Indoor navigation for the visually impaired : enhancements through utilisation of the Internet of Things and deep learning

Wayfinding and navigation are essential aspects of independent living that heavily rely on the sense of vision. Walking in a complex building requires knowing exact location to find a suitable path to the desired destination, avoiding obstacles and monitoring orientation and movement along the route. People who do not have access to sight-dependent information, such as that provided by signage, maps and environmental cues, can encounter challenges in achieving these tasks independently. They can rely on assistance from others or maintain their independence by using assistive technologies and the resources provided by smart environments. Several solutions have adapted technological innovations to combat navigation in an indoor environment over the last few years. However, there remains a significant lack of a complete solution to aid the navigation requirements of visually impaired (VI) people. The use of a single technology cannot provide a solution to fulfil all the navigation difficulties faced. A hybrid solution using Internet of Things (IoT) devices and deep learning techniques to discern the patterns of an indoor environment may help VI people gain confidence to travel independently. This thesis aims to improve the independence and enhance the journey of VI people in an indoor setting with the proposed framework, using a smartphone. The thesis proposes a novel framework, Indoor-Nav, to provide a VI-friendly path to avoid obstacles and predict the user s position. The components include Ortho-PATH, Blue Dot for VI People (BVIP), and a deep learning-based indoor positioning model. The work establishes a novel collision-free pathfinding algorithm, Orth-PATH, to generate a VI-friendly path via sensing a grid-based indoor space. Further, to ensure correct movement, with the use of beacons and a smartphone, BVIP monitors the movements and relative position of the moving user. In dark areas without external devices, the research tests the feasibility of using sensory information from a smartphone with a pre-trained regression-based deep learning model to predict the user s absolute position. The work accomplishes a diverse range of simulations and experiments to confirm the performance and effectiveness of the proposed framework and its components. The results show that Indoor-Nav is the first type of pathfinding algorithm to provide a novel path to reflect the needs of VI people. The approach designs a path alongside walls, avoiding obstacles, and this research benchmarks the approach with other popular pathfinding algorithms. Further, this research develops a smartphone-based application to test the trajectories of a moving user in an indoor environment

