% 1. Title: Servo Data
% 
% 2. Sources
%    (a) Created by: Karl Ulrich (MIT) in 1986
%    (b) Donor: Ross Quinlan
%    (c) Date: May 1993
% 
% 3. Past Usage:
% 
%    1.  Quinlan, J.R., "Learning with continuous classes", Proc. 5th Australian
%        Joint Conference on AI (eds A. Adams and L. Sterling), Singapore: World
%        Scientific, 1992
%  
%    2.  Quinlan, J.R., "Combining instance-based and model-based learning",
%        Proc. ML'93 (ed P.E. Utgoff), San Mateo: Morgan Kaufmann 1993
%  
%        Results on 10-way cross-validation:
%  
%        Method                   Average         Relative
%        ------                    |Err|           Error
%                                 -------         --------
%  
%        Guessing mean              1.15            1.00
%        Instance-based              .52             .26
%        Regression                  .86             .49
%        Model trees                 .45             .29
%        Neural nets (G. Hinton)     .30             .11
%        Regression+instances        .48             .20
%        Model trees+instances       .30             .17
%        NN+instances                .29             .11
%  
% 4. Relevant Information:
% 
%    Ross Quinlan:
% 
%    This data was given to me by Karl Ulrich at MIT in 1986.  I didn't 
%    record his description at the time, but here's his subsequent (1992) 
%    recollection:
%  
%      "I seem to remember that the data was from a simulation of a servo
%      system involving a servo amplifier, a motor, a lead screw/nut, and a
%      sliding carriage of some sort.  It may have been on of the
%      translational axes of a robot on the 9th floor of the AI lab.  In any
%      case, the output value is almost certainly a rise time, or the time
%      required for the system to respond to a step change in a position set
%      point."
%  
%    (Quinlan, ML'93)
% 
%    "This is an interesting collection of data provided by Karl 
%     Ulrich.  It covers an extremely non-linear phenomenon - predicting the 
%     rise time of a servomechanism in terms of two (continuous) gain settings
%     and two (discrete) choices of mechanical linkages."
% 
% 5. Number of Instances: 167
% 
% 6. Number of Attributes: 4 + numeric class attribute
% 
% 7. Attribute information:
% 
%    1. motor: A,B,C,D,E
%    2. screw: A,B,C,D,E
%    3. pgain: 3,4,5,6
%    4. vgain: 1,2,3,4,5
%    5. class: 0.13 to 7.10
% 
% 8. Missing Attribute Values: None
% 

@relation 'servo'
@attribute motor { E, B, D, C, A}
@attribute screw { E, D, A, B, C}
@attribute pgain { 5, 6, 4, 3}
@attribute vgain { 4, 5, 3, 2, 1}
@attribute class real
@data
E,E,5,4,0.281251
B,D,6,5,0.506252
