Episodic Memory for Cognitive Robots in Dynamic, Unstructured Environments

Elements from cognitive psychology have been applied in a variety of ways to artificial intelligence. One of the lesser studied areas is in how episodic memory can assist learning in cognitive robots. In this dissertation, we investigate how episodic memories can assist a cognitive robot in learning which behaviours are suited to different contexts. We demonstrate the learning system in a domestic robot designed to assist human occupants of a house. People are generally good at anticipating the intentions of others. When around people that we are familiar with, we can predict what they are likely to do next, based on what we have observed them doing before. Our ability to record and recall different types of events that we know are relevant to those types of events is one reason our cognition is so powerful. For a robot to assist rather than hinder a person, artificial agents too require this functionality. This work makes three main contributions. Since episodic memory requires context, we first propose a novel approach to segmenting a metric map into a collection of rooms and corridors. Our approach is based on identifying critical points on a Generalised Voronoi Diagram and creating regions around these critical points. Our results show state of the art accuracy with 98% precision and 96% recall. Our second contribution is our approach to event recall in episodic memory. We take a novel approach in which events in memory are typed and a unique recall policy is learned for each type of event. These policies are learned incrementally, using only information presented to the agent and without any need to take that agent off line. Ripple Down Rules provide a suitable learning mechanism. Our results show that when trained appropriately we achieve a near perfect recall of episodes that match to an observation. Finally we propose a novel approach to how recall policies are trained. Commonly an RDR policy is trained using a human guide where the instructor has the option to discard information that is irrelevant to the situation. However, we show that by using Inductive Logic Programming it is possible to train a recall policy for a given type of event after only a few observations of that type of event

Understanding the brain through its spatial structure

The spatial location of cells in neural tissue can be easily extracted from many imaging modalities, but the information contained in spatial relationships between cells is seldom utilized. This is because of a lack of recognition of the importance of spatial relationships to some aspects of brain function, and the reflection in spatial statistics of other types of information. The mathematical tools necessary to describe spatial relationships are also unknown to many neuroscientists, and biologists in general. We analyze two cases, and show that spatial relationships can be used to understand the role of a particular type of cell, the astrocyte, in Alzheimer's disease, and that the geometry of axons in the brain's white matter sheds light on the process of establishing connectivity between areas of the brain. Astrocytes provide nutrients for neuronal metabolism, and regulate the chemical environment of the brain, activities that require manipulation of spatial distributions (of neurotransmitters, for example). We first show, through the use of a correlation function, that inter-astrocyte forces determine the size of independent regulatory domains in the cortex. By examining the spatial distribution of astrocytes in a mouse model of Alzheimer's Disease, we determine that astrocytes are not actively transported to fight the disease, as was previously thought. The paths axons take through the white matter determine which parts of the brain are connected, and how quickly signals are transmitted. The rules that determine these paths (i.e. shortest distance) are currently unknown. By measurement of axon orientation distributions using three-point correlation functions and the statistics of axon turning and branching, we reveal that axons are restricted to growth in three directions, like a taxicab traversing city blocks, albeit in three-dimensions. We show how geometric restrictions at the small scale are related to large-scale trajectories. Finally we discuss the implications of this finding for experimental and theoretical connectomics

Optimum Slice Reduction Algorithm For Fast Surface Reconstruction From Contour Slices

Tesis ini memfokus kepada pembinaan semula permukaan daripada siri hirisan kontur, dengan tujuan mempercepatkan proses pembinaan semula di samping mengekalkan kualiti output pada tahap yang boleh diterima. This thesis is concerned with the reconstruction of surface from a series of contour slices, with the aim to speed up the reconstruction process while preserving the output quality at an acceptable level

Optimum Slice Reduction Algorithm For Fast Surface Reconstruction From Contour slices [QA571. T164 2007 f rb].

Tesis ini memfokus kepada pembinaan semula permukaan daripada siri hirisan kontur, dengan tujuan mempercepatkan proses pembinaan semula di samping mengekalkan kualiti output pada tahap yang boleh diterima. Teknik yang dicadangkan dalam tesis ini memproses hirisan-hirisan kontur sebelum pembinaan semula permukaan. This thesis is concerned with the reconstruction of surface from a series of contour slices, with the aim to speed up the reconstruction process while preserving the output quality at an acceptable level. The proposed technique in this thesis, preprocesses the slices of contour prior to surface reconstruction

An Incremental Navigation Localization Methodology for Application to Semi-Autonomous Mobile Robotic Platforms to Assist Individuals Having Severe Motor Disabilities.

