Analysis of physiological signals using machine learning methods

Technological advances in data collection enable scientists to suggest novel approaches, such as Machine Learning algorithms, to process and make sense of this information. However, during this process of collection, data loss and damage can occur for reasons such as faulty device sensors or miscommunication. In the context of time-series data such as multi-channel bio-signals, there is a possibility of losing a whole channel. In such cases, existing research suggests imputing the missing parts when the majority of data is available. One way of understanding and classifying complex signals is by using deep neural networks. The hyper-parameters of such models have been optimised using the process of back propagation. Over time, improvements have been suggested to enhance this algorithm. However, an essential drawback of the back propagation can be the sensitivity to noisy data. This thesis proposes two novel approaches to address the missing data challenge and back propagation drawbacks: First, suggesting a gradient-free model in order to discover the optimal hyper-parameters of a deep neural network. The complexity of deep networks and high-dimensional optimisation parameters presents challenges to find a suitable network structure and hyper-parameter configuration. This thesis proposes the use of a minimalist swarm optimiser, Dispersive Flies Optimisation(DFO), to enable the selected model to achieve better results in comparison with the traditional back propagation algorithm in certain conditions such as limited number of training samples. The DFO algorithm offers a robust search process for finding and determining the hyper-parameter configurations. Second, imputing whole missing bio-signals within a multi-channel sample. This approach comprises two experiments, namely the two-signal and five-signal imputation models. The first experiment attempts to implement and evaluate the performance of a model mapping bio-signals from A toB and vice versa. Conceptually, this is an extension to transfer learning using CycleGenerative Adversarial Networks (CycleGANs). The second experiment attempts to suggest a mechanism imputing missing signals in instances where multiple data channels are available for each sample. The capability to map to a target signal through multiple source domains achieves a more accurate estimate for the target domain. The results of the experiments performed indicate that in certain circumstances, such as having a limited number of samples, finding the optimal hyper-parameters of a neural network using gradient-free algorithms outperforms traditional gradient-based algorithms, leading to more accurate classification results. In addition, Generative Adversarial Networks could be used to impute the missing data channels in multi-channel bio-signals, and the generated data used for further analysis and classification tasks

Ensemble deep learning for automated classification of power quality disturbances signals

The automatic classification of power quality disturbances (PQD) is of great significance for solving power quality problems. In this study, we propose an ensemble deep learning framework to realize intelligent classification of PQ disturbances. Specifically, based on the characteristics of the sequence of disturbance signals, the Long Short Term Memory (LSTM) network is used to classify the signals. In addition, the Bagging theory is used to integrate the training results of multiple LSTM networks to improve the generalization of the network. Our contribution lies in the combination of deep learning and ensemble learning to extract the classification representation of PQD signals. In view of the large number of unlabeled power quality disturbance samples in the power grid, the active learning strategy is adopted to select the most representative samples from the data set, which can enhance the model performance with less labeled data. Finally, experiments were conducted in different noise environments. Compared with the existing multi-label learning models, this method achieves better classification performance with good calculation speed. Furthermore, the proposed active learning strategy is able to train the classification model with fewer labeled samples, reducing the manual labeling costs

Incorporating Human Expertise in Robot Motion Learning and Synthesis

With the exponential growth of robotics and the fast development of their advanced cognitive and motor capabilities, one can start to envision humans and robots jointly working together in unstructured environments. Yet, for that to be possible, robots need to be programmed for such types of complex scenarios, which demands significant domain knowledge in robotics and control. One viable approach to enable robots to acquire skills in a more flexible and efficient way is by giving them the capabilities of autonomously learn from human demonstrations and expertise through interaction. Such framework helps to make the creation of skills in robots more social and less demanding on programing and robotics expertise. Yet, current imitation learning approaches suffer from significant limitations, mainly about the flexibility and efficiency for representing, learning and reasoning about motor tasks. This thesis addresses this problem by exploring cost-function-based approaches to learning robot motion control, perception and the interplay between them. To begin with, the thesis proposes an efficient probabilistic algorithm to learn an impedance controller to accommodate motion contacts. The learning algorithm is able to incorporate important domain constraints, e.g., about force representation and decomposition, which are nontrivial to handle by standard techniques. Compliant handwriting motions are developed on an articulated robot arm and a multi-fingered hand. This work provides a flexible approach to learn robot motion conforming to both task and domain constraints. Furthermore, the thesis also contributes with techniques to learn from and reason about demonstrations with partial observability. The proposed approach combines inverse optimal control and ensemble methods, yielding a tractable learning of cost functions with latent variables. Two task priors are further incorporated. The first human kinematics prior results in a model which synthesizes rich and believable dynamical handwriting. The latter prior enforces dynamics on the latent variable and facilitates a real-time human intention cognition and an on-line motion adaptation in collaborative robot tasks. Finally, the thesis establishes a link between control and perception modalities. This work offers an analysis that bridges inverse optimal control and deep generative model, as well as a novel algorithm that learns cost features and embeds the modal coupling prior. This work contributes an end-to-end system for synthesizing arm joint motion from letter image pixels. The results highlight its robustness against noisy and out-of-sample sensory inputs. Overall, the proposed approach endows robots the potential to reason about diverse unstructured data, which is nowadays pervasive but hard to process for current imitation learning

Advanced Biometrics with Deep Learning

Biometrics, such as fingerprint, iris, face, hand print, hand vein, speech and gait recognition, etc., as a means of identity management have become commonplace nowadays for various applications. Biometric systems follow a typical pipeline, that is composed of separate preprocessing, feature extraction and classification. Deep learning as a data-driven representation learning approach has been shown to be a promising alternative to conventional data-agnostic and handcrafted pre-processing and feature extraction for biometric systems. Furthermore, deep learning offers an end-to-end learning paradigm to unify preprocessing, feature extraction, and recognition, based solely on biometric data. This Special Issue has collected 12 high-quality, state-of-the-art research papers that deal with challenging issues in advanced biometric systems based on deep learning. The 12 papers can be divided into 4 categories according to biometric modality; namely, face biometrics, medical electronic signals (EEG and ECG), voice print, and others