Test moment determination design in active robot learning

A thesis submitted to the University of Bedfordshire, in fulfilment of the requirements for the degree of Master of Science by researchIn recent years, service robots have been increasingly used in people's daily live. These robots are autonomous or semiautonomous and are able to cooperate with their human users. Active robot learning (ARL) is an approach to the development of beliefs for the robots on their users' intention and preference, which is needed by the robots to facilitate the seamless cooperation with humans. This approach allows a robot to perform tests on its users and to build up the high-order beliefs according to the users' responses. This study carried out primary research on designing the test moment determination component in ARL framework. The test moment determination component is used to decide right moment of taking a test action. In this study, an action plan theory was suggested to synthesis actions into a sequence, that is, an action plan, for a given task. All actions are defined in a special format of precondition, action, post-condition and testing time. Forward chaining reasoning was introduced to establish connection between the actions and to synthesis individual actions into an action plan, corresponding to the given task. A simulation environment was set up where a human user and a service robot were modelled using MATLAB. Fuzzy control was employed for controlling the robot to carry out the cooperative action. In order to examine the effect of test moment determination component, simulations were performed to execute a scenario where a robot passes on an object to a human user. The simulation results show that an action plan can be formed according to provided conditions and executed by simulated models properly. Test actions were taken at the moment determined by the test moment determination component to find the human user's intention

Music information retrieval: conceptuel framework, annotation and user behaviour

Understanding music is a process both based on and influenced by the knowledge and experience of the listener. Although content-based music retrieval has been given increasing attention in recent years, much of the research still focuses on bottom-up retrieval techniques. In order to make a music information retrieval system appealing and useful to the user, more effort should be spent on constructing systems that both operate directly on the encoding of the physical energy of music and are flexible with respect to users’ experiences. This thesis is based on a user-centred approach, taking into account the mutual relationship between music as an acoustic phenomenon and as an expressive phenomenon. The issues it addresses are: the lack of a conceptual framework, the shortage of annotated musical audio databases, the lack of understanding of the behaviour of system users and shortage of user-dependent knowledge with respect to high-level features of music. In the theoretical part of this thesis, a conceptual framework for content-based music information retrieval is defined. The proposed conceptual framework - the first of its kind - is conceived as a coordinating structure between the automatic description of low-level music content, and the description of high-level content by the system users. A general framework for the manual annotation of musical audio is outlined as well. A new methodology for the manual annotation of musical audio is introduced and tested in case studies. The results from these studies show that manually annotated music files can be of great help in the development of accurate analysis tools for music information retrieval. Empirical investigation is the foundation on which the aforementioned theoretical framework is built. Two elaborate studies involving different experimental issues are presented. In the first study, elements of signification related to spontaneous user behaviour are clarified. In the second study, a global profile of music information retrieval system users is given and their description of high-level content is discussed. This study has uncovered relationships between the users’ demographical background and their perception of expressive and structural features of music. Such a multi-level approach is exceptional as it included a large sample of the population of real users of interactive music systems. Tests have shown that the findings of this study are representative of the targeted population. Finally, the multi-purpose material provided by the theoretical background and the results from empirical investigations are put into practice in three music information retrieval applications: a prototype of a user interface based on a taxonomy, an annotated database of experimental findings and a prototype semantic user recommender system. Results are presented and discussed for all methods used. They show that, if reliably generated, the use of knowledge on users can significantly improve the quality of music content analysis. This thesis demonstrates that an informed knowledge of human approaches to music information retrieval provides valuable insights, which may be of particular assistance in the development of user-friendly, content-based access to digital music collections

Enhanced Living Environments

This open access book was prepared as a Final Publication of the COST Action IC1303 “Algorithms, Architectures and Platforms for Enhanced Living Environments (AAPELE)”. The concept of Enhanced Living Environments (ELE) refers to the area of Ambient Assisted Living (AAL) that is more related with Information and Communication Technologies (ICT). Effective ELE solutions require appropriate ICT algorithms, architectures, platforms, and systems, having in view the advance of science and technology in this area and the development of new and innovative solutions that can provide improvements in the quality of life for people in their homes and can reduce the financial burden on the budgets of the healthcare providers. The aim of this book is to become a state-of-the-art reference, discussing progress made, as well as prompting future directions on theories, practices, standards, and strategies related to the ELE area. The book contains 12 chapters and can serve as a valuable reference for undergraduate students, post-graduate students, educators, faculty members, researchers, engineers, medical doctors, healthcare organizations, insurance companies, and research strategists working in this area

