Acoustic localization of people in reverberant environments using deep learning techniques

La localización de las personas a partir de información acústica es cada vez más importante en aplicaciones del mundo real como la seguridad, la vigilancia y la interacción entre personas y robots. En muchos casos, es necesario localizar con precisión personas u objetos en función del sonido que generan, especialmente en entornos ruidosos y reverberantes en los que los métodos de localización tradicionales pueden fallar, o en escenarios en los que los métodos basados en análisis de vídeo no son factibles por no disponer de ese tipo de sensores o por la existencia de oclusiones relevantes. Por ejemplo, en seguridad y vigilancia, la capacidad de localizar con precisión una fuente de sonido puede ayudar a identificar posibles amenazas o intrusos. En entornos sanitarios, la localización acústica puede utilizarse para controlar los movimientos y actividades de los pacientes, especialmente los que tienen problemas de movilidad. En la interacción entre personas y robots, los robots equipados con capacidades de localización acústica pueden percibir y responder mejor a su entorno, lo que permite interacciones más naturales e intuitivas con los humanos. Por lo tanto, el desarrollo de sistemas de localización acústica precisos y robustos utilizando técnicas avanzadas como el aprendizaje profundo es de gran importancia práctica. Es por esto que en esta tesis doctoral se aborda dicho problema en tres líneas de investigación fundamentales: (i) El diseño de un sistema extremo a extremo (end-to-end) basado en redes neuronales capaz de mejorar las tasas de localización de sistemas ya existentes en el estado del arte. (ii) El diseño de un sistema capaz de localizar a uno o varios hablantes simultáneos en entornos con características y con geometrías de arrays de sensores diferentes sin necesidad de re-entrenar. (iii) El diseño de sistemas capaces de refinar los mapas de potencia acústica necesarios para localizar a las fuentes acústicas para conseguir una mejor localización posterior. A la hora de evaluar la consecución de dichos objetivos se han utilizado diversas bases de datos realistas con características diferentes, donde las personas involucradas en las escenas pueden actuar sin ningún tipo de restricción. Todos los sistemas propuestos han sido evaluados bajo las mismas condiciones consiguiendo superar en términos de error de localización a los sistemas actuales del estado del arte

Circuit Design

Circuit Design = Science + Art! Designers need a skilled "gut feeling" about circuits and related analytical techniques, plus creativity, to solve all problems and to adhere to the specifications, the written and the unwritten ones. You must anticipate a large number of influences, like temperature effects, supply voltages changes, offset voltages, layout parasitics, and numerous kinds of technology variations to end up with a circuit that works. This is challenging for analog, custom-digital, mixed-signal or RF circuits, and often researching new design methods in relevant journals, conference proceedings and design tools unfortunately gives the impression that just a "wild bunch" of "advanced techniques" exist. On the other hand, state-of-the-art tools nowadays indeed offer a good cockpit to steer the design flow, which include clever statistical methods and optimization techniques.Actually, this almost presents a second breakthrough, like the introduction of circuit simulators 40 years ago! Users can now conveniently analyse all the problems (discover, quantify, verify), and even exploit them, for example for optimization purposes. Most designers are caught up on everyday problems, so we fit that "wild bunch" into a systematic approach for variation-aware design, a designer's field guide and more. That is where this book can help! Circuit Design: Anticipate, Analyze, Exploit Variations starts with best-practise manual methods and links them tightly to up-to-date automation algorithms. We provide many tractable examples and explain key techniques you have to know. We then enable you to select and setup suitable methods for each design task - knowing their prerequisites, advantages and, as too often overlooked, their limitations as well. The good thing with computers is that you yourself can often verify amazing things with little effort, and you can use software not only to your direct advantage in solving a specific problem, but also for becoming a better skilled, more experienced engineer. Unfortunately, EDA design environments are not good at all to learn about advanced numerics. So with this book we also provide two apps for learning about statistic and optimization directly with circuit-related examples, and in real-time so without the long simulation times. This helps to develop a healthy statistical gut feeling for circuit design. The book is written for engineers, students in engineering and CAD / methodology experts. Readers should have some background in standard design techniques like entering a design in a schematic capture and simulating it, and also know about major technology aspects

