Fast human motion prediction for human-robot collaboration with wearable interfaces

In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove useful in several areas, while it is crucial for interacting robots to understand human movement as soon as possible to avoid accidents and injuries. In this perspective, we propose a novel human-robot interface capable to anticipate the user intention while performing reaching movements on a working bench in order to plan the action of a collaborative robot. The proposed interface can find many applications in the Industry 4.0 framework, where autonomous and collaborative robots will be an essential part of innovative facilities. A motion intention prediction and a motion direction prediction levels have been developed to improve detection speed and accuracy. A Gaussian Mixture Model (GMM) has been trained with IMU and EMG data following an evidence accumulation approach to predict reaching direction. Novel dynamic stopping criteria have been proposed to flexibly adjust the trade-off between early anticipation and accuracy according to the application. The output of the two predictors has been used as external inputs to a Finite State Machine (FSM) to control the behaviour of a physical robot according to user's action or inaction. Results show that our system outperforms previous methods, achieving a real-time classification accuracy of $94.3\pm2.9\%$ after $160.0msec\pm80.0msec$ from movement onset

Multidimensional Range Queries on Modern Hardware

Range queries over multidimensional data are an important part of database workloads in many applications. Their execution may be accelerated by using multidimensional index structures (MDIS), such as kd-trees or R-trees. As for most index structures, the usefulness of this approach depends on the selectivity of the queries, and common wisdom told that a simple scan beats MDIS for queries accessing more than 15%-20% of a dataset. However, this wisdom is largely based on evaluations that are almost two decades old, performed on data being held on disks, applying IO-optimized data structures, and using single-core systems. The question is whether this rule of thumb still holds when multidimensional range queries (MDRQ) are performed on modern architectures with large main memories holding all data, multi-core CPUs and data-parallel instruction sets. In this paper, we study the question whether and how much modern hardware influences the performance ratio between index structures and scans for MDRQ. To this end, we conservatively adapted three popular MDIS, namely the R*-tree, the kd-tree, and the VA-file, to exploit features of modern servers and compared their performance to different flavors of parallel scans using multiple (synthetic and real-world) analytical workloads over multiple (synthetic and real-world) datasets of varying size, dimensionality, and skew. We find that all approaches benefit considerably from using main memory and parallelization, yet to varying degrees. Our evaluation indicates that, on current machines, scanning should be favored over parallel versions of classical MDIS even for very selective queries

Improving acoustic vehicle classification by information fusion

We present an information fusion approach for ground vehicle classification based on the emitted acoustic signal. Many acoustic factors can contribute to the classification accuracy of working ground vehicles. Classification relying on a single feature set may lose some useful information if its underlying sound production model is not comprehensive. To improve classification accuracy, we consider an information fusion diagram, in which various aspects of an acoustic signature are taken into account and emphasized separately by two different feature extraction methods. The first set of features aims to represent internal sound production, and a number of harmonic components are extracted to characterize the factors related to the vehicle’s resonance. The second set of features is extracted based on a computationally effective discriminatory analysis, and a group of key frequency components are selected by mutual information, accounting for the sound production from the vehicle’s exterior parts. In correspondence with this structure, we further put forward a modifiedBayesian fusion algorithm, which takes advantage of matching each specific feature set with its favored classifier. To assess the proposed approach, experiments are carried out based on a data set containing acoustic signals from different types of vehicles. Results indicate that the fusion approach can effectively increase classification accuracy compared to that achieved using each individual features set alone. The Bayesian-based decision level fusion is found fusion is found to be improved than a feature level fusion approac

High Performance Computing Techniques to Better Understand Protein Conformational Space

This thesis presents an amalgamation of high performance computing techniques to get better insight into protein molecular dynamics. Key aspects of protein function and dynamics can be learned from their conformational space. Datasets that represent the complex nuances of a protein molecule are high dimensional. Efficient dimensionality reduction becomes indispensable for the analysis of such exorbitant datasets. Dimensionality reduction forms a formidable portion of this work and its application has been explored for other datasets as well. It begins with the parallelization of a known non-liner feature reduction algorithm called Isomap. The code for the algorithm was re-written in C with portions of it parallelized using OpenMP. Next, a novel data instance reduction method was devised which evaluates the information content offered by each data point, which ultimately helps in truncation of the dataset with much fewer data points to evaluate. Once a framework has been established to reduce the number of variables representing a dataset, the work is extended to explore algebraic topology techniques to extract meaningful information from these datasets. This step is the one that helps in sampling the conformations of interest of a protein molecule. The method employs the notion of hierarchical clustering to identify classes within a molecule, thereafter, algebraic topology is used to analyze these classes. Finally, the work is concluded by presenting an approach to solve the open problem of protein folding. A Monte-Carlo based tree search algorithm is put forth to simulate the pathway that a certain protein conformation undertakes to reach another conformation. The dissertation, in its entirety, offers solutions to a few problems that hinder the progress of solution for the vast problem of understanding protein dynamics. The motion of a protein molecule is guided by changes in its energy profile. In this course the molecule gradually slips from one energy class to another. Structurally, this switch is transient spanning over milliseconds or less and hence is difficult to be captured solely by the work in wet laboratories