Probabilistic modeling and statistical inference for random fields and space-time processes

Author from publisher's list. Cover title.Final report for ONR Grant N00014-91-J-100

SDSF : social-networking trust based distributed data storage and co-operative information fusion.

As of 2014, about 2.5 quintillion bytes of data are created each day, and 90% of the data in the world was created in the last two years alone. The storage of this data can be on external hard drives, on unused space in peer-to-peer (P2P) networks or using the more currently popular approach of storing in the Cloud. When the users store their data in the Cloud, the entire data is exposed to the administrators of the services who can view and possibly misuse the data. With the growing popularity and usage of Cloud storage services like Google Drive, Dropbox etc., the concerns of privacy and security are increasing. Searching for content or documents, from this distributed stored data, given the rate of data generation, is a big challenge. Information fusion is used to extract information based on the query of the user, and combine the data and learn useful information. This problem is challenging if the data sources are distributed and heterogeneous in nature where the trustworthiness of the documents may be varied. This thesis proposes two innovative solutions to resolve both of these problems. Firstly, to remedy the situation of security and privacy of stored data, we propose an innovative Social-based Distributed Data Storage and Trust based co-operative Information Fusion Framework (SDSF). The main objective is to create a framework that assists in providing a secure storage system while not overloading a single system using a P2P like approach. This framework allows the users to share storage resources among friends and acquaintances without compromising the security or privacy and enjoying all the benefits that the Cloud storage offers. The system fragments the data and encodes it to securely store it on the unused storage capacity of the data owner\u27s friends\u27 resources. The system thus gives a centralized control to the user over the selection of peers to store the data. Secondly, to retrieve the stored distributed data, the proposed system performs the fusion also from distributed sources. The technique uses several algorithms to ensure the correctness of the query that is used to retrieve and combine the data to improve the information fusion accuracy and efficiency for combining the heterogeneous, distributed and massive data on the Cloud for time critical operations. We demonstrate that the retrieved documents are genuine when the trust scores are also used while retrieving the data sources. The thesis makes several research contributions. First, we implement Social Storage using erasure coding. Erasure coding fragments the data, encodes it, and through introduction of redundancy resolves issues resulting from devices failures. Second, we exploit the inherent concept of trust that is embedded in social networks to determine the nodes and build a secure net-work where the fragmented data should be stored since the social network consists of a network of friends, family and acquaintances. The trust between the friends, and availability of the devices allows the user to make an informed choice about where the information should be stored using `k\u27 optimal paths. Thirdly, for the purpose of retrieval of this distributed stored data, we propose information fusion on distributed data using a combination of Enhanced N-grams (to ensure correctness of the query), Semantic Machine Learning (to extract the documents based on the context and not just bag of words and also considering the trust score) and Map Reduce (NSM) Algorithms. Lastly we evaluate the performance of distributed storage of SDSF using era- sure coding and identify the social storage providers based on trust and evaluate their trustworthiness. We also evaluate the performance of our information fusion algorithms in distributed storage systems. Thus, the system using SDSF framework, implements the beneficial features of P2P networks and Cloud storage while avoiding the pitfalls of these systems. The multi-layered encrypting ensures that all other users, including the system administrators cannot decode the stored data. The application of NSM algorithm improves the effectiveness of fusion since large number of genuine documents are retrieved for fusion

CIRA annual report FY 2017/2018

Reporting period April 1, 2017-March 31, 2018

Proceedings of the 2009 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory

The joint workshop of the Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, and the Vision and Fusion Laboratory (Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT)), is organized annually since 2005 with the aim to report on the latest research and development findings of the doctoral students of both institutions. This book provides a collection of 16 technical reports on the research results presented on the 2009 workshop