Circuit Design

Circuit Design = Science + Art! Designers need a skilled "gut feeling" about circuits and related analytical techniques, plus creativity, to solve all problems and to adhere to the specifications, the written and the unwritten ones. You must anticipate a large number of influences, like temperature effects, supply voltages changes, offset voltages, layout parasitics, and numerous kinds of technology variations to end up with a circuit that works. This is challenging for analog, custom-digital, mixed-signal or RF circuits, and often researching new design methods in relevant journals, conference proceedings and design tools unfortunately gives the impression that just a "wild bunch" of "advanced techniques" exist. On the other hand, state-of-the-art tools nowadays indeed offer a good cockpit to steer the design flow, which include clever statistical methods and optimization techniques.Actually, this almost presents a second breakthrough, like the introduction of circuit simulators 40 years ago! Users can now conveniently analyse all the problems (discover, quantify, verify), and even exploit them, for example for optimization purposes. Most designers are caught up on everyday problems, so we fit that "wild bunch" into a systematic approach for variation-aware design, a designer's field guide and more. That is where this book can help! Circuit Design: Anticipate, Analyze, Exploit Variations starts with best-practise manual methods and links them tightly to up-to-date automation algorithms. We provide many tractable examples and explain key techniques you have to know. We then enable you to select and setup suitable methods for each design task - knowing their prerequisites, advantages and, as too often overlooked, their limitations as well. The good thing with computers is that you yourself can often verify amazing things with little effort, and you can use software not only to your direct advantage in solving a specific problem, but also for becoming a better skilled, more experienced engineer. Unfortunately, EDA design environments are not good at all to learn about advanced numerics. So with this book we also provide two apps for learning about statistic and optimization directly with circuit-related examples, and in real-time so without the long simulation times. This helps to develop a healthy statistical gut feeling for circuit design. The book is written for engineers, students in engineering and CAD / methodology experts. Readers should have some background in standard design techniques like entering a design in a schematic capture and simulating it, and also know about major technology aspects

Advances in Quantitative MRI: Acquisition, Estimation, and Application

Quantitative magnetic resonance imaging (QMRI) produces images of potential MR biomarkers: measurable tissue properties related to physiological processes that characterize the onset and progression of specific disorders. Though QMRI has potential to be more diagnostic than conventional qualitative MRI, QMRI poses challenges beyond those of conventional MRI that limit its feasibility for routine clinical use. This thesis first seeks to address two of those challenges. It then applies these solutions to develop a new method for myelin water imaging, a challenging application that may be specifically indicative of certain white matter (WM) disorders. One challenge that presently precludes widespread clinical adoption of QMRI involves long scan durations: to disentangle potential biomarkers from nuisance MR contrast mechanisms, QMRI typically requires more data than conventional MRI and thus longer scans. Even allowing for long scans, it has previously been unclear how to systematically tune the "knobs" of MR acquisitions to reliably enable precise biomarker estimation. Chapter 4 formalizes these challenges as a min-max optimal acquisition design problem and solves this problem to design three fast steady-state (SS) acquisitions for precise T1/T2 estimation, a popular QMRI application. The resulting optimized acquisition designs illustrate that acquisition design can enable new biomarker estimation techniques from established MR pulse sequences, a fact that subsequent chapters exploit. Another QMRI challenge involves the typically nonlinear dependence of MR signal models on the underlying biomarkers: these nonlinearities cause conventional likelihood-based estimators to either scale very poorly with the number of unknowns or risk producing suboptimal estimates due to spurious local minima. Chapter 5 instead introduces a fast, general method for dictionary-free QMRI parameter estimation via regression with kernels (PERK). PERK first uses prior distributions and the nonlinear MR signal model to simulate many parameter-measurement pairs. Inspired by machine learning, PERK then takes these pairs as labeled training points and learns from them a nonlinear regression function using kernel functions and convex optimization. Chapter 5 demonstrates PERK for T1/T2 estimation using one of the acquisitions optimized in Chapter 4. Simulations as well as single-slice phantom and in vivo experiments demonstrated that PERK and two well-suited maximum-likelihood (ML) estimators produce comparable T1/T2 estimates, but PERK is consistently at least 140x faster. Similar comparisons to an ML estimator in a more challenging problem (Chapter 6) suggest that this 140x acceleration factor will increase by several orders of magnitude for full-volume QMRI estimation problems involving more latent parameters per voxel. Chapter 6 applies ideas developed in previous chapters to design a new fast method for imaging myelin water content, a potential biomarker for healthy myelin. It first develops a two-compartment dual-echo steady-state (DESS) signal model and then uses a Bayesian variation of acquisition design (Chapter 4) to optimize a new DESS acquisition for precise myelin water imaging. The precision-optimized acquisition is as fast as conventional SS myelin water imaging acquisitions, but enables 2-3x better expected coefficients of variation in fast-relaxing fraction estimates. Simulations demonstrate that PERK (Chapter 5) and ML fast-relaxing fraction estimates from the proposed DESS acquisition exhibit comparable root mean-squared errors, but PERK is more than 500x faster. In vivo experiments are to our knowledge the first to demonstrate lateral WM myelin water content estimates from a fast (3m15s) SS acquisition that are similar to conventional estimates from a slower (32m4s) MESE acquisition.PHDElectrical and Computer EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/147486/1/gnataraj_1.pd