Computer vision methods for unconstrained gesture recognition in the context of sign language annotation

Cette thèse porte sur l'étude des méthodes de vision par ordinateur pour la reconnaissance de gestes naturels dans le contexte de l'annotation de la Langue des Signes. La langue des signes (LS) est une langue gestuelle développée par les sourds pour communiquer. Un énoncé en LS consiste en une séquence de signes réalisés par les mains, accompagnés d'expressions du visage et de mouvements du haut du corps, permettant de transmettre des informations en parallèles dans le discours. Même si les signes sont définis dans des dictionnaires, on trouve une très grande variabilité liée au contexte lors de leur réalisation. De plus, les signes sont souvent séparés par des mouvements de co-articulation. Cette extrême variabilité et l'effet de co-articulation représentent un problème important dans les recherches en traitement automatique de la LS. Il est donc nécessaire d'avoir de nombreuses vidéos annotées en LS, si l'on veut étudier cette langue et utiliser des méthodes d'apprentissage automatique. Les annotations de vidéo en LS sont réalisées manuellement par des linguistes ou experts en LS, ce qui est source d'erreur, non reproductible et extrêmement chronophage. De plus, la qualité des annotations dépend des connaissances en LS de l'annotateur. L'association de l'expertise de l'annotateur aux traitements automatiques facilite cette tâche et représente un gain de temps et de robustesse. Le but de nos recherches est d'étudier des méthodes de traitement d'images afin d'assister l'annotation des corpus vidéo: suivi des composantes corporelles, segmentation des mains, segmentation temporelle, reconnaissance de gloses. Au cours de cette thèse nous avons étudié un ensemble de méthodes permettant de réaliser l'annotation en glose. Dans un premier temps, nous cherchons à détecter les limites de début et fin de signe. Cette méthode d'annotation nécessite plusieurs traitements de bas niveau afin de segmenter les signes et d'extraire les caractéristiques de mouvement et de forme de la main. D'abord nous proposons une méthode de suivi des composantes corporelles robuste aux occultations basée sur le filtrage particulaire. Ensuite, un algorithme de segmentation des mains est développé afin d'extraire la région des mains même quand elles se trouvent devant le visage. Puis, les caractéristiques de mouvement sont utilisées pour réaliser une première segmentation temporelle des signes qui est par la suite améliorée grâce à l'utilisation de caractéristiques de forme. En effet celles-ci permettent de supprimer les limites de segmentation détectées en milieu des signes. Une fois les signes segmentés, on procède à l'extraction de caractéristiques visuelles pour leur reconnaissance en termes de gloses à l'aide de modèles phonologiques. Nous avons évalué nos algorithmes à l'aide de corpus internationaux, afin de montrer leur avantages et limitations. L'évaluation montre la robustesse de nos méthodes par rapport à la dynamique et le grand nombre d'occultations entre les différents membres. L'annotation résultante est indépendante de l'annotateur et représente un gain de robustese important.This PhD thesis concerns the study of computer vision methods for the automatic recognition of unconstrained gestures in the context of sign language annotation. Sign Language (SL) is a visual-gestural language developed by deaf communities. Continuous SL consists on a sequence of signs performed one after another involving manual and non-manual features conveying simultaneous information. Even though standard signs are defined in dictionaries, we find a huge variability caused by the context-dependency of signs. In addition signs are often linked by movement epenthesis which consists on the meaningless gesture between signs. The huge variability and the co-articulation effect represent a challenging problem during automatic SL processing. It is necessary to have numerous annotated video corpus in order to train statistical machine translators and study this language. Generally the annotation of SL video corpus is manually performed by linguists or computer scientists experienced in SL. However manual annotation is error-prone, unreproducible and time consuming. In addition de quality of the results depends on the SL annotators knowledge. Associating annotator knowledge to image processing techniques facilitates the annotation task increasing robustness and speeding up the required time. The goal of this research concerns on the study and development of image processing technique in order to assist the annotation of SL video corpus: body tracking, hand segmentation, temporal segmentation, gloss recognition. Along this PhD thesis we address the problem of gloss annotation of SL video corpus. First of all we intend to detect the limits corresponding to the beginning and end of a sign. This annotation method requires several low level approaches for performing temporal segmentation and for extracting motion and hand shape features. First we propose a particle filter based approach for robustly tracking hand and face robust to occlusions. Then a segmentation method for extracting hand when it is in front of the face has been developed. Motion is used for segmenting signs and later hand shape is used to improve the results. Indeed hand shape allows to delete limits detected in the middle of a sign. Once signs have been segmented we proceed to the gloss recognition using lexical description of signs. We have evaluated our algorithms using international corpus, in order to show their advantages and limitations. The evaluation has shown the robustness of the proposed methods with respect to high dynamics and numerous occlusions between body parts. Resulting annotation is independent on the annotator and represents a gain on annotation consistency

