Artificial Intelligence and Robotics Commons^™

Enhancing Robot Perception Using Human Teammates, Jean Oh, Arne Suppe, Anthony Stentz, Martial Hebert

Research Collection School Of Computing and Information Systems

In robotics research, perception is one of the most challenging tasks. In contrast to existing approaches that rely only on computer vision, we propose an alternative method for improving perception by learning from human teammates. To evaluate, we apply this idea to a door detection problem. A set of preliminary experiments has been completed using software agents with real vision data. Our results demonstrate that information inferred from teammate observations significantly improves the perception precision.

Artificial Immune Systems And Particle Swarm Optimization For Solutions To The General Adversarial Agents Problem, Jeremy Mange

Dissertations

The general adversarial agents problem is an abstract problem description touching on the fields of Artificial Intelligence, machine learning, decision theory, and game theory. The goal of the problem is, given one or more mobile agents, each identified as either “friendly" or “enemy", along with a specified environment state, to choose an action or series of actions from all possible valid choices for the next “timestep" or series thereof, in order to lead toward a specified outcome or set of outcomes. This dissertation explores approaches to this problem utilizing Artificial Immune Systems, Particle Swarm Optimization, and hybrid approaches, along with …

Delayed Insertion And Rule Effect Moderation Of Domain Knowledge For Reinforcement Learning, Teck-Hou Teng, Ah-Hwee Tan

Research Collection School Of Computing and Information Systems

Though not a fundamental pre-requisite to efficient machine learning, insertion of domain knowledge into adaptive virtual agent is nonetheless known to improve learning efficiency and reduce model complexity. Conventionally, domain knowledge is inserted prior to learning. Despite being effective, such approach may not always be feasible. Firstly, the effect of domain knowledge is assumed and can be inaccurate. Also, domain knowledge may not be available prior to learning. In addition, the insertion of domain knowledge can frame learning and hamper the discovery of more effective knowledge. Therefore, this work advances the use of domain knowledge by proposing to delay the …

Csc Senior Project: Nlpstats, Michael Mease

Computer Science and Software Engineering

Natural Language Processing has recently increased in popularity. The field of authorship analysis, specifically, uses various characteristics of text quantified by markers. NLPStats serves as a tool designed to streamline marker extraction based on user needs. A flexible query system allows for custom marker requests, adjustment of result formatting, and preprocessing options. Furthermore, an efficiently designed structure ensures that users retrieve information quickly. As a whole, NLPStats enables anyone, regardless of NLP experience, to extract important information about the text of a document.

Spoons: Netflix Outage Detection Using Microtext Classification, Eriq A. Augusitne

Master's Theses

Every week there are over a billion new posts to Twitter services and many of those messages contain feedback to companies about their services. One company that recognizes this unused source of information is Netflix. That is why Netflix initiated the development of a system that lets them respond to the millions of Twitter and Netflix users that are acting as sensors and reporting all types of user visible outages. This system enhances the feedback loop between Netflix and its customers by increasing the amount of customer feedback that Netflix receives and reducing the time it takes for Netflix to …

Joint Angle Tracking With Inertial Sensors, Mahmoud Ahmed El-Gohary

Dissertations and Theses

The need to characterize normal and pathological human movement has consistently driven researchers to develop new tracking devices and to improve movement analysis systems. Movement has traditionally been captured by either optical, magnetic, mechanical, structured light, or acoustic systems. All of these systems have inherent limitations. Optical systems are costly, require fixed cameras in a controlled environment, and suffer from problems of occlusion. Similarly, acoustic and structured light systems suffer from the occlusion problem. Magnetic and radio frequency systems suffer from electromagnetic disturbances, noise and multipath problems. Mechanical systems have physical constraints that limit the natural body movement. Recently, the …

Google And The World Brain, Dereck Daschke

Journal of Religion & Film

This is a film review of Google and the World Brain (2013) directed by Ben Lewis.