Invariances for Gaussian models

At the heart of a statistical analysis, we are interested in drawing conclusions about random variables and the laws they follow. For this we require a sample, therefore our approach is best described as learning from data. In many instances, we already have an intuition about the generating process, meaning the space of all possible models reduces to a specific class that is defined up to a set of unknown parameters. Consequently, learning becomes the task of inferring these parameters given observations. Within this scope, the thesis answers the following two questions: Why are invariances needed? Among all parameters of the model, we often distinguish between those of interest and the so-called nuisance. The latter does not carry any meaning for our purposes, but may still play a crucial role in how the model supports the parameters of interest. This is a fundamental problem in statistics which is solved by finding suitable transformations such that the model becomes invariant against unidentifiable properties. Often, the application at hand already decides upon the necessary requirements: a Euclidean distance matrix, for example, does not carry translational information of the underlying coordinate system. Why Gaussian models? The normal distribution constitutes an important class in statistics due to frequent occurrences in nature, hence it is highly relevant for many research disciplines including physics, astronomy, engineering, but also psychology and social sciences. Besides fundamental results like the central limit theorem, a significant part of its appeal is rooted in convenient mathematical properties which permit closed-form solutions to numerous problems. In this work, we develop and discuss generalizations of three established models: a Gaussian mixture model, a Gaussian graphical model and the Gaussian information bottleneck. On the one hand, all of these are analytically convenient, but on the other hand they suffer from strict normality requirements which seriously limit their range of application. To this end, our focus is to explore solutions and relax these restrictions. We successfully show that with the addition of invariances, the aforementioned models gain a substantial leap forward while retaining their core concepts of the Gaussian foundation

Spiking neural models & machine learning for systems neuroscience: Learning, Cognition and Behavior.

Learning, cognition and the ability to navigate, interact and manipulate the world around us by performing appropriate behavior are hallmarks of artificial as well as biological intelligence. In order to understand how intelligent behavior can emerge from computations of neural systems, this thesis suggests to consider and study learning, cognition and behavior simultaneously to obtain an integrative understanding. This involves building detailed functional computational models of nervous systems that can cope with sensory processing, learning, memory and motor control to drive appropriate behavior. The work further considers how the biological computational substrate of neurons, dendrites and action potentials can be successfully used as an alternative to current artificial systems to solve machine learning problems. It challenges the simplification of currently used rate-based artificial neurons, where computational power is sacrificed by mathematical convenience and statistical learning. To this end, the thesis explores single spiking neuron computations for cognition and machine learning problems as well as detailed functional networks thereof that can solve the biologically relevant foraging behavior in flying insects. The obtained results and insights are new and relevant for machine learning, neuroscience and computational systems neuroscience. The thesis concludes by providing an outlook how application of current machine learning methods can be used to obtain a statistical understanding of larger scale brain systems. In particular, by investigating the functional role of the cerebellar-thalamo-cortical system for motor control in primates

