Real time motion estimation using a neural architecture implemented on GPUs

This work describes a neural network based architecture that represents and estimates object motion in videos. This architecture addresses multiple computer vision tasks such as image segmentation, object representation or characterization, motion analysis and tracking. The use of a neural network architecture allows for the simultaneous estimation of global and local motion and the representation of deformable objects. This architecture also avoids the problem of finding corresponding features while tracking moving objects. Due to the parallel nature of neural networks, the architecture has been implemented on GPUs that allows the system to meet a set of requirements such as: time constraints management, robustness, high processing speed and re-configurability. Experiments are presented that demonstrate the validity of our architecture to solve problems of mobile agents tracking and motion analysis.This work was partially funded by the Spanish Government DPI2013-40534-R grant and Valencian Government GV/2013/005 grant

Modelling and tracking objects with a topology preserving self-organising neural network

Human gestures form an integral part in our everyday communication. We use gestures not only to reinforce meaning, but also to describe the shape of objects, to play games, and to communicate in noisy environments. Vision systems that exploit gestures are often limited by inaccuracies inherent in handcrafted models. These models are generated from a collection of training examples which requires segmentation and alignment. Segmentation in gesture recognition typically involves manual intervention, a time consuming process that is feasible only for a limited set of gestures. Ideally gesture models should be automatically acquired via a learning scheme that enables the acquisition of detailed behavioural knowledge only from topological and temporal observation. The research described in this thesis is motivated by a desire to provide a framework for the unsupervised acquisition and tracking of gesture models. In any learning framework, the initialisation of the shapes is very crucial. Hence, it would be beneficial to have a robust model not prone to noise that can automatically correspond the set of shapes. In the first part of this thesis, we develop a framework for building statistical 2D shape models by extracting, labelling and corresponding landmark points using only topological relations derived from competitive hebbian learning. The method is based on the assumption that correspondences can be addressed as an unsupervised classification problem where landmark points are the cluster centres (nodes) in a high-dimensional vector space. The approach is novel in that the network can be used in cases where the topological structure of the input pattern is not known a priori thus no topology of fixed dimensionality is imposed onto the network. In the second part, we propose an approach to minimise the user intervention in the adaptation process, which requires to specify a priori the number of nodes needed to represent an object, by utilising an automatic criterion for maximum node growth. Furthermore, this model is used to represent motion in image sequences by initialising a suitable segmentation that separates the object of interest from the background. The segmentation system takes into consideration some illumination tolerance, images as inputs from ordinary cameras and webcams, some low to medium cluttered background avoiding extremely cluttered backgrounds, and that the objects are at close range from the camera. In the final part, we extend the framework for the automatic modelling and unsupervised tracking of 2D hand gestures in a sequence of k frames. The aim is to use the tracked frames as training examples in order to build the model and maintain correspondences. To do that we add an active step to the Growing Neural Gas (GNG) network, which we call Active Growing Neural Gas (A-GNG) that takes into consideration not only the geometrical position of the nodes, but also the underlined local feature structure of the image, and the distance vector between successive images. The quality of our model is measured through the calculation of the topographic product. The topographic product is our topology preserving measure which quantifies the neighbourhood preservation. In our system we have applied specific restrictions in the velocity and the appearance of the gestures to simplify the difficulty of the motion analysis in the gesture representation. The proposed framework has been validated on applications related to sign language. The work has great potential in Virtual Reality (VR) applications where the learning and the representation of gestures becomes natural without the need of expensive wear cable sensors

An infrastructure for neural network construction

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.After many years of research the area of Artificial Intelligence is still searching for ways to construct a truly intelligent system. One criticism is that current models are not 'rich' or complex enough to operate in many and varied real world situations. One way to tackle this criticism is to look at intelligent systems that already exist in nature and examine these to determine what complexities exist in these systems and not in the current Al models. The research begins by presenting an overview of the current knowledge of Biological Neural Networks, as examples of intelligent systems existing in nature, and how they function. Artificial Neural networks are then discussed and the thesis examines their similarities and dissimilarities with their biological counterparts. The research suggests ways that Artificial Neural Networks may be improved by borrowing ideas from Biological Neural Networks. By introducing new concepts drawn from the biological realm, the construction of the Artificial Neural Networks becomes more difficult. To solve this difficulty, the thesis introduces the area of Evolutionary Algorithms as a way of constructing Artificial Neural Networks. An intellectual infrastructure is developed that incorporates concepts from Biological Neural Networks into current models of Artificial Neural Networks and two models are developed to explore the concept that increased complexity can indeed add value to the current models of Artificial Neural Networks. The outcome of the thesis shows that increased complexity can have benefits in terms of learning speed of an Artificial Neural Network and in terms of robustness to damage

Systems Engineering: Availability and Reliability

Current trends in Industry 4.0 are largely related to issues of reliability and availability. As a result of these trends and the complexity of engineering systems, research and development in this area needs to focus on new solutions in the integration of intelligent machines or systems, with an emphasis on changes in production processes aimed at increasing production efficiency or equipment reliability. The emergence of innovative technologies and new business models based on innovation, cooperation networks, and the enhancement of endogenous resources is assumed to be a strong contribution to the development of competitive economies all around the world. Innovation and engineering, focused on sustainability, reliability, and availability of resources, have a key role in this context. The scope of this Special Issue is closely associated to that of the ICIE’2020 conference. This conference and journal’s Special Issue is to present current innovations and engineering achievements of top world scientists and industrial practitioners in the thematic areas related to reliability and risk assessment, innovations in maintenance strategies, production process scheduling, management and maintenance or systems analysis, simulation, design and modelling

