17,307 research outputs found
The model of an anomaly detector for HiLumi LHC magnets based on Recurrent Neural Networks and adaptive quantization
This paper focuses on an examination of an applicability of Recurrent Neural
Network models for detecting anomalous behavior of the CERN superconducting
magnets. In order to conduct the experiments, the authors designed and
implemented an adaptive signal quantization algorithm and a custom GRU-based
detector and developed a method for the detector parameters selection. Three
different datasets were used for testing the detector. Two artificially
generated datasets were used to assess the raw performance of the system
whereas the 231 MB dataset composed of the signals acquired from HiLumi magnets
was intended for real-life experiments and model training. Several different
setups of the developed anomaly detection system were evaluated and compared
with state-of-the-art OC-SVM reference model operating on the same data. The
OC-SVM model was equipped with a rich set of feature extractors accounting for
a range of the input signal properties. It was determined in the course of the
experiments that the detector, along with its supporting design methodology,
reaches F1 equal or very close to 1 for almost all test sets. Due to the
profile of the data, the best_length setup of the detector turned out to
perform the best among all five tested configuration schemes of the detection
system. The quantization parameters have the biggest impact on the overall
performance of the detector with the best values of input/output grid equal to
16 and 8, respectively. The proposed solution of the detection significantly
outperformed OC-SVM-based detector in most of the cases, with much more stable
performance across all the datasets.Comment: Related to arXiv:1702.0083
A survey of outlier detection methodologies
Outlier detection has been used for centuries to detect and, where appropriate, remove anomalous observations from data. Outliers arise due to mechanical faults, changes in system behaviour, fraudulent behaviour, human error, instrument error or simply through natural deviations in populations. Their detection can identify system faults and fraud before they escalate with potentially catastrophic consequences. It can identify errors and remove their contaminating effect on the data set and as such to purify the data for processing. The original outlier detection methods were arbitrary but now, principled and systematic techniques are used, drawn from the full gamut of Computer Science and Statistics. In this paper, we introduce a survey of contemporary techniques for outlier detection. We identify their respective motivations and distinguish their advantages and disadvantages in a comparative review
Intrinsic Motivation and Mental Replay enable Efficient Online Adaptation in Stochastic Recurrent Networks
Autonomous robots need to interact with unknown, unstructured and changing
environments, constantly facing novel challenges. Therefore, continuous online
adaptation for lifelong-learning and the need of sample-efficient mechanisms to
adapt to changes in the environment, the constraints, the tasks, or the robot
itself are crucial. In this work, we propose a novel framework for
probabilistic online motion planning with online adaptation based on a
bio-inspired stochastic recurrent neural network. By using learning signals
which mimic the intrinsic motivation signalcognitive dissonance in addition
with a mental replay strategy to intensify experiences, the stochastic
recurrent network can learn from few physical interactions and adapts to novel
environments in seconds. We evaluate our online planning and adaptation
framework on an anthropomorphic KUKA LWR arm. The rapid online adaptation is
shown by learning unknown workspace constraints sample-efficiently from few
physical interactions while following given way points.Comment: accepted in Neural Network
Evolution of Swarm Robotics Systems with Novelty Search
Novelty search is a recent artificial evolution technique that challenges
traditional evolutionary approaches. In novelty search, solutions are rewarded
based on their novelty, rather than their quality with respect to a predefined
objective. The lack of a predefined objective precludes premature convergence
caused by a deceptive fitness function. In this paper, we apply novelty search
combined with NEAT to the evolution of neural controllers for homogeneous
swarms of robots. Our empirical study is conducted in simulation, and we use a
common swarm robotics task - aggregation, and a more challenging task - sharing
of an energy recharging station. Our results show that novelty search is
unaffected by deception, is notably effective in bootstrapping the evolution,
can find solutions with lower complexity than fitness-based evolution, and can
find a broad diversity of solutions for the same task. Even in non-deceptive
setups, novelty search achieves solution qualities similar to those obtained in
traditional fitness-based evolution. Our study also encompasses variants of
novelty search that work in concert with fitness-based evolution to combine the
exploratory character of novelty search with the exploitatory character of
objective-based evolution. We show that these variants can further improve the
performance of novelty search. Overall, our study shows that novelty search is
a promising alternative for the evolution of controllers for robotic swarms.Comment: To appear in Swarm Intelligence (2013), ANTS Special Issue. The final
publication will be available at link.springer.co
Enhanced Industrial Machinery Condition Monitoring Methodology based on Novelty Detection and Multi-Modal Analysis
This paper presents a condition-based monitoring methodology based on novelty detection applied to industrial machinery. The proposed approach includes both, the classical classification of multiple a priori known scenarios, and the innovative detection capability of new operating modes not previously available. The development of condition-based monitoring methodologies considering the isolation capabilities of unexpected scenarios represents, nowadays, a trending topic able to answer the demanding requirements of the future industrial processes monitoring systems. First, the method is based on the temporal segmentation of the available physical magnitudes, and the estimation of a set of time-based statistical features. Then, a double feature reduction stage based on Principal Component Analysis and Linear Discriminant Analysis is applied in order to optimize the classification and novelty detection performances. The posterior combination of a Feed-forward Neural Network and One-Class Support Vector Machine allows the proper interpretation of known and unknown operating conditions. The effectiveness of this novel condition monitoring scheme has been verified by experimental results obtained from an automotive industry machine.Postprint (published version
Vibration-based adaptive novelty detection method for monitoring faults in a kinematic chain
Postprint (published version
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