An analysis of environment, microphone and data simulation mismatches in robust speech recognition

Speech enhancement and automatic speech recognition (ASR) are most often evaluated in matched (or multi-condition) settings where the acoustic conditions of the training data match (or cover) those of the test data. Few studies have systematically assessed the impact of acoustic mismatches between training and test data, especially concerning recent speech enhancement and state-of-the-art ASR techniques. In this article, we study this issue in the context of the CHiME- 3 dataset, which consists of sentences spoken by talkers situated in challenging noisy environments recorded using a 6-channel tablet based microphone array. We provide a critical analysis of the results published on this dataset for various signal enhancement, feature extraction, and ASR backend techniques and perform a number of new experiments in order to separately assess the impact of di↵erent noise environments, di↵erent numbers and positions of microphones, or simulated vs. real data on speech enhancement and ASR performance. We show that, with the exception of minimum variance distortionless response (MVDR) beamforming, most algorithms perform consistently on real and simulated data and can benefit from training on simulated data. We also find that training on di↵erent noise environments and di↵erent microphones barely a↵ects the ASR performance, especially when several environments are present in the training data: only the number of microphones has a significant impact. Based on these results, we introduce the CHiME-4 Speech Separation and Recognition Challenge, which revisits the CHiME-3 dataset and makes it more challenging by reducing the number of microphones available for testing

Improving process monitoring and modeling of batch-type plasma etching tools

Manufacturing equipments in semiconductor factories (fabs) provide abundant data and opportunities for data-driven process monitoring and modeling. In particular, virtual metrology (VM) is an active area of research. Traditional monitoring techniques using univariate statistical process control charts do not provide immediate feedback to quality excursions, hindering the implementation of fab-wide advanced process control initiatives. VM models or inferential sensors aim to bridge this gap by predicting of quality measurements instantaneously using tool fault detection and classification (FDC) sensor measurements. The existing research in the field of inferential sensor and VM has focused on comparing regressions algorithms to demonstrate their feasibility in various applications. However, two important areas, data pretreatment and post-deployment model maintenance, are usually neglected in these discussions. Since it is well known that the industrial data collected is of poor quality, and that the semiconductor processes undergo drifts and periodic disturbances, these two issues are the roadblocks in furthering the adoption of inferential sensors and VM models. In data pretreatment, batch data collected from FDC systems usually contain inconsistent trajectories of various durations. Most analysis techniques requires the data from all batches to be of same duration with similar trajectory patterns. These inconsistencies, if unresolved, will propagate into the developed model and cause challenges in interpreting the modeling results and degrade model performance. To address this issue, a Constrained selective Derivative Dynamic Time Warping (CsDTW) method was developed to perform automatic alignment of trajectories. CsDTW is designed to preserve the key features that characterizes each batch and can be solved efficiently in polynomial time. Variable selection after trajectory alignment is another topic that requires improvement. To this end, the proposed Moving Window Variable Importance in Projection (MW-VIP) method yields a more robust set of variables with demonstrably more long-term correlation with the predicted output. In model maintenance, model adaptation has been the standard solution for dealing with drifting processes. However, most case studies have already preprocessed the model update data offline. This is an implicit assumption that the adaptation data is free of faults and outliers, which is often not true for practical implementations. To this end, a moving window scheme using Total Projection to Latent Structure (T-PLS) decomposition screens incoming updates to separate the harmless process noise from the outliers that negatively affects the model. The integrated approach was demonstrated to be more robust. In addition, model adaptation is very inefficient when there are multiplicities in the process, multiplicities could occur due to process nonlinearity, switches in product grade, or different operating conditions. A growing structure multiple model system using local PLS and PCA models have been proposed to improve model performance around process conditions with multiplicity. The use of local PLS and PCA models allows the method to handle a much larger set of inputs and overcome several challenges in mixture model systems. In addition, fault detection sensitivities are also improved by using the multivariate monitoring statistics of these local PLS/PCA models. These proposed methods are tested on two plasma etch data sets provided by Texas Instruments. In addition, a proof of concept using virtual metrology in a controller performance assessment application was also tested.Chemical Engineerin

