The various vision-based tactile sensors have been developed for robotic perception in recent years. In this paper, the novel soft robotic finger embedded with the visual sensor is proposed for perception. It consists of a colored soft inner chamber, an outer structure, and an endoscope camera. The bending perception algorithm based on image preprocessing and deep learning is proposed. The boundary of color regions and the position of marker dots are extracted from the inner chamber image and label image, respectively. Then the convolutional neural network with multi-task learning is trained to obtain bending states of the finger. Finally, the experiments are implemented to verify the effectiveness of the proposed method.

Advanced machine learning techniques like Gaussian process regression and multi-task learning are novel in the area of wine price prediction; previous research in this area being restricted to parametric linear regression models when predicting wine prices. Using historical price data of the 100 wines in the Liv-Ex 100 index, the main contributions of this paper to the field are, firstly, a clustering of the wines into two distinct clusters based on autocorrelation. Secondly, an implementation of Gaussian process regression on these wines with predictive accuracy surpassing both the trivial and simple ARMA and GARCH time series prediction benchmarks. Lastly, an implementation of an algorithm which performs multi-task feature learning with kernels on the wine returns as an extension to our optimal Gaussian process regression model. Using the optimal covariance kernel from Gaussian process regression, we achieve predictive results which are comparable to that of Gaussian process regression. Altogether, our research suggests that there is potential in using advanced machine learning techniques in wine price prediction. (JEL Classifications: C6, G12)