In the present work, the author explores the issues surrounding the design and development of an intelligent wheelchair platform incorporating the semi-autonomous system paradigm, to meet the needs of individuals with severe motor disabilities. The author presents a discussion of the problems of navigation that must be solved before any system of this type can be instantiated, and enumerates the general design issues that must be addressed by the designers of systems of this type. This discussion includes reviews of various methodologies that have been proposed as solutions to the problems considered. Next, the author introduces a new navigation method, called Incremental Signature Recognition (ISR), for use by semi-autonomous systems in structured environments. This method is based on the recognition, recording, and tracking of environmental discontinuities: sensor reported anomalies in measured environmental parameters. The author then proposes a robust, redundant, dynamic, self-diagnosing sensing methodology for detecting and compensating for hidden failures of single sensors and sensor idiosyncrasies. This technique is optimized for the detection of spatial discontinuity anomalies. Finally, the author gives details of an effort to realize a prototype ISR based system, along with insights into the various implementation choices made

Nearest-Neighbor based Metric Functions for indoor scene recognition

Indoor scene recognition is a challenging problem in the classical scene recognition domain due to the severe intra-class variations and inter-class similarities of man-made indoor structures. State-of-the-art scene recognition techniques such as capturing holistic representations of an image demonstrate low performance on indoor scenes. Other methods that introduce intermediate steps such as identifying objects and associating them with scenes have the handicap of successfully localizing and recognizing the objects in a highly cluttered and sophisticated environment. We propose a classification method that can handle such difficulties of the problem domain by employing a metric function based on the Nearest-Neighbor classification procedure using the bag-of-visual words scheme, the so-called codebooks. Considering the codebook construction as a Voronoi tessellation of the feature space, we have observed that, given an image, a learned weighted distance of the extracted feature vectors to the center of the Voronoi cells gives a strong indication of the image's category. Our method outperforms state-of-the-art approaches on an indoor scene recognition benchmark and achieves competitive results on a general scene dataset, using a single type of descriptor. © 2011 Elsevier Inc. All rights reserved

Hierarchical Graphs as Organisational Principle and Spatial Model Applied to Pedestrian Indoor Navigation

In this thesis, hierarchical graphs are investigated from two different angles – as a general modelling principle for (geo)spatial networks and as a practical means to enhance navigation in buildings. The topics addressed are of interest from a multi-disciplinary point of view, ranging from Computer Science in general over Artificial Intelligence and Computational Geometry in particular to other fields such as Geographic Information Science. Some hierarchical graph models have been previously proposed by the research community, e.g. to cope with the massive size of road networks, or as a conceptual model for human wayfinding. However, there has not yet been a comprehensive, systematic approach for modelling spatial networks with hierarchical graphs. One particular problem is the gap between conceptual models and models which can be readily used in practice. Geospatial data is commonly modelled - if at all - only as a flat graph. Therefore, from a practical point of view, it is important to address the automatic construction of a graph hierarchy based on the predominant data models. The work presented deals with this problem: an automated method for construction is introduced and explained. A particular contribution of my thesis is the proposition to use hierarchical graphs as the basis for an extensible, flexible architecture for modelling various (geo)spatial networks. The proposed approach complements classical graph models very well in the sense that their expressiveness is extended: various graphs originating from different sources can be integrated into a comprehensive, multi-level model. This more sophisticated kind of architecture allows for extending navigation services beyond the borders of one single spatial network to a collection of heterogeneous networks, thus establishing a meta-navigation service. Another point of discussion is the impact of the hierarchy and distribution on graph algorithms. They have to be adapted to properly operate on multi-level hierarchies. By investigating indoor navigation problems in particular, the guiding principles are demonstrated for modelling networks at multiple levels of detail. Complex environments like large public buildings are ideally suited to demonstrate the versatile use of hierarchical graphs and thus to highlight the benefits of the hierarchical approach. Starting from a collection of floor plans, I have developed a systematic method for constructing a multi-level graph hierarchy. The nature of indoor environments, especially their inherent diversity, poses an additional challenge: among others, one must deal with complex, irregular, and/or three-dimensional features. The proposed method is also motivated by practical considerations, such as not only finding shortest/fastest paths across rooms and floors, but also by providing descriptions for these paths which are easily understood by people. Beyond this, two novel aspects of using a hierarchy are discussed: one as an informed heuristic exploiting the specific characteristics of indoor environments in order to enhance classical, general-purpose graph search techniques. At the same time, as a convenient by- product of this method, clusters such as sections and wings can be detected. The other reason is to better deal with irregular, complex-shaped regions in a way that instructions can also be provided for these spaces. Previous approaches have not considered this problem. In summary, the main results of this work are: • hierarchical graphs are introduced as a general spatial data infrastructure. In particular, this architecture allows us to integrate different spatial networks originating from different sources. A small but useful set of operations is proposed for integrating these networks. In order to work in a hierarchical model, classical graph algorithms are generalised. This finding also has implications on the possible integration of separate navigation services and systems; • a novel set of core data structures and algorithms have been devised for modelling indoor environments. They cater to the unique characteristics of these environments and can be specifically used to provide enhanced navigation in buildings. Tested on models of several real buildings from our university, some preliminary but promising results were gained from a prototypical implementation and its application on the models