25,187 research outputs found
Identification of time-varying systems using multiresolution wavelet models
Identification of linear and nonlinear time-varying systems is investigated and a new wavelet model identification algorithm is introduced. By expanding each time-varying coefficient using a multiresolution wavelet expansion, the time-varying problem is reduced to a time invariant problem and the identification reduces to regressor selection and parameter estimation. Several examples are included to illustrate the application of the new algorithm
Visual task identification and characterisation using polynomial models
Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour based on theoretical models. Instead, current methods to develop robot control
code still require a substantial trial-and-error component to the software design process. This paper proposes a method of dealing with these issues by a) establishing task-achieving sensor-motor couplings through robot training, and b) representing these couplings through transparent mathematical functions that can be used to form hypotheses
and theoretical analyses of robot behaviour. We demonstrate the viability of this approach by teaching a mobile robot to track a moving football and subsequently modelling
this task using the NARMAX system identification technique
High-Dimensional Bayesian Geostatistics
With the growing capabilities of Geographic Information Systems (GIS) and
user-friendly software, statisticians today routinely encounter geographically
referenced data containing observations from a large number of spatial
locations and time points. Over the last decade, hierarchical spatiotemporal
process models have become widely deployed statistical tools for researchers to
better understand the complex nature of spatial and temporal variability.
However, fitting hierarchical spatiotemporal models often involves expensive
matrix computations with complexity increasing in cubic order for the number of
spatial locations and temporal points. This renders such models unfeasible for
large data sets. This article offers a focused review of two methods for
constructing well-defined highly scalable spatiotemporal stochastic processes.
Both these processes can be used as "priors" for spatiotemporal random fields.
The first approach constructs a low-rank process operating on a
lower-dimensional subspace. The second approach constructs a Nearest-Neighbor
Gaussian Process (NNGP) that ensures sparse precision matrices for its finite
realizations. Both processes can be exploited as a scalable prior embedded
within a rich hierarchical modeling framework to deliver full Bayesian
inference. These approaches can be described as model-based solutions for big
spatiotemporal datasets. The models ensure that the algorithmic complexity has
floating point operations (flops), where the number of spatial
locations (per iteration). We compare these methods and provide some insight
into their methodological underpinnings
Machine Learning and Integrative Analysis of Biomedical Big Data.
Recent developments in high-throughput technologies have accelerated the accumulation of massive amounts of omics data from multiple sources: genome, epigenome, transcriptome, proteome, metabolome, etc. Traditionally, data from each source (e.g., genome) is analyzed in isolation using statistical and machine learning (ML) methods. Integrative analysis of multi-omics and clinical data is key to new biomedical discoveries and advancements in precision medicine. However, data integration poses new computational challenges as well as exacerbates the ones associated with single-omics studies. Specialized computational approaches are required to effectively and efficiently perform integrative analysis of biomedical data acquired from diverse modalities. In this review, we discuss state-of-the-art ML-based approaches for tackling five specific computational challenges associated with integrative analysis: curse of dimensionality, data heterogeneity, missing data, class imbalance and scalability issues
- …