Specialized IoT systems: Models, Structures, Algorithms, Hardware, Software Tools

Монография включает анализ проблем, модели, алгоритмы и программно- аппаратные средства специализированных сетей интернета вещей. Рассмотрены результаты проектирования и моделирования сети интернета вещей, мониторинга качества продукции, анализа звуковой информации окружающей среды, а также технология выявления заболеваний легких на базе нейронных сетей. Монография предназначена для специалистов в области инфокоммуникаций, может быть полезна студентам соответствующих специальностей, слушателям факультетов повышения квалификации, магистрантам и аспирантам

Application of Common Sense Computing for the Development of a Novel Knowledge-Based Opinion Mining Engine

The ways people express their opinions and sentiments have radically changed in the past few years thanks to the advent of social networks, web communities, blogs, wikis and other online collaborative media. The distillation of knowledge from this huge amount of unstructured information can be a key factor for marketers who want to create an image or identity in the minds of their customers for their product, brand, or organisation. These online social data, however, remain hardly accessible to computers, as they are specifically meant for human consumption. The automatic analysis of online opinions, in fact, involves a deep understanding of natural language text by machines, from which we are still very far. Hitherto, online information retrieval has been mainly based on algorithms relying on the textual representation of web-pages. Such algorithms are very good at retrieving texts, splitting them into parts, checking the spelling and counting their words. But when it comes to interpreting sentences and extracting meaningful information, their capabilities are known to be very limited. Existing approaches to opinion mining and sentiment analysis, in particular, can be grouped into three main categories: keyword spotting, in which text is classified into categories based on the presence of fairly unambiguous affect words; lexical affinity, which assigns arbitrary words a probabilistic affinity for a particular emotion; statistical methods, which calculate the valence of affective keywords and word co-occurrence frequencies on the base of a large training corpus. Early works aimed to classify entire documents as containing overall positive or negative polarity, or rating scores of reviews. Such systems were mainly based on supervised approaches relying on manually labelled samples, such as movie or product reviews where the opinionist’s overall positive or negative attitude was explicitly indicated. However, opinions and sentiments do not occur only at document level, nor they are limited to a single valence or target. Contrary or complementary attitudes toward the same topic or multiple topics can be present across the span of a document. In more recent works, text analysis granularity has been taken down to segment and sentence level, e.g., by using presence of opinion-bearing lexical items (single words or n-grams) to detect subjective sentences, or by exploiting association rule mining for a feature-based analysis of product reviews. These approaches, however, are still far from being able to infer the cognitive and affective information associated with natural language as they mainly rely on knowledge bases that are still too limited to efficiently process text at sentence level. In this thesis, common sense computing techniques are further developed and applied to bridge the semantic gap between word-level natural language data and the concept-level opinions conveyed by these. In particular, the ensemble application of graph mining and multi-dimensionality reduction techniques on two common sense knowledge bases was exploited to develop a novel intelligent engine for open-domain opinion mining and sentiment analysis. The proposed approach, termed sentic computing, performs a clause-level semantic analysis of text, which allows the inference of both the conceptual and emotional information associated with natural language opinions and, hence, a more efficient passage from (unstructured) textual information to (structured) machine-processable data. The engine was tested on three different resources, namely a Twitter hashtag repository, a LiveJournal database and a PatientOpinion dataset, and its performance compared both with results obtained using standard sentiment analysis techniques and using different state-of-the-art knowledge bases such as Princeton’s WordNet, MIT’s ConceptNet and Microsoft’s Probase. Differently from most currently available opinion mining services, the developed engine does not base its analysis on a limited set of affect words and their co-occurrence frequencies, but rather on common sense concepts and the cognitive and affective valence conveyed by these. This allows the engine to be domain-independent and, hence, to be embedded in any opinion mining system for the development of intelligent applications in multiple fields such as Social Web, HCI and e-health. Looking ahead, the combined novel use of different knowledge bases and of common sense reasoning techniques for opinion mining proposed in this work, will, eventually, pave the way for development of more bio-inspired approaches to the design of natural language processing systems capable of handling knowledge, retrieving it when necessary, making analogies and learning from experience

