sets and relevant programs. Bayesian Statistical Modelling is ideal for researchers in applied statistics, medical science, public health and the social sciences, who will benefit greatly from the examples and applications featured. The book will also appeal to graduate students of applied statistics, data analysis and Bayesian methods, and will provide a great source of reference for both researchers and students. Praise for the First Edition: “It is a remarkable achievement to have carried out such a range of analysis on such a range of data sets. I found this book comprehensive and stimulating, and was thoroughly impressed with both the depth and the range of the discussions it contains.” – ISI - Short Book Reviews “This is an excellent introductory book on Bayesian modelling techniques and data analysis” – Biometrics “The book fills an important niche in the statistical literature and should be a very valuable resource for students and professionals who are utilizing Bayesian methods.” – Journal of Mathematical Psychology

Learning for Adaptive and Reactive Robot Control

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Publisher : MIT Press
ISBN 13 : 0262046164
Total Pages : 425 pages
Book Rating : 4.2/5 (62 download)

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Book Synopsis Learning for Adaptive and Reactive Robot Control by : Aude Billard

Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-01 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Information-Driven Planning and Control

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Publisher : MIT Press
ISBN 13 : 0262362392
Total Pages : 683 pages
Book Rating : 4.2/5 (623 download)

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Book Synopsis Information-Driven Planning and Control by : Silvia Ferrari

Download or read book Information-Driven Planning and Control written by Silvia Ferrari and published by MIT Press. This book was released on 2021-07-06 with total page 683 pages. Available in PDF, EPUB and Kindle. Book excerpt: A unified framework for developing planning and control algorithms for active sensing, with examples of applications for specific sensor technologies. Active sensor systems, increasingly deployed in such applications as unmanned vehicles, mobile robots, and environmental monitoring, are characterized by a high degree of autonomy, reconfigurability, and redundancy. This book is the first to offer a unified framework for the development of planning and control algorithms for active sensing, with examples of applications for a range of specific sensor technologies. The methods presented can be characterized as information-driven because their goal is to optimize the value of information, rather than to optimize traditional guidance and navigation objectives.

28th European Symposium on Computer Aided Process Engineering

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Publisher : Elsevier
ISBN 13 : 0444642366
Total Pages : 1766 pages
Book Rating : 4.4/5 (446 download)

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Book Synopsis 28th European Symposium on Computer Aided Process Engineering by : Stefan Radl

Download or read book 28th European Symposium on Computer Aided Process Engineering written by Stefan Radl and published by Elsevier. This book was released on 2018-06-26 with total page 1766 pages. Available in PDF, EPUB and Kindle. Book excerpt: 28th European Symposium on Computer Aided Process Engineering, Volume 43 contains the papers presented at the 28th European Society of Computer-Aided Process Engineering (ESCAPE) event held in Graz, Austria June 10-13 , 2018. It is a valuable resource for chemical engineers, chemical process engineers, researchers in industry and academia, students, and consultants for chemical industries. Presents findings and discussions from the 28th European Society of Computer-Aided Process Engineering (ESCAPE) event

Handling Uncertainty and Networked Structure in Robot Control

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Publisher : Springer
ISBN 13 : 3319263277
Total Pages : 407 pages
Book Rating : 4.3/5 (192 download)

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Book Synopsis Handling Uncertainty and Networked Structure in Robot Control by : Lucian Bușoniu

Download or read book Handling Uncertainty and Networked Structure in Robot Control written by Lucian Bușoniu and published by Springer. This book was released on 2016-02-06 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams. Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com. The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer vision, nonlinear and learning control, and multi-agent systems.

Applied Bayesian Modelling

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Publisher : John Wiley & Sons
ISBN 13 : 1118895053
Total Pages : 464 pages
Book Rating : 4.1/5 (188 download)

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Book Synopsis Applied Bayesian Modelling by : Peter Congdon

Download or read book Applied Bayesian Modelling written by Peter Congdon and published by John Wiley & Sons. This book was released on 2014-05-23 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an accessible approach to Bayesian computing and data analysis, with an emphasis on the interpretation of real data sets. Following in the tradition of the successful first edition, this book aims to make a wide range of statistical modeling applications accessible using tested code that can be readily adapted to the reader's own applications. The second edition has been thoroughly reworked and updated to take account of advances in the field. A new set of worked examples is included. The novel aspect of the first edition was the coverage of statistical modeling using WinBUGS and OPENBUGS. This feature continues in the new edition along with examples using R to broaden appeal and for completeness of coverage.