Application of data and information fusion

Ph.DDOCTOR OF PHILOSOPH

Inferring Complex Activities for Context-aware Systems within Smart Environments

The rising ageing population worldwide and the prevalence of age-related conditions such as physical fragility, mental impairments and chronic diseases have significantly impacted the quality of life and caused a shortage of health and care services. Over-stretched healthcare providers are leading to a paradigm shift in public healthcare provisioning. Thus, Ambient Assisted Living (AAL) using Smart Homes (SH) technologies has been rigorously investigated to help address the aforementioned problems. Human Activity Recognition (HAR) is a critical component in AAL systems which enables applications such as just-in-time assistance, behaviour analysis, anomalies detection and emergency notifications. This thesis is aimed at investigating challenges faced in accurately recognising Activities of Daily Living (ADLs) performed by single or multiple inhabitants within smart environments. Specifically, this thesis explores five complementary research challenges in HAR. The first study contributes to knowledge by developing a semantic-enabled data segmentation approach with user-preferences. The second study takes the segmented set of sensor data to investigate and recognise human ADLs at multi-granular action level; coarse- and fine-grained action level. At the coarse-grained actions level, semantic relationships between the sensor, object and ADLs are deduced, whereas, at fine-grained action level, object usage at the satisfactory threshold with the evidence fused from multimodal sensor data is leveraged to verify the intended actions. Moreover, due to imprecise/vague interpretations of multimodal sensors and data fusion challenges, fuzzy set theory and fuzzy web ontology language (fuzzy-OWL) are leveraged. The third study focuses on incorporating uncertainties caused in HAR due to factors such as technological failure, object malfunction, and human errors. Hence, existing studies uncertainty theories and approaches are analysed and based on the findings, probabilistic ontology (PR-OWL) based HAR approach is proposed. The fourth study extends the first three studies to distinguish activities conducted by more than one inhabitant in a shared smart environment with the use of discriminative sensor-based techniques and time-series pattern analysis. The final study investigates in a suitable system architecture with a real-time smart environment tailored to AAL system and proposes microservices architecture with sensor-based off-the-shelf and bespoke sensing methods. The initial semantic-enabled data segmentation study was evaluated with 100% and 97.8% accuracy to segment sensor events under single and mixed activities scenarios. However, the average classification time taken to segment each sensor events have suffered from 3971ms and 62183ms for single and mixed activities scenarios, respectively. The second study to detect fine-grained-level user actions was evaluated with 30 and 153 fuzzy rules to detect two fine-grained movements with a pre-collected dataset from the real-time smart environment. The result of the second study indicate good average accuracy of 83.33% and 100% but with the high average duration of 24648ms and 105318ms, and posing further challenges for the scalability of fusion rule creations. The third study was evaluated by incorporating PR-OWL ontology with ADL ontologies and Semantic-Sensor-Network (SSN) ontology to define four types of uncertainties presented in the kitchen-based activity. The fourth study illustrated a case study to extended single-user AR to multi-user AR by combining RFID tags and fingerprint sensors discriminative sensors to identify and associate user actions with the aid of time-series analysis. The last study responds to the computations and performance requirements for the four studies by analysing and proposing microservices-based system architecture for AAL system. A future research investigation towards adopting fog/edge computing paradigms from cloud computing is discussed for higher availability, reduced network traffic/energy, cost, and creating a decentralised system. As a result of the five studies, this thesis develops a knowledge-driven framework to estimate and recognise multi-user activities at fine-grained level user actions. This framework integrates three complementary ontologies to conceptualise factual, fuzzy and uncertainties in the environment/ADLs, time-series analysis and discriminative sensing environment. Moreover, a distributed software architecture, multimodal sensor-based hardware prototypes, and other supportive utility tools such as simulator and synthetic ADL data generator for the experimentation were developed to support the evaluation of the proposed approaches. The distributed system is platform-independent and currently supported by an Android mobile application and web-browser based client interfaces for retrieving information such as live sensor events and HAR results

Human-robot spatial interaction using probabilistic qualitative representations

Current human-aware navigation approaches use a predominantly metric representation of the interaction which makes them susceptible to changes in the environment. In order to accomplish reliable navigation in ever-changing human populated environments, the presented work aims to abstract from the underlying metric representation by using Qualitative Spatial Relations (QSR), namely the Qualitative Trajectory Calculus (QTC), for Human-Robot Spatial Interaction (HRSI). So far, this form of representing HRSI has been used to analyse different types of interactions online. This work extends this representation to be able to classify the interaction type online using incrementally updated QTC state chains, create a belief about the state of the world, and transform this high-level descriptor into low-level movement commands. By using QSRs the system becomes invariant to change in the environment, which is essential for any form of long-term deployment of a robot, but most importantly also allows the transfer of knowledge between similar encounters in different environments to facilitate interaction learning. To create a robust qualitative representation of the interaction, the essence of the movement of the human in relation to the robot and vice-versa is encoded in two new variants of QTC especially designed for HRSI and evaluated in several user studies. To enable interaction learning and facilitate reasoning, they are employed in a probabilistic framework using Hidden Markov Models (HMMs) for online classiffication and evaluation of their appropriateness for the task of human-aware navigation. In order to create a system for an autonomous robot, a perception pipeline for the detection and tracking of humans in the vicinity of the robot is described which serves as an enabling technology to create incrementally updated QTC state chains in real-time using the robot's sensors. Using this framework, the abstraction and generalisability of the QTC based framework is tested by using data from a different study for the classiffication of automatically generated state chains which shows the benefits of using such a highlevel description language. The detriment of using qualitative states to encode interaction is the severe loss of information that would be necessary to generate behaviour from it. To overcome this issue, so-called Velocity Costmaps are introduced which restrict the sampling space of a reactive local planner to only allow the generation of trajectories that correspond to the desired QTC state. This results in a exible and agile behaviour I generation that is able to produce inherently safe paths. In order to classify the current interaction type online and predict the current state for action selection, the HMMs are evolved into a particle filter especially designed to work with QSRs of any kind. This online belief generation is the basis for a exible action selection process that is based on data acquired using Learning from Demonstration (LfD) to encode human judgement into the used model. Thereby, the generated behaviour is not only sociable but also legible and ensures a high experienced comfort as shown in the experiments conducted. LfD itself is a rather underused approach when it comes to human-aware navigation but is facilitated by the qualitative model and allows exploitation of expert knowledge for model generation. Hence, the presented work bridges the gap between the speed and exibility of a sampling based reactive approach by using the particle filter and fast action selection, and the legibility of deliberative planners by using high-level information based on expert knowledge about the unfolding of an interaction