Object Detection And Recognition In Natural Settings, George William Dittmar

Dissertations and Theses

Much research as of late has focused on biologically inspired vision models that are based on our understanding of how the visual cortex processes information. One prominent example of such a system is HMAX [17]. HMAX attempts to simulate the biological process for object recognition in cortex based on the model proposed by Hubel & Wiesel [10]. This thesis investigates the ability of an HMAX-like system (GLIMPSE [20]) to perform object-detection in cluttered natural scenes. I evaluate these results using the StreetScenes database from MIT [1, 8]. This thesis addresses three questions: (1) Can the GLIMPSE-based object detection system replicate …

Towards Personalized Medicine Using Systems Biology And Machine Learning, Calin Voichita

Wayne State University Dissertations

The rate of acquiring biological data has greatly surpassed our ability to interpret it. At the same time, we have started to understand that evolution of many diseases such as cancer, are the results of the interplay between the disease itself and the immune system of the host. It is now well accepted that cancer is not a single disease, but a “complex collection of distinct genetic diseases united by common hallmarks”. Understanding the differences between such disease subtypes is key not only in providing adequate treatments for known subtypes but also identifying new ones. These unforeseen disease subtypes are …

Real-Time Control Of A Robot Arm Using An Inexpensive System For Electroencephalography Aided By Artificial Intelligence, James O'Connor

Computer Science Honors Papers

No abstract provided.

Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins

Electronic Theses and Dissertations

A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without …

Nonlinear Granger Causality And Its Application In Decoding Of Human Reaching Intentions, Mengting Liu

Doctoral Dissertations

Multi-electrode recording is a key technology that allows the brain mechanisms of decision making, cognition, and their breakdown in diseases to be studied from a network perspective. As the hypotheses concerning the role of neural interactions in cognitive paradigms become increasingly more elaborate, the ability to evaluate the direction of neural interactions in neural networks holds the key to distinguishing their functional significance.

Granger Causality (GC) is used to detect the directional influence of signals between multiple locations. To extract the nonlinear directional flow, GC was completed through a nonlinear predictive approach using radial basis functions (RBF). Furthermore, to obtain …

Interpreting Individual Classifications Of Hierarchical Networks, Will Landecker, Michael David Thomure, Luis M.A. Bettencourt, Melanie Mitchell, Garrett T. Kenyon, Steven P. Brumby

Computer Science Faculty Publications and Presentations

Hierarchical networks are known to achieve high classification accuracy on difficult machine-learning tasks. For many applications, a clear explanation of why the data was classified a certain way is just as important as the classification itself. However, the complexity of hierarchical networks makes them ill-suited for existing explanation methods. We propose a new method, contribution propagation, that gives per-instance explanations of a trained network's classifications. We give theoretical foundations for the proposed method, and evaluate its correctness empirically. Finally, we use the resulting explanations to reveal unexpected behavior of networks that achieve high accuracy on visual object-recognition tasks using well-known …

Using Mapreduce Streaming For Distributed Life Simulation On The Cloud, Atanas Radenski

Mathematics, Physics, and Computer Science Faculty Books and Book Chapters

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable …

Drift Detection Using Uncertainty Distribution Divergence, Patrick Lindstrom, Brian Mac Namee, Sarah Jane Delany

Articles

Data generated from naturally occurring processes tends to be non-stationary. For example, seasonal and gradual changes in climate data and sudden changes in financial data. In machine learning the degradation in classifier performance due to such changes in the data is known as concept drift and there are many approaches to detecting and handling it.

Most approaches to detecting concept drift, however, make the assumption that true classes for test examples will be available at no cost shortly after classification and base the detection of concept drift on measures relying on these labels. The high labelling cost in many domains …

Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish

USF Tampa Graduate Theses and Dissertations

Many physical and algorithmic swarms utilize inter-agent communication to achieve advanced swarming behaviors. These swarms are inspired by biological swarms that can be seen throughout nature and include bee swarms, ant colonies, fish schools, and bird flocks. These biological swarms do not utilize inter-agent communication like their physical and algorithmic counterparts. Instead, organisms in nature rely on a local awareness of other swarm members that facilitates proper swarm motion and behavior. This research aims to pursue an effective swarm algorithm using only line-of-sight proximity information and no inter-agent communication. It is expected that the swarm performance will be lower than …

Analyzing Environmental Change And Prehistoric Hunter Behavior Through A 3d Time-Lapsed Model With Level Auto-Generation And Cultural Algorithms, Samuel Dustin Stanley

Wayne State University Theses

This paper describes a system containing two portions whose purpose it is to help further the Alpena-Amberley Land Bridge research project and similar archaeological research. The first portion is a "time engine" which one can utilize to navigate through time in order to see how environmental conditions evolved as time passed, or to run experiments during a desired time period. The second portion is a hunting blind cultural algorithm, which is built on top of the time engine as well as Palazzolo's program. In this portion, the AI hunting blinds react to the goals that they are trying to achieve, …

