Glimpse: Continuous, Real-Time Object Recognition on Mobile Devices

Glimpse is a continuous, real-time object recognition system for camera-equipped mobile devices. Glimpse captures full-motion video, locates objects of interest, recognizes and labels them, and tracks them from frame to frame for the user. Because the algorithms for object recognition entail significant computation, Glimpse runs them on server machines. When the latency between the server and mobile device is higher than a frame-time, this approach lowers object recognition accuracy. To regain accuracy, Glimpse uses an active cache of video frames on the mobile device. A subset of the frames in the active cache are used to track objects on the mobile, using (stale) hints about objects that arrive from the server from time to time. To reduce network bandwidth usage, Glimpse computes trigger frames to send to the server for recognizing and labeling. Experiments with Android smartphones and Google Glass over Verizon, AT&T, and a campus Wi-Fi network show that with hardware face detection support (available on many mobile devices), Glimpse achieves precision between 96.4% to 99.8% for continuous face recognition, which improves over a scheme performing hardware face detection and server-side recognition without Glimpse's techniques by between 1.8-2.5×. The improvement in precision for face recognition without hardware detection is between 1.6-5.5×. For road sign recognition, which does not have a hardware detector, Glimpse achieves precision between 75% and 80%; without Glimpse, continuous detection is non-functional (0.2%-1.9% precision)

Tracking bacteria at high density with FAST, the Feature-Assisted Segmenter/Tracker

Most bacteria live attached to surfaces in densely-packed communities. While new experimental and imaging techniques are beginning to provide a window on the complex processes that play out in these communities, resolving the behaviour of individual cells through time and space remains a major challenge. Although a number of different software solutions have been developed to track microorganisms, these typically require users either to tune a large number of parameters or to groundtruth a large volume of imaging data to train a deep learning model—both manual processes which can be very time consuming for novel experiments. To overcome these limitations, we have developed FAST, the Feature-Assisted Segmenter/Tracker, which uses unsupervised machine learning to optimise tracking while maintaining ease of use. Our approach, rooted in information theory, largely eliminates the need for users to iteratively adjust parameters manually and make qualitative assessments of the resulting cell trajectories. Instead, FAST measures multiple distinguishing ‘features’ for each cell and then autonomously quantifies the amount of unique information each feature provides. We then use these measurements to determine how data from different features should be combined to minimize tracking errors. Comparing our algorithm with a naïve approach that uses cell position alone revealed that FAST produced 4 to 10 fold fewer tracking errors. The modular design of FAST combines our novel tracking method with tools for segmentation, extensive data visualisation, lineage assignment, and manual track correction. It is also highly extensible, allowing users to extract custom information from images and seamlessly integrate it into downstream analyses. FAST therefore enables high-throughput, data-rich analyses with minimal user input. It has been released for use either in Matlab or as a compiled stand-alone application, and is available at https://bit.ly/3vovDHn, along with extensive tutorials and detailed documentation

Motion-Based Generator Model: Unsupervised Disentanglement of Appearance, Trackable and Intrackable Motions in Dynamic Patterns

Dynamic patterns are characterized by complex spatial and motion patterns. Understanding dynamic patterns requires a disentangled representational model that separates the factorial components. A commonly used model for dynamic patterns is the state space model, where the state evolves over time according to a transition model and the state generates the observed image frames according to an emission model. To model the motions explicitly, it is natural for the model to be based on the motions or the displacement fields of the pixels. Thus in the emission model, we let the hidden state generate the displacement field, which warps the trackable component in the previous image frame to generate the next frame while adding a simultaneously emitted residual image to account for the change that cannot be explained by the deformation. The warping of the previous image is about the trackable part of the change of image frame, while the residual image is about the intrackable part of the image. We use a maximum likelihood algorithm to learn the model that iterates between inferring latent noise vectors that drive the transition model and updating the parameters given the inferred latent vectors. Meanwhile we adopt a regularization term to penalize the norms of the residual images to encourage the model to explain the change of image frames by trackable motion. Unlike existing methods on dynamic patterns, we learn our model in unsupervised setting without ground truth displacement fields. In addition, our model defines a notion of intrackability by the separation of warped component and residual component in each image frame. We show that our method can synthesize realistic dynamic pattern, and disentangling appearance, trackable and intrackable motions. The learned models are useful for motion transfer, and it is natural to adopt it to define and measure intrackability of a dynamic pattern

Some tracking problems for aerospace models with input constraints

We study tracking controller design problems for key models of planar vertical takeoff and landing (PVTOL) aircraft and unmanned air vehicles (UAVs). The novelty of our PVTOL work is the global boundedness of our controllers in the decoupled coordinates, the positive uniform lower bound on the thrust controller, the applicability of our work to cases where the velocity measurements may not be available, the uniform global asymptotic stability and uniform local exponential stability of our closed loop tracking dynamics, the generality of our class of trackable reference trajectories, and the input-to-state stability of the controller performance under actuator errors of arbitrarily large amplitude. The significance of our UAV results is the generality of the trackable trajectories, the input-to-state stability properties of the tracking dynamics with respect to additive uncertainty on the controllers, and our ability to satisfy command amplitude and command rate constraints as well as state dependent command constraints and a state constraint on the velocity. Our work is based on a Matrosov approach for converting a nonstrict Lyapunov function for the UAV tracking dynamics into a strict one, in conjunction with asymptotic strict Lyapunov function methods and bounded backstepping

Distribution efficace des contenus dans les réseaux : partage de ressources sans fil, planification et sécurité