Sensor fusion in smart camera networks for ambient intelligence

This short report introduces the topics of PhD research that was conducted on 2008-2013 and was defended on July 2013. The PhD thesis covers sensor fusion theory, gathers it into a framework with design rules for fusion-friendly design of vision networks, and elaborates on the rules through fusion experiments performed with four distinct applications of Ambient Intelligence

Trust and Reputation Management: a Probabilistic Approach

Software architectures of large-scale systems are perceptibly shifting towards employing open and distributed computing. Web services emerged as autonomous and self-contained business applications that are published, found, and used over the web. These web services thus exist in an environment in which they interact among each other to achieve their goals. Two challenging tasks that govern the agents interactions have gained the attention of a large research community; web service selection and composition. The explosion of the number of published web services contributed to the growth of large pools of similarly functional services. While this is vital for a competitive and healthy marketplace, it complicates the aforementioned tasks. Service consumers resort to non-functional characteristics of available service providers to decide which service to interact with. Therefore, to optimize both tasks and maximize the gain of all involved agents, it is essential to build the capability of modeling and predicting the quality of these agents. In this thesis, we propose various trust and reputation models based on probabilistic approaches to address the web service selection and composition problems. These approaches consider the trustworthiness of a web service to be strongly tied to the outcomes of various quality of service metrics such as response time, throughput, and reliability. We represent these outcomes by a multinomial distribution whose parameters are learned using Bayesian inference which, given a likelihood function and a prior probability, derives the posterior probability. Since the likelihood, in this case, is a multinomial, a commonly used prior is the Dirichlet distribution. We propose, to overcome several limitations of the Dirichlet, by applying two alternative priors such as the generalized Dirichlet, and Beta-Liouville. Using these distributions, the learned parameters represent the probabilities of a web service to belong to each of the considered quality classes. These probabilities are consequently used to compute the trustworthiness of the evaluated web services and thus assisting consumers in the service selection process. Furthermore, after exploring the correlations among various quality metrics using real data sets, we introduce a hybrid trust model that captures these correlations using both Dirichlet and generalized Dirichlet distributions. Given their covariance structures, the former performs better when modeling negative correlations while the latter yields better modeling of positive correlations. To handle composite services, we propose various trust approaches using Bayesian networks and mixture models of three different distributions; the multinomial Dirichlet, the multinomial generalized Dirichlet, and the multinomial Beta-Liouville. Specifically, we employ a Bayesian network classifier with a Beta- Liouville prior to enable the classification of the QoS of composite services given the QoS of its constituents. In addition, we extend the previous models to function in online settings. Therefore, we present a generalized-Dirichlet power steady model that predicts compositional time series. We similarly extend the Bayesian networks model by using the Voting EM algorithm. This extension enables the estimation of the networks parameters after each interaction with a composite web service. Furthermore, we propose an algorithm to estimate the reputation of web services. We extend this algorithm by leveraging the capabilities of various clustering and outlier detection techniques to deal with malicious feedback and various strategic behavior commonly performed by web services. Alternatively, we suggest two data fusion methods for reputation feedback aggregation, namely, the covariance intersection and ellipsoidal intersection. These methods handle the dependency between the information that propagates through networks of interacting agents. They also avoid over confident estimates caused by redundant information. Finally, we present a reputation model for agent-based web services grouped into communities of homogeneous functionalities. We exploit various clustering and anomaly detection techniques to analyze and identify the quality trends provided by each service. This model enables the master of each community to allocate the requests it receives to the web service that best fulfill the quality requirements of the service consumers. We evaluate the effectiveness of the proposed approaches using both simulated and real data