Visual Semantic Segmentation And Its Applications, Jizhou Gao

Theses and Dissertations--Computer Science

This dissertation addresses the difficulties of semantic segmentation when dealing with an extensive collection of images and 3D point clouds. Due to the ubiquity of digital cameras that help capture the world around us, as well as the advanced scanning techniques that are able to record 3D replicas of real cities, the sheer amount of visual data available presents many opportunities for both academic research and industrial applications. But the mere quantity of data also poses a tremendous challenge. In particular, the problem of distilling useful information from such a large repository of visual data has attracted ongoing interests in …

Improving Performance By Re-Rating In The Dynamic Estimation Of Rater Reliability, Alexey Tarasov, Sarah Jane Delany, Brian Macnamee

Conference papers

Nowadays crowdsourcing is widely used in supervised machine learning to facilitate the collection of ratings for unlabelled training sets. In order to get good quality results it is worth rejecting results from noisy/unreliable raters, as soon as they are discovered. Many techniques for filtering unreliable raters rely on the presentation of training instances to the raters identified as most accurate to date. Early in the process, the true rater reliabilities are not known and unreliable raters may be used as a result. This paper explores improving the quality of ratings for train- ing instances by performing re-rating. The re-rating relies …

On The Recognition Of Emotion From Physiological Data, Warren Creemers

Theses: Doctorates and Masters

This work encompasses several objectives, but is primarily concerned with an experiment where 33 participants were shown 32 slides in order to create ‗weakly induced emotions‘. Recordings of the participants‘ physiological state were taken as well as a self report of their emotional state. We then used an assortment of classifiers to predict emotional state from the recorded physiological signals, a process known as Physiological Pattern Recognition (PPR). We investigated techniques for recording, processing and extracting features from six different physiological signals: Electrocardiogram (ECG), Blood Volume Pulse (BVP), Galvanic Skin Response (GSR), Electromyography (EMG), for the corrugator muscle, skin temperature …

Introduction To Neutrosophic Measure, Neutrosophic Integral, And Neutrosophic Probability, Florentin Smarandache

Branch Mathematics and Statistics Faculty and Staff Publications

In this book, we introduce for the first time the notions of neutrosophic measure and neutrosophic integral, and we develop the 1995 notion of neutrosophic probability. We present many practical examples.

It is possible to define the neutrosophic measure and consequently the neutrosophic integral and neutrosophic probability in many ways, because there are various types of indeterminacies, depending on the problem we need to solve. Neutrosophics study the indeterminacy. Indeterminacy is different from randomness. It can be caused by physical space materials and type of construction, by items involved in the space, etc.

Unmanned Autonomous Object Retrieval: Old Dominion University 2013 International Aerial Robotics Competition Entry, Johnathan Bailey, Austin Boyd, Chung-Hao Chen, Stephen Dailey, Lisa Henderson, Jeremy Stuart, Christina Williams

Electrical & Computer Engineering Faculty Publications

This paper describes the design implementation of a Quadrotor Unmanned Aerial Vehicle (UAV) with the capability of exploring indoor locations without the assistance of external aids. For relative position, the use of a laser range sensor, an optical flow sensor, and sonar sensor combined allows for the vehicle to generate mapping information. With relative position in mind, the vehicle uses vision algorithms to recognize immediate obstacles, sign, and entry ways to allow for quick movement responses and object recognition. A proportional-integral-differentiator controller allows for flight stability and mitigation in the tight confines of the indoor spaces. A mapping algorithm allows …

Security Games With Interval Uncertainty, Md Towhidul Islam

Open Access Theses & Dissertations

Game theory has become an important tool in solving real-life decision making problems. Security games use the concept of game theory in adversarial scenarios to protect critical infrastructure. The main purpose of security games is to allocate security resources among various targets and maximize payoff for the defender considering various kinds of attackers. It is hard for domain experts to predict the attacker's behavior, so one of the major challenges in describing this game model is representing uncertainty about the attacker's payoff. Several approaches have been developed to generate these game models based on uncertainty, such as Bayesian games. However …

Concept Drift Datasets, Patrick Lindstrom

Doctoral

This zip file contains the datasets used in the PhD thesis:

Lindstrom, P., 2013. Handling Concept Drift in the Context of Expensive Labels. Technological University Dublin. For more information about the datasets please see the README file and the aforementioned thesis.