Similarity processing in multi-observation data

Many real-world application domains such as sensor-monitoring systems for environmental research or medical diagnostic systems are dealing with data that is represented by multiple observations. In contrast to single-observation data, where each object is assigned to exactly one occurrence, multi-observation data is based on several occurrences that are subject to two key properties: temporal variability and uncertainty. When defining similarity between data objects, these properties play a significant role. In general, methods designed for single-observation data hardly apply for multi-observation data, as they are either not supported by the data models or do not provide sufficiently efficient or effective solutions. Prominent directions incorporating the key properties are the fields of time series, where data is created by temporally successive observations, and uncertain data, where observations are mutually exclusive. This thesis provides research contributions for similarity processing - similarity search and data mining - on time series and uncertain data. The first part of this thesis focuses on similarity processing in time series databases. A variety of similarity measures have recently been proposed that support similarity processing w.r.t. various aspects. In particular, this part deals with time series that consist of periodic occurrences of patterns. Examining an application scenario from the medical domain, a solution for activity recognition is presented. Finally, the extraction of feature vectors allows the application of spatial index structures, which support the acceleration of search and mining tasks resulting in a significant efficiency gain. As feature vectors are potentially of high dimensionality, this part introduces indexing approaches for the high-dimensional space for the full-dimensional case as well as for arbitrary subspaces. The second part of this thesis focuses on similarity processing in probabilistic databases. The presence of uncertainty is inherent in many applications dealing with data collected by sensing devices. Often, the collected information is noisy or incomplete due to measurement or transmission errors. Furthermore, data may be rendered uncertain due to privacy-preserving issues with the presence of confidential information. This creates a number of challenges in terms of effectively and efficiently querying and mining uncertain data. Existing work in this field either neglects the presence of dependencies or provides only approximate results while applying methods designed for certain data. Other approaches dealing with uncertain data are not able to provide efficient solutions. This part presents query processing approaches that outperform existing solutions of probabilistic similarity ranking. This part finally leads to the application of the introduced techniques to data mining tasks, such as the prominent problem of probabilistic frequent itemset mining.Viele Anwendungsgebiete, wie beispielsweise die Umweltforschung oder die medizinische Diagnostik, nutzen Systeme der Sensorüberwachung. Solche Systeme müssen oftmals in der Lage sein, mit Daten umzugehen, welche durch mehrere Beobachtungen repräsentiert werden. Im Gegensatz zu Daten mit nur einer Beobachtung (Single-Observation Data) basieren Daten aus mehreren Beobachtungen (Multi-Observation Data) auf einer Vielzahl von Beobachtungen, welche zwei Schlüsseleigenschaften unterliegen: Zeitliche Veränderlichkeit und Datenunsicherheit. Im Bereich der Ähnlichkeitssuche und im Data Mining spielen diese Eigenschaften eine wichtige Rolle. Gängige Lösungen in diesen Bereichen, die für Single-Observation Data entwickelt wurden, sind in der Regel für den Umgang mit mehreren Beobachtungen pro Objekt nicht anwendbar. Der Grund dafür liegt darin, dass diese Ansätze entweder nicht mit den Datenmodellen vereinbar sind oder keine Lösungen anbieten, die den aktuellen Ansprüchen an Lösungsqualität oder Effizienz genügen. Bekannte Forschungsrichtungen, die sich mit Multi-Observation Data und deren Schlüsseleigenschaften beschäftigen, sind die Analyse von Zeitreihen und die Ähnlichkeitssuche in probabilistischen Datenbanken. Während erstere Richtung eine zeitliche Ordnung der Beobachtungen eines Objekts voraussetzt, basieren unsichere Datenobjekte auf Beobachtungen, die sich gegenseitig bedingen oder ausschließen. Diese Dissertation umfasst aktuelle Forschungsbeiträge aus den beiden genannten Bereichen, wobei Methoden zur Ähnlichkeitssuche und zur Anwendung im Data Mining vorgestellt werden. Der erste Teil dieser Arbeit beschäftigt sich mit Ähnlichkeitssuche und Data Mining in Zeitreihendatenbanken. Insbesondere werden Zeitreihen betrachtet, welche aus periodisch auftretenden Mustern bestehen. Im Kontext eines medizinischen Anwendungsszenarios wird ein Ansatz zur Aktivitätserkennung vorgestellt. Dieser erlaubt mittels Merkmalsextraktion eine effiziente Speicherung und Analyse mit Hilfe von räumlichen Indexstrukturen. Für den Fall hochdimensionaler Merkmalsvektoren stellt dieser Teil zwei Indexierungsmethoden zur Beschleunigung von ähnlichkeitsanfragen vor. Die erste Methode berücksichtigt alle Attribute der Merkmalsvektoren, während die zweite Methode eine Projektion der Anfrage auf eine benutzerdefinierten Unterraum des Vektorraums erlaubt. Im zweiten Teil dieser Arbeit wird die Ähnlichkeitssuche im Kontext probabilistischer Datenbanken behandelt. Daten aus Sensormessungen besitzen häufig Eigenschaften, die einer gewissen Unsicherheit unterliegen. Aufgrund von Mess- oder übertragungsfehlern sind gemessene Werte oftmals unvollständig oder mit Rauschen behaftet. In diversen Szenarien, wie beispielsweise mit persönlichen oder medizinisch vertraulichen Daten, können Daten auch nachträglich von Hand verrauscht werden, so dass eine genaue Rekonstruktion der ursprünglichen Informationen nicht möglich ist. Diese Gegebenheiten stellen Anfragetechniken und Methoden des Data Mining vor einige Herausforderungen. In bestehenden Forschungsarbeiten aus dem Bereich der unsicheren Datenbanken werden diverse Probleme oftmals nicht beachtet. Entweder wird die Präsenz von Abhängigkeiten ignoriert, oder es werden lediglich approximative Lösungen angeboten, welche die Anwendung von Methoden für sichere Daten erlaubt. Andere Ansätze berechnen genaue Lösungen, liefern die Antworten aber nicht in annehmbarer Laufzeit zurück. Dieser Teil der Arbeit präsentiert effiziente Methoden zur Beantwortung von Ähnlichkeitsanfragen, welche die Ergebnisse absteigend nach ihrer Relevanz, also eine Rangliste der Ergebnisse, zurückliefern. Die angewandten Techniken werden schließlich auf Problemstellungen im probabilistischen Data Mining übertragen, um beispielsweise das Problem des Frequent Itemset Mining unter Berücksichtigung des vollen Gehalts an Unsicherheitsinformation zu lösen

Interconnected Services for Time-Series Data Management in Smart Manufacturing Scenarios

xvii, 218 p.The rise of Smart Manufacturing, together with the strategic initiatives carried out worldwide, have promoted its adoption among manufacturers who are increasingly interested in boosting data-driven applications for different purposes, such as product quality control, predictive maintenance of equipment, etc. However, the adoption of these approaches faces diverse technological challenges with regard to the data-related technologies supporting the manufacturing data life-cycle. The main contributions of this dissertation focus on two specific challenges related to the early stages of the manufacturing data life-cycle: an optimized storage of the massive amounts of data captured during the production processes and an efficient pre-processing of them. The first contribution consists in the design and development of a system that facilitates the pre-processing task of the captured time-series data through an automatized approach that helps in the selection of the most adequate pre-processing techniques to apply to each data type. The second contribution is the design and development of a three-level hierarchical architecture for time-series data storage on cloud environments that helps to manage and reduce the required data storage resources (and consequently its associated costs). Moreover, with regard to the later stages, a thirdcontribution is proposed, that leverages advanced data analytics to build an alarm prediction system that allows to conduct a predictive maintenance of equipment by anticipating the activation of different types of alarms that can be produced on a real Smart Manufacturing scenario

Big Data Computing for Geospatial Applications

The convergence of big data and geospatial computing has brought forth challenges and opportunities to Geographic Information Science with regard to geospatial data management, processing, analysis, modeling, and visualization. This book highlights recent advancements in integrating new computing approaches, spatial methods, and data management strategies to tackle geospatial big data challenges and meanwhile demonstrates opportunities for using big data for geospatial applications. Crucial to the advancements highlighted in this book is the integration of computational thinking and spatial thinking and the transformation of abstract ideas and models to concrete data structures and algorithms

Simulation Intelligence: Towards a New Generation of Scientific Methods

The original "Seven Motifs" set forth a roadmap of essential methods for the field of scientific computing, where a motif is an algorithmic method that captures a pattern of computation and data movement. We present the "Nine Motifs of Simulation Intelligence", a roadmap for the development and integration of the essential algorithms necessary for a merger of scientific computing, scientific simulation, and artificial intelligence. We call this merger simulation intelligence (SI), for short. We argue the motifs of simulation intelligence are interconnected and interdependent, much like the components within the layers of an operating system. Using this metaphor, we explore the nature of each layer of the simulation intelligence operating system stack (SI-stack) and the motifs therein: (1) Multi-physics and multi-scale modeling; (2) Surrogate modeling and emulation; (3) Simulation-based inference; (4) Causal modeling and inference; (5) Agent-based modeling; (6) Probabilistic programming; (7) Differentiable programming; (8) Open-ended optimization; (9) Machine programming. We believe coordinated efforts between motifs offers immense opportunity to accelerate scientific discovery, from solving inverse problems in synthetic biology and climate science, to directing nuclear energy experiments and predicting emergent behavior in socioeconomic settings. We elaborate on each layer of the SI-stack, detailing the state-of-art methods, presenting examples to highlight challenges and opportunities, and advocating for specific ways to advance the motifs and the synergies from their combinations. Advancing and integrating these technologies can enable a robust and efficient hypothesis-simulation-analysis type of scientific method, which we introduce with several use-cases for human-machine teaming and automated science

Efficient configuration space construction and optimization

The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this dissertation, we address three main computational challenges related to configuration spaces: 1) how to efficiently compute an approximate representation of high-dimensional configuration spaces; 2) how to efficiently perform geometric, proximity, and motion planning queries in high dimensional configuration spaces; and 3) how to model uncertainty in configuration spaces represented by noisy sensor data. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We highlight the efficiency of our algorithms for penetration depth computation and instance-based motion planning. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning. In order to extend configuration space algorithms to handle noisy sensor data arising from real-world robotics applications, we model the uncertainty in the configuration space by formulating the collision probabilities for noisy data. We use these algorithms to perform reliable motion planning for the PR2 robot.Doctor of Philosoph