Advances in Data Mining Knowledge Discovery and Applications

Advances in Data Mining Knowledge Discovery and Applications aims to help data miners, researchers, scholars, and PhD students who wish to apply data mining techniques. The primary contribution of this book is highlighting frontier fields and implementations of the knowledge discovery and data mining. It seems to be same things are repeated again. But in general, same approach and techniques may help us in different fields and expertise areas. This book presents knowledge discovery and data mining applications in two different sections. As known that, data mining covers areas of statistics, machine learning, data management and databases, pattern recognition, artificial intelligence, and other areas. In this book, most of the areas are covered with different data mining applications. The eighteen chapters have been classified in two parts: Knowledge Discovery and Data Mining Applications

Advancing mixed criticality scheduling techniques to support industrial applications

Safety critical software development is an extremely costly endeavour; software developers must forever target efficient processes that reduce software cost, while allowing significant increases in system size. The key challenge being how to reduce software cost, without compromising safety or quality. The focus of this thesis is to research the development and temporal proof of a mixed criticality system. The thesis, which attempts to define an end to end process, begins by studying appropriate and efficient methods for assessing the timing performance of system components. The key being an approach that can be applied automatically at an early point in the design lifecycle. The thesis then progresses to study how existing mixed criticality research needs to be advanced and matured in order to support an industrial safety critical application. This includes the definition of a scheduling model designed to provide the necessary protections advised by international aviation guidelines. In the final part of this thesis the timing process and mixed criticality system model are brought together to explore how a real system using these techniques could be validated

Relatório de Estágio - Solução de BI Roaming Data Science (RoaDS) em ambiente Vodafone

A telecom company (Vodafone), had the need to implement a Business Intelligence solution for Roaming data across a wide set of different data sources. Based on the data visualization of this solution, its key users with decision power, can make a business analysis and needs of infrastructure and software expansion. This document aims to expose the scientific papers produced with the various stages of production of the solution (state of the art, architecture design and implementation results), this Business Intelligence solution was designed and implemented with OLAP methodologies and technologies in a Data Warehouse composed of Data Marts arranged in constellation, the visualization layer was custom made in JavaScript (VueJS). As a base for the results a questionnaire was created to be filled in by the key users of the solution. Based on this questionnaire it was possible to ascertain that user acceptance was satisfactory. The proposed objectives for the implementation of the BI solution with all the requirements was achieved with the infrastructure itself created from scratch in Kubernetes. This BI platform can be expanded using column storage databases created specifically with OLAP workloads in mind, removing the need for an OLAP cube layer. Based on Machine Learning algorithms, the platform will be able to perform the predictions needed to make decisions about Vodafone's Roaming infrastructure

Deep Learning Detection in the Visible and Radio Spectrums

Deep learning models with convolutional neural networks are being used to solve some of the most difficult problems in computing today. Complicating factors to the use and development of deep learning models include lack of availability of large volumes of data, lack of problem specific samples, and the lack variations in the specific samples available. The costs to collect this data and to compute the models for the task of detection remains a inhibitory condition for all but the most well funded organizations. This thesis seeks to approach deep learning from a cost reduction and hybrid perspective — incorporating techniques of transfer learning, training augmentation, synthetic data generation, morphological computations, as well as statistical and thresholding model fusion — in the task of detection in two domains: visible spectrum detection of target spacecraft, and radio spectrum detection of radio frequency interference in 2D astronomical time-frequency data. The effects of training augmentation on object detection performance is studied in the visible spectrum, as well as the effect of image degradation on detection performance. Supplementing training on degraded images significantly improves the detection results, and in scenarios with low factors of degradation, the baseline results are exceeded. Morphological operations on degraded data shows promise in reducing computational requirements in some detection tasks. The proposed Mask R-CNN model is able to detect and localize properly on spacecraft images degraded by high levels of pixel loss. Deep learning models such as U-Net have been leveraged for the task of radio frequency interference labeling (flagging). Model variations on U-Net architecture design such as layer size and composition are continuing to be explored, however, the examination of deep learning models combined with statistical tests and thresholding techniques for radio frequency interference mitigation is in its infancy. For the radio spectrum domain, the use of the U-Net model combined with various statistical tests and the SumThreshold technique in an output fusion model is tested against a baseline of SumThreshold alone, for the detection of radio frequency interference. This thesis also contributes an improved dataset for spacecraft detection, and a simple technique for the generation of synthetic channelized voltage data for simulating radio astronomy spectra recordings in a 2D time-frequency plot

