An Efficient Streaming Algorithm for the Submodular Cover Problem

We initiate the study of the classical Submodular Cover (SC) problem in the data streaming model which we refer to as the Streaming Submodular Cover (SSC). We show that any single pass streaming algorithm using sublinear memory in the size of the stream will fail to provide any non-trivial approximation guarantees for SSC. Hence, we consider a relaxed version of SSC, where we only seek to find a partial cover. We design the first Efficient bicriteria Submodular Cover Streaming (ESC-Streaming) algorithm for this problem, and provide theoretical guarantees for its performance supported by numerical evidence. Our algorithm finds solutions that are competitive with the near-optimal offline greedy algorithm despite requiring only a single pass over the data stream. In our numerical experiments, we evaluate the performance of ESC-Streaming on active set selection and large-scale graph cover problems.Comment: To appear in NIPS'1

Object-Based Rendering and 3D reconstruction Using a Moveable Image-Based System

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Robot skill learning through human demonstration and interaction

Nowadays robots are increasingly involved in more complex and less structured tasks. Therefore, it is highly desirable to develop new approaches to fast robot skill acquisition. This research is aimed to develop an overall framework for robot skill learning through human demonstration and interaction. Through low-level demonstration and interaction with humans, the robot can learn basic skills. These basic skills are treated as primitive actions. In high-level learning, the complex skills demonstrated by the human can be automatically translated into skill scripts which are executed by the robot. This dissertation summarizes my major research activities in robot skill learning. First, a framework for Programming by Demonstration (PbD) with reinforcement learning for human-robot collaborative manipulation tasks is described. With this framework, the robot can learn low level skills such as collaborating with a human to lift a table successfully and efficiently. Second, to develop a high-level skill acquisition system, we explore the use of a 3D sensor to recognize human actions. A Kinect based action recognition system is implemented which considers both object/action dependencies and the sequential constraints. Third, we extend the action recognition framework by fusing information from multimodal sensors which can recognize fine assembly actions. Fourth, a Portable Assembly Demonstration (PAD) system is built which can automatically generate skill scripts from human demonstration. The skill script includes the object type, the tool, the action used, and the assembly state. Finally, the generated skill scripts are implemented by a dual-arm robot. The proposed framework was experimentally evaluated

Smart Phone Based Data Mining for Human Activity Recognition

AbstractAutomatic activity recognition systems aim to capture the state of the user and its environment by exploiting heterogeneous sensors, and permit continuous monitoring of numerous physiological signals, where these sensors are attached to the subject's body. This can be immensely useful in healthcare applications, for automatic and intelligent daily activity monitoring for elderly people. In this paper, we present novel data analytic scheme for intelligent Human Activity Recognition (AR) using smartphone inertial sensors based on information theory based feature ranking algorithm and classifiers based on random forests, ensemble learning and lazy learning. Extensive experiments with a publicly available database1 of human activity with smart phone inertial sensors show that the proposed approach can indeed lead to development of intelligent and automatic real time human activity monitoring for eHealth application scenarios for elderly, disabled and people with special needs

The pictures we like are our image: continuous mapping of favorite pictures into self-assessed and attributed personality traits

Flickr allows its users to tag the pictures they like as “favorite”. As a result, many users of the popular photo-sharing platform produce galleries of favorite pictures. This article proposes new approaches, based on Computational Aesthetics, capable to infer the personality traits of Flickr users from the galleries above. In particular, the approaches map low-level features extracted from the pictures into numerical scores corresponding to the Big-Five Traits, both self-assessed and attributed. The experiments were performed over 60,000 pictures tagged as favorite by 300 users (the PsychoFlickr Corpus). The results show that it is possible to predict beyond chance both self-assessed and attributed traits. In line with the state-of-the art of Personality Computing, these latter are predicted with higher effectiveness (correlation up to 0.68 between actual and predicted traits)

MINING MULTI-GRANULAR MULTIVARIATE MEDICAL MEASUREMENTS

This thesis is motivated by the need to predict the mortality of patients in the Intensive Care Unit. The heart of this problem revolves around being able to accurately classify multivariate, multi-granular time series patient data. The approach ultimately taken in this thesis involves using Z-Score normalization to make variables comparable, Single Value Decomposition to reduce the number of features, and a Support Vector Machine to classify patient tuples. This approach proves to outperform other classification models such as k-Nearest Neighbor and demonstrates that SVM is a viable model for this project. The hope is that going forward other work can build off of this research and one day make an impact in the medical community

Exploration in Information Distribution Maps

In this paper, a novel solution for autonomous robotic exploration is proposed. The distribution of information in an unknown environment is modeled as an unsteady diffusion process, which can be an appropriate mathematical formulation and analogy for expanding, time-varying, and dynamic environments. This information distribution map is the solution of the diffusion process partial differential equation, and is regressed from sensor data as a Gaussian Process. Optimization of the process parameters leads to an optimal frontier map which describes regions of interest for further exploration. Since the presented approach considers a continuous model of the environment, it can be used to plan smooth exploration paths exploiting the structural dependencies of the environment whilst handling sparse sensors measurements. The performance of the proposed approach is evaluated through simulation results in the well-known Freiburg and Cave maps

Design and Mining of Health Information Systems for Process and Patient Care Improvement

abstract: In healthcare facilities, health information systems (HISs) are used to serve different purposes. The radiology department adopts multiple HISs in managing their operations and patient care. In general, the HISs that touch radiology fall into two categories: tracking HISs and archive HISs. Electronic Health Records (EHR) is a typical tracking HIS, which tracks the care each patient receives at multiple encounters and facilities. Archive HISs are typically specialized databases to store large-size data collected as part of the patient care. A typical example of an archive HIS is the Picture Archive and Communication System (PACS), which provides economical storage and convenient access to diagnostic images from multiple modalities. How to integrate such HISs and best utilize their data remains a challenging problem due to the disparity of HISs as well as high-dimensionality and heterogeneity of the data. My PhD dissertation research includes three inter-connected and integrated topics and focuses on designing integrated HISs and further developing statistical models and machine learning algorithms for process and patient care improvement. Topic 1: Design of super-HIS and tracking of quality of care (QoC). My research developed an information technology that integrates multiple HISs in radiology, and proposed QoC metrics defined upon the data that measure various dimensions of care. The DDD assisted the clinical practices and enabled an effective intervention for reducing lengthy radiologist turnaround times for patients. Topic 2: Monitoring and change detection of QoC data streams for process improvement. With the super-HIS in place, high-dimensional data streams of QoC metrics are generated. I developed a statistical model for monitoring high- dimensional data streams that integrated Singular Vector Decomposition (SVD) and process control. The algorithm was applied to QoC metrics data, and additionally extended to another application of monitoring traffic data in communication networks. Topic 3: Deep transfer learning of archive HIS data for computer-aided diagnosis (CAD). The novelty of the CAD system is the development of a deep transfer learning algorithm that combines the ideas of transfer learning and multi- modality image integration under the deep learning framework. Our system achieved high accuracy in breast cancer diagnosis compared with conventional machine learning algorithms.Dissertation/ThesisDoctoral Dissertation Industrial Engineering 201