3,182 research outputs found

    Improvement of the sensory and autonomous capability of robots through olfaction: the IRO Project

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    Proyecto de Excelencia Junta de Andalucía TEP2012-530Olfaction is a valuable source of information about the environment that has not been su ciently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g. vision, to successfully accomplish high-level robot activities, such as task planning or execution in human environments. This paper describes the developments carried out in the scope of the IRO project, which aims at making progress in this direction by investigating mechanisms that exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems like object recognition and scene-activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decisionmaking processes. The results of the IRO project have improved the robot capabilities in terms of efciency, autonomy and usefulness.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

    Methods for Interpreting and Understanding Deep Neural Networks

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    This paper provides an entry point to the problem of interpreting a deep neural network model and explaining its predictions. It is based on a tutorial given at ICASSP 2017. It introduces some recently proposed techniques of interpretation, along with theory, tricks and recommendations, to make most efficient use of these techniques on real data. It also discusses a number of practical applications.Comment: 14 pages, 10 figure

    One-Class Classification: Taxonomy of Study and Review of Techniques

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    One-class classification (OCC) algorithms aim to build classification models when the negative class is either absent, poorly sampled or not well defined. This unique situation constrains the learning of efficient classifiers by defining class boundary just with the knowledge of positive class. The OCC problem has been considered and applied under many research themes, such as outlier/novelty detection and concept learning. In this paper we present a unified view of the general problem of OCC by presenting a taxonomy of study for OCC problems, which is based on the availability of training data, algorithms used and the application domains applied. We further delve into each of the categories of the proposed taxonomy and present a comprehensive literature review of the OCC algorithms, techniques and methodologies with a focus on their significance, limitations and applications. We conclude our paper by discussing some open research problems in the field of OCC and present our vision for future research.Comment: 24 pages + 11 pages of references, 8 figure

    Unsupervised Classification of Biomedical Abstracts using Lexical Association

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    Using multiple classifiers for predicting the risk of endovascular aortic aneurysm repair re-intervention through hybrid feature selection.

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    Feature selection is essential in medical area; however, its process becomes complicated with the presence of censoring which is the unique character of survival analysis. Most survival feature selection methods are based on Cox's proportional hazard model, though machine learning classifiers are preferred. They are less employed in survival analysis due to censoring which prevents them from directly being used to survival data. Among the few work that employed machine learning classifiers, partial logistic artificial neural network with auto-relevance determination is a well-known method that deals with censoring and perform feature selection for survival data. However, it depends on data replication to handle censoring which leads to unbalanced and biased prediction results especially in highly censored data. Other methods cannot deal with high censoring. Therefore, in this article, a new hybrid feature selection method is proposed which presents a solution to high level censoring. It combines support vector machine, neural network, and K-nearest neighbor classifiers using simple majority voting and a new weighted majority voting method based on survival metric to construct a multiple classifier system. The new hybrid feature selection process uses multiple classifier system as a wrapper method and merges it with iterated feature ranking filter method to further reduce features. Two endovascular aortic repair datasets containing 91% censored patients collected from two centers were used to construct a multicenter study to evaluate the performance of the proposed approach. The results showed the proposed technique outperformed individual classifiers and variable selection methods based on Cox's model such as Akaike and Bayesian information criterions and least absolute shrinkage and selector operator in p values of the log-rank test, sensitivity, and concordance index. This indicates that the proposed classifier is more powerful in correctly predicting the risk of re-intervention enabling doctor in selecting patients' future follow-up plan

    Interpretable Models Capable of Handling Systematic Missingness in Imbalanced Classes and Heterogeneous Datasets

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    Application of interpretable machine learning techniques on medical datasets facilitate early and fast diagnoses, along with getting deeper insight into the data. Furthermore, the transparency of these models increase trust among application domain experts. Medical datasets face common issues such as heterogeneous measurements, imbalanced classes with limited sample size, and missing data, which hinder the straightforward application of machine learning techniques. In this paper we present a family of prototype-based (PB) interpretable models which are capable of handling these issues. The models introduced in this contribution show comparable or superior performance to alternative techniques applicable in such situations. However, unlike ensemble based models, which have to compromise on easy interpretation, the PB models here do not. Moreover we propose a strategy of harnessing the power of ensembles while maintaining the intrinsic interpretability of the PB models, by averaging the model parameter manifolds. All the models were evaluated on a synthetic (publicly available dataset) in addition to detailed analyses of two real-world medical datasets (one publicly available). Results indicated that the models and strategies we introduced addressed the challenges of real-world medical data, while remaining computationally inexpensive and transparent, as well as similar or superior in performance compared to their alternatives

    Combining similarity in time and space for training set formation under concept drift

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    Concept drift is a challenge in supervised learning for sequential data. It describes a phenomenon when the data distributions change over time. In such a case accuracy of a classifier benefits from the selective sampling for training. We develop a method for training set selection, particularly relevant when the expected drift is gradual. Training set selection at each time step is based on the distance to the target instance. The distance function combines similarity in space and in time. The method determines an optimal training set size online at every time step using cross validation. It is a wrapper approach, it can be used plugging in different base classifiers. The proposed method shows the best accuracy in the peer group on the real and artificial drifting data. The method complexity is reasonable for the field applications
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