Toward cognitive digital twins using a BIM-GIS asset management system for a diffused university

The integrated use of building information modeling (BIM) and geographic information system (GIS) is promising for the development of asset management systems (AMSs) for operation and maintenance (O & M) in smart university campuses. The combination of BIM-GIS with cognitive digital twins (CDTs) can further facilitate the management of complex systems such as university building stock. CDTs enable buildings to behave as autonomous entities, dynamically reacting to environmental changes. Timely decisions based on the actual conditions of buildings and surroundings can be provided, both in emergency scenarios or when optimized and adaptive performances are required. The research aims to develop a BIM-GIS-based AMS for improving user experience and enabling the optimal use of resources in the O & M phase of an Italian university. Campuses are complex assets, mainly diffused with buildings spread across the territory, managed with still document-based and fragmented databases handled by several subjects. This results in incomplete and asymmetrical information, often leading to ineffective and untimely decisions. The paper presents a methodology for the development of a BIM-GIS web-based platform (i.e., AMS-app) providing the real-time visualization of the asset in an interactive 3D map connected to analytical dashboards for management support. Two buildings of the University of Turin are adopted as demonstrators, illustrating the development of an easily accessible, centralized database by integrating spatial and functional data, useful also to develop future CDTs. As a first attempt to show the AMS app potential, crowd simulations have been conducted to understand the buildings' actual level of safety in case of fire emergency and demonstrate how CDTs could improve it. The identification of data needed, also gathered through the future implementation of suitable sensors and Internet of Things networks, is the core issue together with the definition of effective asset visualization and monitoring methods. Future developments will explore the integration of artificial intelligence and immersive technologies to enable space use optimization and real-time wayfinding during evacuation, exploiting digital tools to alert and drive users or authorities for safety improvement. The ability to easily optimize the paths with respect to the actual occupancy and conditions of both the asset and surroundings will be enabled

Reconfigurable Antenna Systems: Platform implementation and low-power matters

Antennas are a necessary and often critical component of all wireless systems, of which they share the ever-increasing complexity and the challenges of present and emerging trends. 5G, massive low-orbit satellite architectures (e.g. OneWeb), industry 4.0, Internet of Things (IoT), satcom on-the-move, Advanced Driver Assistance Systems (ADAS) and Autonomous Vehicles, all call for highly flexible systems, and antenna reconfigurability is an enabling part of these advances. The terminal segment is particularly crucial in this sense, encompassing both very compact antennas or low-profile antennas, all with various adaptability/reconfigurability requirements. This thesis work has dealt with hardware implementation issues of Radio Frequency (RF) antenna reconfigurability, and in particular with low-power General Purpose Platforms (GPP); the work has encompassed Software Defined Radio (SDR) implementation, as well as embedded low-power platforms (in particular on STM32 Nucleo family of micro-controller). The hardware-software platform work has been complemented with design and fabrication of reconfigurable antennas in standard technology, and the resulting systems tested. The selected antenna technology was antenna array with continuously steerable beam, controlled by voltage-driven phase shifting circuits. Applications included notably Wireless Sensor Network (WSN) deployed in the Italian scientific mission in Antarctica, in a traffic-monitoring case study (EU H2020 project), and into an innovative Global Navigation Satellite Systems (GNSS) antenna concept (patent application submitted). The SDR implementation focused on a low-cost and low-power Software-defined radio open-source platform with IEEE 802.11 a/g/p wireless communication capability. In a second embodiment, the flexibility of the SDR paradigm has been traded off to avoid the power consumption associated to the relevant operating system. Application field of reconfigurable antenna is, however, not limited to a better management of the energy consumption. The analysis has also been extended to satellites positioning application. A novel beamforming method has presented demonstrating improvements in the quality of signals received from satellites. Regarding those who deal with positioning algorithms, this advancement help improving precision on the estimated position