Evolutionary Computation

This book presents several recent advances on Evolutionary Computation, specially evolution-based optimization methods and hybrid algorithms for several applications, from optimization and learning to pattern recognition and bioinformatics. This book also presents new algorithms based on several analogies and metafores, where one of them is based on philosophy, specifically on the philosophy of praxis and dialectics. In this book it is also presented interesting applications on bioinformatics, specially the use of particle swarms to discover gene expression patterns in DNA microarrays. Therefore, this book features representative work on the field of evolutionary computation and applied sciences. The intended audience is graduate, undergraduate, researchers, and anyone who wishes to become familiar with the latest research work on this field

An infrastructure for neural network construction

After many years of research the area of Artificial Intelligence is still searching for ways to construct a truly intelligent system. One criticism is that current models are not 'rich' or complex enough to operate in many and varied real world situations. One way to tackle this criticism is to look at intelligent systems that already exist in nature and examine these to determine what complexities exist in these systems and not in the current Al models. The research begins by presenting an overview of the current knowledge of Biological Neural Networks, as examples of intelligent systems existing in nature, and how they function. Artificial Neural networks are then discussed and the thesis examines their similarities and dissimilarities with their biological counterparts. The research suggests ways that Artificial Neural Networks may be improved by borrowing ideas from Biological Neural Networks. By introducing new concepts drawn from the biological realm, the construction of the Artificial Neural Networks becomes more difficult. To solve this difficulty, the thesis introduces the area of Evolutionary Algorithms as a way of constructing Artificial Neural Networks. An intellectual infrastructure is developed that incorporates concepts from Biological Neural Networks into current models of Artificial Neural Networks and two models are developed to explore the concept that increased complexity can indeed add value to the current models of Artificial Neural Networks. The outcome of the thesis shows that increased complexity can have benefits in terms of learning speed of an Artificial Neural Network and in terms of robustness to damage.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Class-incremental lifelong object learning for domestic robots

Traditionally, robots have been confined to settings where they operate in isolation and in highly controlled and structured environments to execute well-defined non-varying tasks. As a result, they usually operate without the need to perceive their surroundings or to adapt to changing stimuli. However, as robots start to move towards human-centred environments and share the physical space with people, there is an urgent need to endow them with the flexibility to learn and adapt given the changing nature of the stimuli they receive and the evolving requirements of their users. Standard machine learning is not suitable for these types of applications because it operates under the assumption that data samples are independent and identically distributed, and requires access to all the data in advance. If any of these assumptions is broken, the model fails catastrophically, i.e., either it does not learn or it forgets all that was previously learned. Therefore, different strategies are required to address this problem. The focus of this thesis is on lifelong object learning, whereby a model is able to learn from data that becomes available over time. In particular we address the problem of classincremental learning with an emphasis on algorithms that can enable interactive learning with a user. In class-incremental learning, models learn from sequential data batches where each batch can contain samples coming from ideally a single class. The emphasis on interactive learning capabilities poses additional requirements in terms of the speed with which model updates are performed as well as how the interaction is handled. The work presented in this thesis can be divided into two main lines of work. First, we propose two versions of a lifelong learning algorithm composed of a feature extractor based on pre-trained residual networks, an array of growing self-organising networks and a classifier. Self-organising networks are able to adapt their structure based on the input data distribution, and learn representative prototypes of the data. These prototypes can then be used to train a classifier. The proposed approaches are evaluated on various benchmarks under several conditions and the results show that they outperform competing approaches in each case. Second, we propose a robot architecture to address lifelong object learning through interactions with a human partner using natural language. The architecture consists of an object segmentation, tracking and preprocessing pipeline, a dialogue system, and a learning module based on the algorithm developed in the first part of the thesis. Finally, the thesis also includes an exploration into the contributions that different preprocessing operations have on performance when learning from both RGB and Depth images.James Watt Scholarshi

Latent Representation and Sampling in Network: Application in Text Mining and Biology.

In classical machine learning, hand-designed features are used for learning a mapping from raw data. However, human involvement in feature design makes the process expensive. Representation learning aims to learn abstract features directly from data without direct human involvement. Raw data can be of various forms. Network is one form of data that encodes relational structure in many real-world domains. Therefore, learning abstract features for network units is an important task. In this dissertation, we propose models for incorporating temporal information given as a collection of networks from subsequent time-stamps. The primary objective of our models is to learn a better abstract feature representation of nodes and edges in an evolving network. We show that the temporal information in the abstract feature improves the performance of link prediction task substantially. Besides applying to the network data, we also employ our models to incorporate extra-sentential information in the text domain for learning better representation of sentences. We build a context network of sentences to capture extra-sentential information. This information in abstract feature representation of sentences improves various text-mining tasks substantially over a set of baseline methods. A problem with the abstract features that we learn is that they lack interpretability. In real-life applications on network data, for some tasks, it is crucial to learn interpretable features in the form of graphical structures. For this we need to mine important graphical structures along with their frequency statistics from the input dataset. However, exact algorithms for these tasks are computationally expensive, so scalable algorithms are of urgent need. To overcome this challenge, we provide efficient sampling algorithms for mining higher-order structures from network(s). We show that our sampling-based algorithms are scalable. They are also superior to a set of baseline algorithms in terms of retrieving important graphical sub-structures, and collecting their frequency statistics. Finally, we show that we can use these frequent subgraph statistics and structures as features in various real-life applications. We show one application in biology and another in security. In both cases, we show that the structures and their statistics significantly improve the performance of knowledge discovery tasks in these domains