Robot introspection through learned hidden Markov models

In this paper we describe a machine learning approach for acquiring a model of a robot behaviour from raw sensor data. We are interested in automating the acquisition of behavioural models to provide a robot with an introspective capability. We assume that the behaviour of a robot in achieving a task can be modelled as a finite stochastic state transition system. Beginning with data recorded by a robot in the execution of a task, we use unsupervised learning techniques to estimate a hidden Markov model (HMM) that can be used both for predicting and explaining the behaviour of the robot in subsequent executions of the task. We demonstrate that it is feasible to automate the entire process of learning a high quality HMM from the data recorded by the robot during execution of its task.The learned HMM can be used both for monitoring and controlling the behaviour of the robot. The ultimate purpose of our work is to learn models for the full set of tasks associated with a given problem domain, and to integrate these models with a generative task planner. We want to show that these models can be used successfully in controlling the execution of a plan. However, this paper does not develop the planning and control aspects of our work, focussing instead on the learning methodology and the evaluation of a learned model. The essential property of the models we seek to construct is that the most probable trajectory through a model, given the observations made by the robot, accurately diagnoses, or explains, the behaviour that the robot actually performed when making these observations. In the work reported here we consider a navigation task. We explain the learning process, the experimental setup and the structure of the resulting learned behavioural models. We then evaluate the extent to which explanations proposed by the learned models accord with a human observer's interpretation of the behaviour exhibited by the robot in its execution of the task

Maximal information component analysis: a novel non-linear network analysis method.

BackgroundNetwork construction and analysis algorithms provide scientists with the ability to sift through high-throughput biological outputs, such as transcription microarrays, for small groups of genes (modules) that are relevant for further research. Most of these algorithms ignore the important role of non-linear interactions in the data, and the ability for genes to operate in multiple functional groups at once, despite clear evidence for both of these phenomena in observed biological systems.ResultsWe have created a novel co-expression network analysis algorithm that incorporates both of these principles by combining the information-theoretic association measure of the maximal information coefficient (MIC) with an Interaction Component Model. We evaluate the performance of this approach on two datasets collected from a large panel of mice, one from macrophages and the other from liver by comparing the two measures based on a measure of module entropy, Gene Ontology (GO) enrichment, and scale-free topology (SFT) fit. Our algorithm outperforms a widely used co-expression analysis method, weighted gene co-expression network analysis (WGCNA), in the macrophage data, while returning comparable results in the liver dataset when using these criteria. We demonstrate that the macrophage data has more non-linear interactions than the liver dataset, which may explain the increased performance of our method, termed Maximal Information Component Analysis (MICA) in that case.ConclusionsIn making our network algorithm more accurately reflect known biological principles, we are able to generate modules with improved relevance, particularly in networks with confounding factors such as gene by environment interactions

Link Clustering with Extended Link Similarity and EQ Evaluation Division.

Link Clustering (LC) is a relatively new method for detecting overlapping communities in networks. The basic principle of LC is to derive a transform matrix whose elements are composed of the link similarity of neighbor links based on the Jaccard distance calculation; then it applies hierarchical clustering to the transform matrix and uses a measure of partition density on the resulting dendrogram to determine the cut level for best community detection. However, the original link clustering method does not consider the link similarity of non-neighbor links, and the partition density tends to divide the communities into many small communities. In this paper, an Extended Link Clustering method (ELC) for overlapping community detection is proposed. The improved method employs a new link similarity, Extended Link Similarity (ELS), to produce a denser transform matrix, and uses the maximum value of EQ (an extended measure of quality of modularity) as a means to optimally cut the dendrogram for better partitioning of the original network space. Since ELS uses more link information, the resulting transform matrix provides a superior basis for clustering and analysis. Further, using the EQ value to find the best level for the hierarchical clustering dendrogram division, we obtain communities that are more sensible and reasonable than the ones obtained by the partition density evaluation. Experimentation on five real-world networks and artificially-generated networks shows that the ELC method achieves higher EQ and In-group Proportion (IGP) values. Additionally, communities are more realistic than those generated by either of the original LC method or the classical CPM method

A pilot study comparing the metabolic profiles of elite-level athletes from different sporting disciplines

Background: The outstanding performance of an elite athlete might be associated with changes in their blood metabolic profile. The aims of this study were to compare the blood metabolic profiles between moderate- and high-power and endurance elite athletes and to identify the potential metabolic pathways underlying these differences. Methods: Metabolic profiling of serum samples from 191 elite athletes from different sports disciplines (121 high- and 70 moderate-endurance athletes, including 44 high- and 144 moderate-power athletes), who participated in national or international sports events and tested negative for doping abuse at anti-doping laboratories, was performed using non-targeted metabolomics-based mass spectroscopy combined with ultrahigh-performance liquid chromatography. Multivariate analysis was conducted using orthogonal partial least squares discriminant analysis. Differences in metabolic levels between high- and moderate-power and endurance sports were assessed by univariate linear models. Results: Out of 743 analyzed metabolites, gamma-glutamyl amino acids were significantly reduced in both high-power and high-endurance athletes compared to moderate counterparts, indicating active glutathione cycle. High-endurance athletes exhibited significant increases in the levels of several sex hormone steroids involved in testosterone and progesterone synthesis, but decreases in diacylglycerols and ecosanoids. High-power athletes had increased levels of phospholipids and xanthine metabolites compared to moderate-power counterparts. Conclusions: This pilot data provides evidence that high-power and high-endurance athletes exhibit a distinct metabolic profile that reflects steroid biosynthesis, fatty acid metabolism, oxidative stress, and energy-related metabolites. Replication studies are warranted to confirm differences in the metabolic profiles associated with athletes’ elite performance in independent data sets, aiming ultimately for deeper understanding of the underlying biochemical processes that could be utilized as biomarkers with potential therapeutic implications

XML Schema Clustering with Semantic and Hierarchical Similarity Measures

With the growing popularity of XML as the data representation language, collections of the XML data are exploded in numbers. The methods are required to manage and discover the useful information from them for the improved document handling. We present a schema clustering process by organising the heterogeneous XML schemas into various groups. The methodology considers not only the linguistic and the context of the elements but also the hierarchical structural similarity. We support our findings with experiments and analysis

On morphological hierarchical representations for image processing and spatial data clustering

Hierarchical data representations in the context of classi cation and data clustering were put forward during the fties. Recently, hierarchical image representations have gained renewed interest for segmentation purposes. In this paper, we briefly survey fundamental results on hierarchical clustering and then detail recent paradigms developed for the hierarchical representation of images in the framework of mathematical morphology: constrained connectivity and ultrametric watersheds. Constrained connectivity can be viewed as a way to constrain an initial hierarchy in such a way that a set of desired constraints are satis ed. The framework of ultrametric watersheds provides a generic scheme for computing any hierarchical connected clustering, in particular when such a hierarchy is constrained. The suitability of this framework for solving practical problems is illustrated with applications in remote sensing