D,D,4,3,0.356251
B,A,3,2,5.50003
D,B,6,5,0.356251
E,C,4,3,0.806255
C,A,3,2,5.10001
A,A,3,2,5.70004
C,A,6,5,0.768754
D,A,4,1,1.03125
B,E,6,5,0.468752
E,C,5,4,0.393752
B,C,4,1,0.281251
E,C,3,1,1.1
C,C,5,4,0.506252
E,B,3,2,1.89999
D,C,3,1,0.900001
B,C,5,4,0.468752
B,B,5,4,0.543753
C,E,4,2,0.20625
E,D,4,3,0.918755
A,D,4,3,1.10625
B,C,6,5,0.468752
A,C,4,2,0.581253
A,B,6,5,0.581253
E,C,6,5,0.393752
A,A,3,1,5.30002
A,E,4,2,0.468752
C,D,3,2,1.89999
B,B,3,2,4.29998
B,E,4,2,0.356251
B,C,3,1,3.89996
C,E,4,1,0.543753
C,A,6,2,0.543753
C,C,6,5,0.506252
E,E,3,2,1.1
D,E,3,1,0.5
E,C,4,2,0.13125
C,B,6,5,0.543753
C,D,4,1,0.20625
D,B,4,1,0.693754
C,B,4,3,0.881255
C,C,4,3,0.918755
B,D,4,1,0.243751
B,A,5,3,0.656254
A,B,4,3,1.03125
B,A,4,1,0.806255
E,D,4,2,0.431252
C,E,3,2,4.09997
D,D,3,1,0.700001
D,A,6,5,0.431252
C,B,3,2,4.49999
B,E,3,2,4.7
C,D,5,4,0.506252
B,B,4,2,0.731254
A,E,4,3,1.14375
A,A,4,2,0.881255
B,D,4,3,1.03125
E,A,3,2,6.9001
B,C,4,3,0.956256
E,B,4,2,0.581253
E,A,5,4,0.581253
E,B,5,4,0.431252
C,A,6,1,0.543753
D,A,4,3,0.731254
C,B,4,2,0.506252
D,B,3,2,1.69999
D,C,3,2,1.3
C,A,5,2,0.543753
B,D,4,2,0.393752
B,A,6,5,0.806255
D,A,4,2,0.281251
C,B,5,4,0.543753
A,E,6,5,0.506252
A,C,4,1,0.356251
A,E,5,4,0.506252
E,C,4,1,0.281251
B,B,3,1,4.49999
A,D,3,2,4.7
E,D,3,2,1.3
E,A,3,1,7.10011
A,C,6,5,0.506252
C,E,5,4,0.468752
C,A,5,4,0.768754
E,A,6,5,0.581253
B,E,5,4,0.468752
E,E,4,3,0.843755
B,A,4,2,0.843755
B,D,5,4,0.506252
C,C,4,2,0.356251
A,A,5,3,0.693754
C,E,4,3,1.06875
A,A,4,3,1.10625
C,A,6,3,0.543753
A,E,4,1,0.243751
A,D,6,5,0.506252
E,D,3,1,0.900001
C,B,4,1,0.431252
B,D,3,2,4.09997
B,B,4,3,0.993756
B,C,4,2,0.506252
A,E,3,2,4.49999
B,D,3,1,3.89996
D,B,5,4,0.393752
C,C,4,1,0.243751
C,D,4,2,0.243751
E,B,4,1,1.18124
D,B,3,1,1.3
E,B,6,5,0.431252
D,A,3,1,2.49998
A,D,5,4,0.506252
C,A,4,1,0.731254
C,D,6,5,0.468752
B,A,4,3,1.06875
E,A,4,3,1.21874
A,A,4,1,0.843755
A,C,4,3,0.993756
E,D,6,5,0.318751
E,A,4,2,0.993756
C,D,3,1,1.49999
B,B,4,1,0.581253
C,A,4,2,0.768754
C,A,5,1,0.543753
C,E,3,1,1.3
C,A,3,1,4.29998
C,A,4,3,1.03125
C,C,3,1,1.89999
D,A,5,4,0.431252
A,B,5,4,0.581253
C,C,3,2,4.29998
E,D,5,4,0.318751
D,C,4,3,0.543753
E,E,6,5,0.281251
D,B,4,2,0.356251
A,D,4,2,0.468752
B,B,6,5,0.543753
A,B,4,1,0.618753
A,C,5,4,0.506252
B,E,4,1,0.20625
C,B,3,1,3.89996
E,E,4,2,0.506252
B,E,4,3,1.10625
A,E,3,1,3.89996
A,B,4,2,0.806255
A,C,3,1,3.89996
E,C,3,2,1.49999
B,A,3,1,5.10001
D,D,3,2,1.49999
A,C,3,2,4.7
E,A,4,1,0.881255
B,A,5,4,0.806255
E,E,3,1,0.700001
D,E,3,2,0.900001
E,B,3,1,1.49999
A,D,4,1,0.243751
A,D,3,1,4.09997
E,B,4,3,0.993756
A,B,3,1,4.7
D,B,4,3,0.581253
A,A,5,4,0.806255
D,A,3,2,2.69998
C,E,6,5,0.468752
B,C,3,2,4.49999
B,E,3,1,3.69997
C,D,4,3,0.956256
A,B,3,2,4.49999
A,A,6,5,0.806255