An acrobot is a planar robot with a passive actuator in its first joint. The control problem of the acrobot tries to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up problem, when the robot has to rise itself through swinging up as a human acrobat does, and the balancing problem, when the robot has to maintain itself on the inverted pendulum position. We have developed three controllers for the swing-up problem applied to two types of motors: small and big. For small motors, we used the SARSA controller and the PD with a trajectory generator. For big motors, we propose a new controller to control the acrobot, a PWM controller. All controllers except SARSA are tuned using a Genetic Algorithm.

Use of Machine Learning (ML) methodologies in optical communications has paved a new pathway. In this paper, firstly, we discuss the use of ML methodologies for reducing optical fiber nonlinearities, nonlinearity compensation, fault detection and optical performance monitoring. Then we present our recent work where we compare RL-SARSA and SVM based method with conventional method. The results show that RL-SARSA and SVM methods are successful candidates in mitigating the nonlinearities in proposed system as compared to conventional optical communication system.