Intrinsically Motivated Learning in Natural and Artificial Systems

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Publisher : Springer Science & Business Media
ISBN 13 : 3642323758
Total Pages : 453 pages
Book Rating : 4.6/5 (423 download)

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Book Synopsis Intrinsically Motivated Learning in Natural and Artificial Systems by : Gianluca Baldassarre

Download or read book Intrinsically Motivated Learning in Natural and Artificial Systems written by Gianluca Baldassarre and published by Springer Science & Business Media. This book was released on 2013-03-29 with total page 453 pages. Available in PDF, EPUB and Kindle. Book excerpt: It has become clear to researchers in robotics and adaptive behaviour that current approaches are yielding systems with limited autonomy and capacity for self-improvement. To learn autonomously and in a cumulative fashion is one of the hallmarks of intelligence, and we know that higher mammals engage in exploratory activities that are not directed to pursue goals of immediate relevance for survival and reproduction but are instead driven by intrinsic motivations such as curiosity, interest in novel stimuli or surprising events, and interest in learning new behaviours. The adaptive value of such intrinsically motivated activities lies in the fact that they allow the cumulative acquisition of knowledge and skills that can be used later to accomplish fitness-enhancing goals. Intrinsic motivations continue during adulthood, and in humans they underlie lifelong learning, artistic creativity, and scientific discovery, while they are also the basis for processes that strongly affect human well-being, such as the sense of competence, self-determination, and self-esteem. This book has two aims: to present the state of the art in research on intrinsically motivated learning, and to identify the related scientific and technological open challenges and most promising research directions. The book introduces the concept of intrinsic motivation in artificial systems, reviews the relevant literature, offers insights from the neural and behavioural sciences, and presents novel tools for research. The book is organized into six parts: the chapters in Part I give general overviews on the concept of intrinsic motivations, their function, and possible mechanisms for implementing them; Parts II, III, and IV focus on three classes of intrinsic motivation mechanisms, those based on predictors, on novelty, and on competence; Part V discusses mechanisms that are complementary to intrinsic motivations; and Part VI introduces tools and experimental frameworks for investigating intrinsic motivations. The contributing authors are among the pioneers carrying out fundamental work on this topic, drawn from related disciplines such as artificial intelligence, robotics, artificial life, evolution, machine learning, developmental psychology, cognitive science, and neuroscience. The book will be of value to graduate students and academic researchers in these domains, and to engineers engaged with the design of autonomous, adaptive robots. The contributing authors are among the pioneers carrying out fundamental work on this topic, drawn from related disciplines such as artificial intelligence, robotics, artificial life, evolution, machine learning, developmental psychology, cognitive science, and neuroscience. The book will be of value to graduate students and academic researchers in these domains, and to engineers engaged with the design of autonomous, adaptive robots.

Bayesian Thinking in Biostatistics

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Author :
Publisher : CRC Press
ISBN 13 : 1000353001
Total Pages : 564 pages
Book Rating : 4.0/5 (3 download)

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Book Synopsis Bayesian Thinking in Biostatistics by : Gary L Rosner

Download or read book Bayesian Thinking in Biostatistics written by Gary L Rosner and published by CRC Press. This book was released on 2021-03-16 with total page 564 pages. Available in PDF, EPUB and Kindle. Book excerpt: Praise for Bayesian Thinking in Biostatistics: "This thoroughly modern Bayesian book ...is a 'must have' as a textbook or a reference volume. Rosner, Laud and Johnson make the case for Bayesian approaches by melding clear exposition on methodology with serious attention to a broad array of illuminating applications. These are activated by excellent coverage of computing methods and provision of code. Their content on model assessment, robustness, data-analytic approaches and predictive assessments...are essential to valid practice. The numerous exercises and professional advice make the book ideal as a text for an intermediate-level course..." -Thomas Louis, Johns Hopkins University "The book introduces all the important topics that one would usually cover in a beginning graduate level class on Bayesian biostatistics. The careful introduction of the Bayesian viewpoint and the mechanics of implementing Bayesian inference in the early chapters makes it a complete self- contained introduction to Bayesian inference for biomedical problems....Another great feature for using this book as a textbook is the inclusion of extensive problem sets, going well beyond construed and simple problems. Many exercises consider real data and studies, providing very useful examples in addition to serving as problems." - Peter Mueller, University of Texas With a focus on incorporating sensible prior distributions and discussions on many recent developments in Bayesian methodologies, Bayesian Thinking in Biostatistics considers statistical issues in biomedical research. The book emphasizes greater collaboration between biostatisticians and biomedical researchers. The text includes an overview of Bayesian statistics, a discussion of many of the methods biostatisticians frequently use, such as rates and proportions, regression models, clinical trial design, and methods for evaluating diagnostic tests. Key Features Applies a Bayesian perspective to applications in biomedical science Highlights advances in clinical trial design Goes beyond standard statistical models in the book by introducing Bayesian nonparametric methods and illustrating their uses in data analysis Emphasizes estimation of biomedically relevant quantities and assessment of the uncertainty in this estimation Provides programs in the BUGS language, with variants for JAGS and Stan, that one can use or adapt for one's own research The intended audience includes graduate students in biostatistics, epidemiology, and biomedical researchers, in general Authors Gary L. Rosner is the Eli Kennerly Marshall, Jr., Professor of Oncology at the Johns Hopkins School of Medicine and Professor of Biostatistics at the Johns Hopkins Bloomberg School of Public Health. Purushottam (Prakash) W. Laud is Professor in the Division of Biostatistics, and Director of the Biostatistics Shared Resource for the Cancer Center, at the Medical College of Wisconsin. Wesley O. Johnson is professor Emeritus in the Department of Statistics as the University of California, Irvine.

Journal of statistical planning and inference

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Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.3/5 (758 download)

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Book Synopsis Journal of statistical planning and inference by : Elsevier Science (Firm)

Download or read book Journal of statistical planning and inference written by Elsevier Science (Firm) and published by . This book was released on 2002 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: