Children, Humanoid Robots and Caregivers

This paper presents developmental learning on a humanoid robot from human-robot interactions. We consider in particular teaching humanoids as children during the child's Separation and Individuation developmental phase (Mahler, 1979). Cognitive development during this phase is characterized both by the child's dependence on her mother for learning while becoming awareness of her own individuality, and by self-exploration of her physical surroundings. We propose a learning framework for a humanoid robot inspired on such cognitive development

Quantitative Assessment of Flame Stability Through Image Processing and Spectral Analysis

This paper experimentally investigates two generalized methods, i.e., a simple universal index and oscillation frequency, for the quantitative assessment of flame stability at fossil-fuel-fired furnaces. The index is proposed to assess the stability of flame in terms of its color, geometry, and luminance. It is designed by combining up to seven characteristic parameters extracted from flame images. The oscillation frequency is derived from the spectral analysis of flame radiation signals. The measurements involved in these two methods do not require prior knowledge about fuel property, burner type, and other operation conditions. They can therefore be easily applied to flame stability assessment without costly and complex adaption. Experiments were carried out on a 9-MW heavy-oil-fired combustion test rig over a wide range of combustion conditions including variations in swirl vane position of the tertiary air, swirl vane position of the secondary air, and the ratio of the primary air to the total air. The impact of these burner parameters on the stability of heavy oil flames is investigated by using the index and oscillation frequency proposed. The experimental results obtained demonstrate the effectiveness of the methods and the importance of maintaining a stable flame for reduced NOx emissions. It is envisaged that such methods can be easily transferred to existing flame closed-circuit television systems and flame failure detectors in power stations for flame stability monitoring

Efficient coding of spectrotemporal binaural sounds leads to emergence of the auditory space representation

To date a number of studies have shown that receptive field shapes of early sensory neurons can be reproduced by optimizing coding efficiency of natural stimulus ensembles. A still unresolved question is whether the efficient coding hypothesis explains formation of neurons which explicitly represent environmental features of different functional importance. This paper proposes that the spatial selectivity of higher auditory neurons emerges as a direct consequence of learning efficient codes for natural binaural sounds. Firstly, it is demonstrated that a linear efficient coding transform - Independent Component Analysis (ICA) trained on spectrograms of naturalistic simulated binaural sounds extracts spatial information present in the signal. A simple hierarchical ICA extension allowing for decoding of sound position is proposed. Furthermore, it is shown that units revealing spatial selectivity can be learned from a binaural recording of a natural auditory scene. In both cases a relatively small subpopulation of learned spectrogram features suffices to perform accurate sound localization. Representation of the auditory space is therefore learned in a purely unsupervised way by maximizing the coding efficiency and without any task-specific constraints. This results imply that efficient coding is a useful strategy for learning structures which allow for making behaviorally vital inferences about the environment.Comment: 22 pages, 9 figure

Reflectance Transformation Imaging (RTI) System for Ancient Documentary Artefacts

This tutorial summarises our uses of reflectance transformation imaging in archaeological contexts. It introduces the UK AHRC funded project reflectance Transformation Imaging for Anciant Documentary Artefacts and demonstrates imaging methodologies

Attentive Aspect Modeling for Review-aware Recommendation

In recent years, many studies extract aspects from user reviews and integrate them with ratings for improving the recommendation performance. The common aspects mentioned in a user's reviews and a product's reviews indicate indirect connections between the user and product. However, these aspect-based methods suffer from two problems. First, the common aspects are usually very sparse, which is caused by the sparsity of user-product interactions and the diversity of individual users' vocabularies. Second, a user's interests on aspects could be different with respect to different products, which are usually assumed to be static in existing methods. In this paper, we propose an Attentive Aspect-based Recommendation Model (AARM) to tackle these challenges. For the first problem, to enrich the aspect connections between user and product, besides common aspects, AARM also models the interactions between synonymous and similar aspects. For the second problem, a neural attention network which simultaneously considers user, product and aspect information is constructed to capture a user's attention towards aspects when examining different products. Extensive quantitative and qualitative experiments show that AARM can effectively alleviate the two aforementioned problems and significantly outperforms several state-of-the-art recommendation methods on top-N recommendation task.Comment: Camera-ready manuscript for TOI

Adaptive threshold optimisation for colour-based lip segmentation in automatic lip-reading systems

A thesis submitted to the Faculty of Engineering and the Built Environment, University of the Witwatersrand, Johannesburg, in ful lment of the requirements for the degree of Doctor of Philosophy. Johannesburg, September 2016Having survived the ordeal of a laryngectomy, the patient must come to terms with the resulting loss of speech. With recent advances in portable computing power, automatic lip-reading (ALR) may become a viable approach to voice restoration. This thesis addresses the image processing aspect of ALR, and focuses three contributions to colour-based lip segmentation. The rst contribution concerns the colour transform to enhance the contrast between the lips and skin. This thesis presents the most comprehensive study to date by measuring the overlap between lip and skin histograms for 33 di erent colour transforms. The hue component of HSV obtains the lowest overlap of 6:15%, and results show that selecting the correct transform can increase the segmentation accuracy by up to three times. The second contribution is the development of a new lip segmentation algorithm that utilises the best colour transforms from the comparative study. The algorithm is tested on 895 images and achieves percentage overlap (OL) of 92:23% and segmentation error (SE) of 7:39 %. The third contribution focuses on the impact of the histogram threshold on the segmentation accuracy, and introduces a novel technique called Adaptive Threshold Optimisation (ATO) to select a better threshold value. The rst stage of ATO incorporates -SVR to train the lip shape model. ATO then uses feedback of shape information to validate and optimise the threshold. After applying ATO, the SE decreases from 7:65% to 6:50%, corresponding to an absolute improvement of 1:15 pp or relative improvement of 15:1%. While this thesis concerns lip segmentation in particular, ATO is a threshold selection technique that can be used in various segmentation applications.MT201

Artificial intelligence and automation in valvular heart diseases

Artificial intelligence (AI) is gradually changing every aspect of social life, and healthcare is no exception. The clinical procedures that were supposed to, and could previously only be handled by human experts can now be carried out by machines in a more accurate and efficient way. The coming era of big data and the advent of supercomputers provides great opportunities to the development of AI technology for the enhancement of diagnosis and clinical decision-making. This review provides an introduction to AI and highlights its applications in the clinical flow of diagnosing and treating valvular heart diseases (VHDs). More specifically, this review first introduces some key concepts and subareas in AI. Secondly, it discusses the application of AI in heart sound auscultation and medical image analysis for assistance in diagnosing VHDs. Thirdly, it introduces using AI algorithms to identify risk factors and predict mortality of cardiac surgery. This review also describes the state-of-the-art autonomous surgical robots and their roles in cardiac surgery and intervention