Application of Common Sense Computing for the Development of a Novel Knowledge-Based Opinion Mining Engine

The ways people express their opinions and sentiments have radically changed in the past few years thanks to the advent of social networks, web communities, blogs, wikis and other online collaborative media. The distillation of knowledge from this huge amount of unstructured information can be a key factor for marketers who want to create an image or identity in the minds of their customers for their product, brand, or organisation. These online social data, however, remain hardly accessible to computers, as they are specifically meant for human consumption. The automatic analysis of online opinions, in fact, involves a deep understanding of natural language text by machines, from which we are still very far. Hitherto, online information retrieval has been mainly based on algorithms relying on the textual representation of web-pages. Such algorithms are very good at retrieving texts, splitting them into parts, checking the spelling and counting their words. But when it comes to interpreting sentences and extracting meaningful information, their capabilities are known to be very limited. Existing approaches to opinion mining and sentiment analysis, in particular, can be grouped into three main categories: keyword spotting, in which text is classified into categories based on the presence of fairly unambiguous affect words; lexical affinity, which assigns arbitrary words a probabilistic affinity for a particular emotion; statistical methods, which calculate the valence of affective keywords and word co-occurrence frequencies on the base of a large training corpus. Early works aimed to classify entire documents as containing overall positive or negative polarity, or rating scores of reviews. Such systems were mainly based on supervised approaches relying on manually labelled samples, such as movie or product reviews where the opinionist’s overall positive or negative attitude was explicitly indicated. However, opinions and sentiments do not occur only at document level, nor they are limited to a single valence or target. Contrary or complementary attitudes toward the same topic or multiple topics can be present across the span of a document. In more recent works, text analysis granularity has been taken down to segment and sentence level, e.g., by using presence of opinion-bearing lexical items (single words or n-grams) to detect subjective sentences, or by exploiting association rule mining for a feature-based analysis of product reviews. These approaches, however, are still far from being able to infer the cognitive and affective information associated with natural language as they mainly rely on knowledge bases that are still too limited to efficiently process text at sentence level. In this thesis, common sense computing techniques are further developed and applied to bridge the semantic gap between word-level natural language data and the concept-level opinions conveyed by these. In particular, the ensemble application of graph mining and multi-dimensionality reduction techniques on two common sense knowledge bases was exploited to develop a novel intelligent engine for open-domain opinion mining and sentiment analysis. The proposed approach, termed sentic computing, performs a clause-level semantic analysis of text, which allows the inference of both the conceptual and emotional information associated with natural language opinions and, hence, a more efficient passage from (unstructured) textual information to (structured) machine-processable data. The engine was tested on three different resources, namely a Twitter hashtag repository, a LiveJournal database and a PatientOpinion dataset, and its performance compared both with results obtained using standard sentiment analysis techniques and using different state-of-the-art knowledge bases such as Princeton’s WordNet, MIT’s ConceptNet and Microsoft’s Probase. Differently from most currently available opinion mining services, the developed engine does not base its analysis on a limited set of affect words and their co-occurrence frequencies, but rather on common sense concepts and the cognitive and affective valence conveyed by these. This allows the engine to be domain-independent and, hence, to be embedded in any opinion mining system for the development of intelligent applications in multiple fields such as Social Web, HCI and e-health. Looking ahead, the combined novel use of different knowledge bases and of common sense reasoning techniques for opinion mining proposed in this work, will, eventually, pave the way for development of more bio-inspired approaches to the design of natural language processing systems capable of handling knowledge, retrieving it when necessary, making analogies and learning from experience

Development of an advanced artificial intelligent reliability analysis tool to enhance ship operations and maintenance activities

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