Design of Neuromemristive Systems for Visual Information Processing

Neuromemristive systems (NMSs) are brain-inspired, adaptive computer architectures based on emerging resistive memory technology (memristors). NMSs adopt a mixed-signal design approach with closely-coupled memory and processing, resulting in high area and energy efficiencies. Previous work suggests that NMSs could even supplant conventional architectures in niche application domains such as visual information processing. However, given the infancy of the field, there are still several obstacles impeding the transition of these systems from theory to practice. This dissertation advances the state of NMS research by addressing open design problems spanning circuit, architecture, and system levels. Novel synapse, neuron, and plasticity circuits are designed to reduce NMSs’ area and power consumption by using current-mode design techniques and exploiting device variability. Circuits are designed in a 45 nm CMOS process with memristor models based on multilevel (W/Ag-chalcogenide/W) and bistable (Ag/GeS2/W) device data. Higher-level behavioral, power, area, and variability models are ported into MATLAB to accelerate the overall simulation time. The circuits designed in this work are integrated into neural network architectures for visual information processing tasks, including feature detection, clustering, and classification. Networks in the NMSs are trained with novel stochastic learning algorithms that achieve 3.5 reduction in circuit area, reduced design complexity, and exhibit similar convergence properties compared to the least-mean-squares algorithm. This work also examines the effects of device-level variations on NMS performance, which has received limited attention in previous work. The impact of device variations is reduced with a partial on-chip training methodology that enables NMSs to be configured with relatively sophisticated algorithms (e.g. resilient backpropagation), while maximizing their area-accuracy tradeoff

Calibration and prediction improvement of imperfect subsurface flow models

In this thesis, problems related to calibration of imperfect reservoir models, biased parameter estimation and prediction reliability have been addressed. The main objective of this thesis is to avoid overconfident, inaccurate and unreliable predictions while accounting for model-error during the calibration process. Accounting for reservoir model-error in calibration (history matching) can correct/reduce the bias in parameter estimation and improves the prediction of the subsurface flow model. In this thesis, several approaches and algorithms have been developed and investigated which could be applied at different conditions depending on the modelling assumptions. In the first approach, the parameter estimation problem is formulated as a joint estimation of the imperfect model parameters and the error-model parameters. The prior distributions of the error-model parameters are evaluated before calibration through analysis of leading sources of the modelling errors using pairs of high-fidelity and low-fidelity simulation models. A Bayesian framework is adopted for solving the inverse problem, where the ensemble smoother with multiple data assimilation (ES-MDA) is utilized as a calibration algorithm. In the second approach, two new algorithms to account for model-error during calibration are developed which are the variants of the first approach and existing algorithms. The main aim is to develop flexible algorithms that can handle strong serially correlated outputs of the physical model, variable boundary conditions (i.e. variable well open/shut schedules and rate/pressure controls) and structured model-errors (i.e. strong correlation in time). In the third approach, the model-error during calibration is accounted for without knowing any prior statistics of model-discrepancy. For this purpose, a flexible ensemble-based algorithm is developed which can reduce bias in parameter estimation after calibration of imperfect models in order to improve the prediction capacity/reliability of the calibrated physical model. The flexible ensemble-based algorithm is quite general and has the capability to capture unknown model-error uncertainty by relaxing many of the assumptions commonly introduced in the literature