In recent years, the amount of traffic requests that Internet users generate on a daily basis has increased exponentially, mostly due to the worldwide success of video streaming services, such as Netflix and YouTube. While Content-Delivery Networks (CDNs) are the de-facto standard used nowadays to serve the ever increasing users’ demands, the scientific community has formulated proposals known under the name of Content-Centric Networks (CCN) to change the network protocol stack in order to turn the network into a content distribution infrastructure. In this context this Ph.D. thesis studies efficient techniques to foster content distribution taking into account three complementary problems:1) We consider the scenario of a wireless heterogeneous network, and we formulate a novel mechanism to motivate wireless access point owners to lease their unexploited bandwidth and cache storage, in exchange for an economic incentive.2) We study the centralized network planning problem and (I) we analyze the migration to CCN; (II) we compare the performance bounds for a CDN with those of a CCN, and (III) we take into account a virtualized CDN and study the stochastic planning problem for one such architecture.3) We investigate the security properties on access control and trackability and formulate ConfTrack-CCN: a CCN extension to enforce confidentiality, trackability and access policy evolution in the presence of distributed caches.Au cours de ces dernières années, la quantité de trafic que les utilisateurs Internet produisent sur une base quotidienne a augmenté de façon exponentielle, principalement en raison du succès des services de streaming vidéo, tels que Netflix et YouTube. Alors que les réseaux de diffusion de contenu (Content-Delivery Networks, CDN) sont la technique standard utilisée actuellement pour servir les demandes des utilisateurs, la communauté scientifique a formulé des propositions connues sous le nom de Content-Centric Networks (CCN) pour changer la pile de protocoles réseau afin de transformer Internet en une infrastructure de distribution de contenu. Dans ce contexte, cette thèse de doctorat étudie des techniques efficaces pour la distribution de contenu numérique en tenant compte de trois problèmes complémentaires : 1) Nous considérons le scénario d’un réseau hétérogène sans fil, et nous formulons un mécanisme pour motiver les propriétaires des points d’accès à partager leur capacité WiFi et stockage cache inutilisés, en échange d’une contribution économique.2) Nous étudions le problème centralisé de planification du réseau en présence de caches distribuées et (I) nous analysons la migration optimale du réseau à CCN; (II) nous comparons les bornes de performance d’un réseau CDN avec ceux d’un CCN, et (III) nous considérons un réseau CDN virtualisé et étudions le problème stochastique de planification d’une telle infrastructure.3) Nous considérons les implications de sécurité sur le contrôle d’accès et la traçabilité, et nous formulons ConfTrack-CCN, une extension deCCN utilisée pour garantir la confidentialité, traçabilité et l’évolution de la politique d’accès, en présence de caches distribuées

Parallel Tracking and Mapping for Manipulation Applications with Golem Krang

Implementing a simultaneous localization and mapping system and an image semantic segmentation method on a mobile manipulation. The application of the SLAM is working towards navigating among obstacles in unknown environments. The object detection method will be integrated for future manipulation tasks such as grasping. This work will be demonstrated on a real robotics hardware system in the lab.Outgoin

Monitoring and Optimization of ATLAS Tier 2 Center GoeGrid

The demand on computational and storage resources is growing along with the amount of infor- mation that needs to be processed and preserved. In order to ease the provisioning of the digital services to the growing number of consumers, more and more distributed computing systems and platforms are actively developed and employed. The building block of the distributed computing infrastructure are single computing centers, similar to the Worldwide LHC Computing Grid, Tier 2 centre GoeGrid. The main motivation of this thesis was the optimization of GoeGrid perfor- mance by efficient monitoring. The goal has been achieved by means of the GoeGrid monitoring information analysis. The data analysis approach was based on the adaptive-network-based fuzzy inference system (ANFIS) and machine learning algorithm such as Linear Support Vector Machine (SVM). The main object of the research was the digital service, since availability, reliability and ser- viceability of the computing platform can be measured according to the constant and stable provisioning of the services. Due to the widely used concept of the service oriented architecture (SOA) for large computing facilities, in advance knowing of the service state as well as the quick and accurate detection of its disability allows to perform the proactive management of the com- puting facility. The proactive management is considered as a core component of the computing facility management automation concept, such as Autonomic Computing. Thus in time as well as in advance and accurate identification of the provided service status can be considered as a contribution to the computing facility management automation, which is directly related to the provisioning of the stable and reliable computing resources. Based on the case studies, performed using the GoeGrid monitoring data, consideration of the approaches as generalized methods for the accurate and fast identification and prediction of the service status is reasonable. Simplicity and low consumption of the computing resources allow to consider the methods in the scope of the Autonomic Computing component

Goal-driven Elaboration of Crime Scripts

This research investigates a crime modelling technique known as crime scripting. Crime scripts are generated by crime analysts to improve the understanding of security incidents, and in particularly, the criminal modus operandi (i.e., how crimes occur) to help identify cost-effective crime prevention measures. This thesis makes four contributions in this area. First, a systematic review of the crime scripting literature that provides a comprehensive and up-to-date understanding of crime scripting practice, and identifies potential issues with current crime scripting methods. Second, a comparative analysis of crime scripts which reveals differences and similarities between the scripts generated by different analysts, and confirms the limitations of intuitive approaches to crime scripting. Third, an experimental study, which shows that the content of crime scripts is influenced by what scripters know about the future use of their scripts. And fourth, a novel crime scripting framework inspired from business process modelling and goal-based modelling techniques. This framework aims to help researchers and practitioners better understand the activities involved in the development of crime scripts, and guide them in the creation of scripts and facilitate the identification of suitable crime prevention measures