Design of a digital ride quality augmentation system for commuter aircraft

Commuter aircraft typically have low wing loadings, and fly at low altitudes, and so they are susceptible to undesirable accelerations caused by random atmospheric turbulence. Larger commercial aircraft typically have higher wing loadings and fly at altitudes where the turbulence level is lower, and so they provide smoother rides. This project was initiated based on the goal of making the ride of the commuter aircraft as smooth as the ride experienced on the major commercial airliners. The objectives of this project were to design a digital, longitudinal mode ride quality augmentation system (RQAS) for a commuter aircraft, and to investigate the effect of selected parameters on those designs

On-board Obstacle Avoidance in the Teleoperation of Unmanned Aerial Vehicles

Teleoperation von Drohnen in Umgebungen ohne GPS-Verbindung und wenig Bewegungsspielraum stellt den Operator vor besondere Herausforderungen. Hindernisse in einer unbekannten Umgebung erfordern eine zuverlässige Zustandsschätzung und Algorithmen zur Vermeidung von Kollisionen. In dieser Dissertation präsentieren wir ein System zur kollisionsfreien Navigation einer ferngesteuerten Drohne mit vier Propellern (Quadcopter) in abgeschlossenen Räumen. Die Plattform ist mit einem Miniaturcomputer und dem Minimum an Sensoren ausgestattet. Diese Ausstattung genügt den Anforderungen an die Rechenleistung. Dieses Setup ermöglicht des Weiteren eine hochgenaue Zustandsschätzung mit Hilfe einer Kaskaden-Architektur, sehr gutes Folgeverhalten bezüglich der kommandierten Geschwindigkeit, sowie eine kollisionsfreie Navigation. Ein Komplementärfilter berechnet die Höhe der Drohne, während ein Kalman-Filter Beschleunigung durch eine IMU und Messungen eines Optical-Flow Sensors fusioniert und in die Softwarearchitektur integriert. Eine RGB-D Kamera stellt dem Operator ein visuelles Feedback, sowie Distanzmessungen zur Verfügung, um ein Roboter-zentriertes Modell umliegender Hindernisse mit Hilfe eines Bin-Occupancy-Filters zu erstellen. Der Algorithmus speichert die Position dieser Hindernisse, auch wenn sie das Sehfeld des Sensors verlassen, mit Hilfe des geschätzten Zustandes des Roboters. Das Prinzip des Ausweich-Algorithmus basiert auf dem Ansatz einer modell-prädiktiven Regelung. Durch Vorhersage der wahrscheinlichen Position eines Hindernisses werden die durch den Operator kommandierten Sollwerte gefiltert, um eine mögliche Kollision mit einem Hindernis zu vermeiden. Die Plattform wurde experimentell sowohl in einer räumlich abgeschlossenen Umgebung mit zahlreichen Hindernissen als auch bei Testflügen in offener Umgebung mit natürlichen Hindernissen wie z.B. Bäume getestet. Fliegende Roboter bergen das Risiko, im Fall eines Fehlers, sei es ein Bedienungs- oder Berechnungsfehler, durch einen Aufprall am Boden oder an Hindernissen Schaden zu nehmen. Aus diesem Grund nimmt die Entwicklung von Algorithmen dieser Roboter ein hohes Maß an Zeit und Ressourcen in Anspruch. In dieser Arbeit präsentieren wir zwei Methoden (Software-in-the-loop- und Hardware-in-the-loop-Simulation) um den Entwicklungsprozess zu vereinfachen. Via Software-in-the-loop-Simulation konnte der Zustandsschätzer mit Hilfe simulierter Sensoren und zuvor aufgenommener Datensätze verbessert werden. Eine Hardware-in-the-loop Simulation ermöglichte uns, den Roboter in Gazebo (ein bekannter frei verfügbarer ROS-Simulator) mit zusätzlicher auf dem Roboter installierter Hardware in Simulation zu bewegen. Ebenso können wir damit die Echtzeitfähigkeit der Algorithmen direkt auf der Hardware validieren und verifizieren. Zu guter Letzt analysierten wir den Einfluss der Roboterbewegung auf das visuelle Feedback des Operators. Obwohl einige Drohnen die Möglichkeit einer mechanischen Stabilisierung der Kamera besitzen, können unsere Drohnen aufgrund von Gewichtsbeschränkungen nicht auf diese Unterstützung zurückgreifen. Eine Fixierung der Kamera verursacht, während der Roboter sich bewegt, oft unstetige Bewegungen des Bildes und beeinträchtigt damit negativ die Manövrierbarkeit des Roboters. Viele wissenschaftliche Arbeiten beschäftigen sich mit der Lösung dieses Problems durch Feature-Tracking. Damit kann die Bewegung der Kamera rekonstruiert und das Videosignal stabilisiert werden. Wir zeigen, dass diese Methode stark vereinfacht werden kann, durch die Verwendung der Roboter-internen IMU. Unsere Ergebnisse belegen, dass unser Algorithmus das Kamerabild erfolgreich stabilisieren und der rechnerische Aufwand deutlich reduziert werden