;% 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 ;% (defun servo () (data :name 'servo :columns '(motor screw pgain vgain $class) :egs '( (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) )))