Artificial Intelligence And Data Mining: Algorithms And Applications, Jianhong Xia, Fuding Xie, Yong Zhang, Craig Caulfield

Research outputs 2013

Artificial intelligence and data mining techniques have been used in many domains to solve classification, segmentation, association, diagnosis, and prediction problems. The overall aim of this special issue is to open a discussion among researchers actively working on algorithms and applications. The issue covers a wide variety of problems for computational intelligence, machine learning, time series analysis, remote sensing image mining, and pattern recognition. After a rigorous peer review process, 20 papers have been selected from 38 submissions. The accepted papers in this issue addressed the following topics: (i) advanced artificial intelligence and data mining techniques; (ii) computational intelligence in …

Coupling Numerical Simulation And Pattern Recognition To Model Production And Evaluate Carbon Dioxide Injection In Shale Gas Reservoir, Amirmasoud Kalantari-Dahaghi

Graduate Theses, Dissertations, and Problem Reports (ETD)

Massive multi-cluster, multi-stage hydraulic fractures have significantly increased the complexity of the flow behavior in shale. This has translated into multiple challenges in the modeling of production from shale wells.

Most commonly used numerical techniques for modeling production from shale wells are Explicit Hydraulic Fracture (EHF) and Stimulated Reservoir Volume (SRV). Model setup for the EHF technique is long and laborious and its implementation is computationally expensive, such that it becomes impractical to model beyond a single pad. On the other hand, identifying the extent and conductivity of SRV is a challenging proposition. SRV technique is commonly used to simplify …

Automated Parameter Tuning Framework For Heterogeneous And Large Instances: Case Study In Quadratic Assignment Problem, Linda Lindawati, Zhi Yuan, Hoong Chuin Lau, Feida Zhu

Research Collection School Of Computing and Information Systems

This paper is concerned with automated tuning of parameters of algorithms to handle heterogeneous and large instances. We propose an automated parameter tuning framework with the capability to provide instance-specific parameter configurations. We report preliminary results on the Quadratic Assignment Problem (QAP) and show that our framework provides a significant improvement on solutions qualities with much smaller tuning computational time.

Clustering Of Search Trajectory And Its Application To Parameter Tuning, Linda Lindawati, Hoong Chuin Lau, David Lo

Research Collection School Of Computing and Information Systems

This paper is concerned with automated classification of Combinatorial Optimization Problem instances for instance-specific parameter tuning purpose. We propose the CluPaTra Framework, a generic approach to CLUster instances based on similar PAtterns according to search TRAjectories and apply it on parameter tuning. The key idea is to use the search trajectory as a generic feature for clustering problem instances. The advantage of using search trajectory is that it can be obtained from any local-search based algorithm with small additional computation time. We explore and compare two different search trajectory representations, two sequence alignment techniques (to calculate similarities) as well as …

Regret Based Robust Solutions For Uncertain Markov Decision Processes, Asrar Ahmed, Pradeep Reddy Varakantham, Yossiri Adulyasak, Patrick Jaillet

Research Collection School Of Computing and Information Systems

In this paper, we seek robust policies for uncertain Markov Decision Processes (MDPs). Most robust optimization approaches for these problems have focussed on the computation of maximin policies which maximize the value corresponding to the worst realization of the uncertainty. Recent work has proposed minimax regret as a suitable alternative to the maximin objective for robust optimization. However, existing algorithms for handling minimax regret are restricted to models with uncertainty over rewards only. We provide algorithms that employ sampling to improve across multiple dimensions: (a) Handle uncertainties over both transition and reward models; (b) Dependence of model uncertainties across state, …

Sensor Feature Selection And Combination For Stress Identification Using Combinatorial Fusion, Yong Deng, Zhonghai Wu, Chao-Hsien Chu, Qixun Zhang, D. Frank Hsu

Research Collection School Of Computing and Information Systems

The identification of stressfulness under certain driving condition is an important issue for safety, security and health. Sensors and systems have been placed or implemented as wearable devices for drivers. Features are extracted from the data collected and combined to predict symptoms. The challenge is to select the feature set most relevant for stress. In this paper, we propose a feature selection method based on the performance and the diversity between two features. The feature sets selected are then combined using a combinatorial fusion. We also compare our results with other combination methods such as naïve Bayes, support vector machine, …