kann. Ebenso präsentieren wir ein neues Design eines Quadcopters, um dessen Ausrichtung von der lateralen Bewegung zu entkoppeln. Unser Konzept erlaubt die Neigung der Propellerblätter unabhängig von der Ausrichtung des Roboters mit Hilfe zweier zusätzlicher Aktuatoren. Nachdem wir das dynamische Modell dieses Systems hergeleitet haben, synthetisierten wir einen auf Feedback-Linearisierung basierten Regler. Simulationen bestätigen unsere Überlegungen und heben die Verbesserung der Manövrierfähigkeit dieses neuartigen Designs hervor.The teleoperation of unmanned aerial vehicles (UAVs), especially in cramped, GPS-restricted, environments, poses many challenges. The presence of obstacles in an unfamiliar environment requires reliable state estimation and active algorithms to prevent collisions. In this dissertation, we present a collision-free indoor navigation system for a teleoperated quadrotor UAV. The platform is equipped with an on-board miniature computer and a minimal set of sensors for this task and is self-sufficient with respect to external tracking systems and computation. The platform is capable of highly accurate state-estimation, tracking of the velocity commanded by the user and collision-free navigation. The robot estimates its state in a cascade architecture. The attitude of the platform is calculated with a complementary filter and its linear velocity through a Kalman filter integration of inertial and optical flow measurements. An RGB-D camera serves the purpose of providing visual feedback to the operator and depth measurements to build a probabilistic, robot-centric obstacle state with a bin-occupancy filter. The algorithm tracks the obstacles when they leave the field of view of the sensor by updating their positions with the estimate of the robot's motion. The avoidance part of our navigation system is based on the Model Predictive Control approach. By predicting the possible future obstacles states, the UAV filters the operator commands by altering them to prevent collisions. Experiments in obstacle-rich indoor and outdoor environments validate the efficiency of the proposed setup. Flying robots are highly prone to damage in cases of control errors, as these most likely will cause them to fall to the ground. Therefore, the development of algorithm for UAVs entails considerable amount of time and resources. In this dissertation we present two simulation methods, i.e. software- and hardware-in-the-loop simulations, to facilitate this process. The software-in-the-loop testing was used for the development and tuning of the state estimator for our robot using both the simulated sensors and pre-recorded datasets of sensor measurements, e.g., from real robotic experiments. With hardware-in-the-loop simulations, we are able to command the robot simulated in Gazebo, a popular open source ROS-enabled physical simulator, using computational units that are embedded on our quadrotor UAVs. Hence, we can test in simulation not only the correct execution of algorithms, but also the computational feasibility directly on the robot's hardware. Lastly, we analyze the influence of the robot's motion on the visual feedback provided to the operator. While some UAVs have the capacity to carry mechanically stabilized camera equipment, weight limits or other problems may make mechanical stabilization impractical. With a fixed camera, the video stream is often unsteady due to the multirotor's movement and can impair the operator's situation awareness. There has been significant research on how to stabilize videos using feature tracking to determine camera movement, which in turn is used to manipulate frames and stabilize the camera stream. However, we believe that this process could be greatly simplified by using data from a UAV’s on-board inertial measurement unit to stabilize the camera feed. Our results show that our algorithm successfully stabilizes the camera stream with the added benefit of requiring less computational power. We also propose a novel quadrotor design concept to decouple its orientation from the lateral motion of the quadrotor. In our design the tilt angles of the propellers with respect to the quadrotor body are being simultaneously controlled with two additional actuators by employing the parallelogram principle. After deriving the dynamic model of this design, we propose a controller for this platform based on feedback linearization. Simulation results confirm our theoretical findings, highlighting the improved motion capabilities of this novel design with respect to standard quadrotors