Some new techniques for pattern recognition research and lung sound signal analysis

This thesis describes the results of a collaborative research programme between the Department of Electronics & Electrical Engineering, University of Glasgow, and the Centre for Respiratory Investigation, Glasgow Royal Infirmary. The research was initially aimed at studying lung sound using signal processing and pattern recognition techniques. The use of pattern recogntion techniques was largely confined to exploratory data analysis which led to an interest in the methods themselves. A study was carried out to apply recent research in computational geometry to clustering Two geometric structures, the Gabriel graph and the relative neighbourhood graph, are both defined by a region of influence. A generalization of these graphs is used to find the conditions under which graphs defined by a region of influence are connected and planar. The Gabriel graph may be considered to be just planar and the relative neighbourhood graph to be just connected. From this two variable regions of influence were defined that were aimed at producing disconnected graphs and hence a partitioning of the data set, A hierarchic clustering based on relative distance may be generated by varying the size of the region of influence. The value of the clustering method is examined in terms of admissibility criteria and by a case study. An interactive display to complement the graph theoretical clustering was also developed. This display allows a partition in the clustering to be examined. The relationship between clusters in the partition may be studied by using the partition to define a contracted graph which is then displayed. Subgraphs of the original graph may be used to provide displays of individual clusterso This display should provide additional information about a partition and hence allow the user to understand the data better. The remainder of the work in this thesis concerns the application of pattern recogntition techniques to the analysis of lung sound signals. Breath sound was analysed using frequency domain methods since it is basically a continuous signal. Initially, a rather ad hoc method was used for feature extraction which was based on a piecewise constant approximation to the amplitude spectrum. While this method provided a useful set of features, it is clear that more systematic methods are required. These methods were used to study lung sound in four groups of patients: (1) normal patients, (2) patients with asbestosis, (3) patients with cryptogenic fibrosing alveolitis (CFA) and (4) patients with interstitial pulmonary oedema. The data sets were analysed using principal components analysis and the new graph theroretical clustering method (this data was used as a case study for the clustering method). Three groups of patients could be identified from the data;- (a) normal subjects, (b) patients with fibrosis of the lungs (asbestosis & CFA) and (c) patients with pulmonary oedema. These results suggest that lung sound may be able to make a useful contribution to non-invasive diagnosis. However more extensive studies are required before the real value of lung sound in diagnosis is established

Minkowski Sum Construction and other Applications of Arrangements of Geodesic Arcs on the Sphere

We present two exact implementations of efficient output-sensitive algorithms that compute Minkowski sums of two convex polyhedra in 3D. We do not assume general position. Namely, we handle degenerate input, and produce exact results. We provide a tight bound on the exact maximum complexity of Minkowski sums of polytopes in 3D in terms of the number of facets of the summand polytopes. The algorithms employ variants of a data structure that represents arrangements embedded on two-dimensional parametric surfaces in 3D, and they make use of many operations applied to arrangements in these representations. We have developed software components that support the arrangement data-structure variants and the operations applied to them. These software components are generic, as they can be instantiated with any number type. However, our algorithms require only (exact) rational arithmetic. These software components together with exact rational-arithmetic enable a robust, efficient, and elegant implementation of the Minkowski-sum constructions and the related applications. These software components are provided through a package of the Computational Geometry Algorithm Library (CGAL) called Arrangement_on_surface_2. We also present exact implementations of other applications that exploit arrangements of arcs of great circles embedded on the sphere. We use them as basic blocks in an exact implementation of an efficient algorithm that partitions an assembly of polyhedra in 3D with two hands using infinite translations. This application distinctly shows the importance of exact computation, as imprecise computation might result with dismissal of valid partitioning-motions.Comment: A Ph.D. thesis carried out at the Tel-Aviv university. 134 pages long. The advisor was Prof. Dan Halperi

Integrated modelling for 3D GIS

A three dimensional (3D) model facilitates the study of the real world objects it represents. A geoinformation system (GIS) should exploit the 3D model in a digital form as a basis for answering questions pertaining to aspects of the real world. With respect to the earth sciences, different kinds of objects of reality can be realized. These objects are components of the reality under study. At the present state-of-the-art different realizations are usually situated in separate systems or subsystems. This separation results in redundancy and uncertainty when different components sharing some common aspects are combined. Relationships between different kinds of objects, or between components of an object, cannot be represented adequately. This thesis aims at the integration of those components sharing some common aspects in one 3D model. This integration brings related components together, minimizes redundancy and uncertainty. Since the model should permit not only the representation of known aspects of reality, but also the derivation of information from the existing representation, the design of the model is constrained so as to afford these capabilities. The tessellation of space by the network of simplest geometry, the simplicial network, is proposed as a solution. The known aspects of the reality can be embedded in the simplicial network without degrading their quality. The model provides finite spatial units useful for the representation of objects. Relationships between objects can also be expressed through components of these spatial units which at the same time facilitate various computations and the derivation of information implicitly available in the model. Since the simplicial network is based on concepts in geoinformation science and in mathematics, its design can be generalized for n-dimensions. The networks of different dimension are said to be compatible, which enables the incorporation of a simplicial network of a lower dimension into another simplicial network of a higher dimension.The complexity of the 3D model fulfilling the requirements listed calls for a suitable construction method. The thesis presents a simple way to construct the model. The raster technique is used for the formation of the simplicial network embedding the representation of the known aspects of reality as constraints. The prototype implementation in a software package, ISNAP, demonstrates the simplicial network's construction and use. The simplicial network can facilitate spatial and non spatial queries, computations, and 2D and 3D visualizations. The experimental tests using different kinds of data sets show that the simplicial network can be used to represent real world objects in different dimensionalities. Operations traditionally requiring different systems and spatial models can be carried out in one system using one model as a basis. This possibility makes the GIS more powerful and easy to use

Delaunay Tessellations and Voronoi Diagrams in CGAL

The Cgal library provides a rich variety of Voronoi diagrams and Delaunay triangulations. This variety covers several aspects: generators, dimensions and metrics, which we describe in Section 2. One aim of this paper is to present the main paradigms used in CGAL: Generic programming, separation between predicates/constructions and combinatorics, and exact geometric computation (not to be confused with exact arithmetic!). The first two paradigms translate into software design choices, described in Section 4, while the last covers both robustness and efficiency issues, respectively described in Sec- tion 6 and 7. Other important aspects of the Cgal library are the interface issues, be they for traversing a tessellation, or for interoperability with other libraries or languages, see Section 5. We present in Section 8 some tessellations at work in the context of surface reconstruction and mesh generation. Section 9 is devoted to some on-going and future work on periodic triangulations (triangulations in periodic spaces), and on high-quality mesh generation with optimized tessellations. Section 10 provides typical numbers in terms of efficiency and scalability for constructing tessellations, and lists the remaining weaknesses. We conclude by listing some of our directions for the future

Autonomous Navigation and Mapping using Monocular Low-Resolution Grayscale Vision

Vision has been a powerful tool for navigation of intelligent and man-made systems ever since the cybernetics revolution in the 1970s. There have been two basic approaches to the navigation of computer controlled systems: The self-contained bottom-up development of sensorimotor abilities, namely perception and mobility, and the top-down approach, namely artificial intelligence, reasoning and knowledge based methods. The three-fold goal of autonomous exploration, mapping and localization of a mobile robot however, needs to be developed within a single framework. An algorithm is proposed to answer the challenges of autonomous corridor navigation and mapping by a mobile robot equipped with a single forward-facing camera. Using a combination of corridor ceiling lights, visual homing, and entropy, the robot is able to perform straight line navigation down the center of an unknown corridor. Turning at the end of a corridor is accomplished using Jeffrey divergence and time-to-collision, while deflection from dead ends and blank walls uses a scalar entropy measure of the entire image. When combined, these metrics allow the robot to navigate in both textured and untextured environments. The robot can autonomously explore an unknown indoor environment, recovering from difficult situations like corners, blank walls, and initial heading toward a wall. While exploring, the algorithm constructs a Voronoi-based topo-geometric map with nodes representing distinctive places like doors, water fountains, and other corridors. Because the algorithm is based entirely upon low-resolution (32 x 24) grayscale images, processing occurs at over 1000 frames per second

Mobile Robots

The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations

Improving Performance of Spatial Network Queries

Spatial network queries, for example KNN or range, operate on systems where objects are constrained to locations on a network. Current spatial network query algorithms rely on forms of network traversal which have a high complexity proportional to the size of the network making, them poor for large real-world networks. In this thesis, an alternative method of approximating the results of spatial network queries with a high level of accuracy is introduced. Distances between network points are stored in an M-Tree index, a balanced tree index where metric distance determines data ordering. The M-Tree uses the chessboard metric on network points embedded in a higher dimensional space using tRNE. Using the M-Tree both KNN and range queries are computed more efficiently than network traversal. Error rates of the M-Tree are low, with accuracies of 97% possible on KNN queries and perfect accuracy with 2% extra results on range queries