Machine Learning in Resource-constrained Devices: Algorithms, Strategies, and Applications

The ever-increasing growth of technologies is changing people's everyday life. As a major consequence: 1) the amount of available data is growing and 2) several applications rely on battery supplied devices that are required to process data in real time. In this scenario the need for ad-hoc strategies for the development of low-power and low-latency intelligent systems capable of learning inductive rules from data using a modest mount of computational resources is becoming vital. At the same time, one needs to develop specic methodologies to manage complex patterns such as text and images. This Thesis presents different approaches and techniques for the development of fast learning models explicitly designed to be hosted on embedded systems. The proposed methods proved able to achieve state-of-the-art performances in term of the trade-off between generalization capabilities and area requirements when implemented in low-cost digital devices. In addition, advanced strategies for ecient sentiment analysis in text and images are proposed

Towards automation of forensic facial reconstruction

Forensic facial reconstruction is a blend of art and science thus computerizing the process leads to numerous solutions. However, complete automation remains a challenge. This research concentrates on automating the first phase of forensic facial reconstruction which is automatic landmark detection by model fitting and extraction of feature points. Detection of landmarks is a challenging task since the skull orientation in a 3D scanned data cloud is generally arbitrary and unknown. To address the issue, well defined skull and mandible models with known geometric structure, features and orientation are (1) aligned and (2) fit to the scanned data. After model fitting is complete, landmarks can be extracted, within reasonable tolerance, from the dataset. Several methods exist for automatic registration (alignment); however, most suffer ambiguity or require interaction to manage symmetric 3D objects. A new alternative 3D model to data registration technique is introduced which works successfully for both symmetric and non-symmetric objects. It takes advantage of the fact that the model and data have similar shape and known geometric features. Therefore, a similar canonical frame of reference can be developed for both model and data. Once the canonical frame of reference is defined, the model can be easily aligned to data by a euclidian transformation of its coordinate system. Once aligned, the model is scaled and deformed globally to accommodate the overall size the object and bring the model in closer proximity to the data. Lastly, the model is deformed locally to better fit the scanned data. With fitting completed, landmark locations on the model can be utilized to isolate and select corresponding landmarks in the dataset. The registration, fitting and landmark detection techniques were applied to a set of six mandible and three skull body 3D scanned datasets. Results indicate the canonical axes formulation is a good candidate for automatic registration of complex 3D objects. The alternate approach posed for deformation and surface fitting of datasets also shows promise for landmark detection when using well constructed NURBS models. Recommendations are provided for addressing the algorithms limitations and to improve its overall performance

Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP 201

Kernels over Sets of Finite Sets using RKHS Embeddings, with Application to Bayesian (Combinatorial) Optimization

We focus on kernel methods for set-valued inputs and their application to Bayesian set optimization, notably combinatorial optimization. We investigate two classes of set kernels that both rely on Reproducing Kernel Hilbert Space embeddings, namely the ``Double Sum'' (DS) kernels recently considered in Bayesian set optimization, and a class introduced here called ``Deep Embedding'' (DE) kernels that essentially consists in applying a radial kernel on Hilbert space on top of the canonical distance induced by another kernel such as a DS kernel. We establish in particular that while DS kernels typically suffer from a lack of strict positive definiteness, vast subclasses of DE kernels built upon DS kernels do possess this property, enabling in turn combinatorial optimization without requiring to introduce a jitter parameter. Proofs of theoretical results about considered kernels are complemented by a few practicalities regarding hyperparameter fitting. We furthermore demonstrate the applicability of our approach in prediction and optimization tasks, relying both on toy examples and on two test cases from mechanical engineering and hydrogeology, respectively. Experimental results highlight the applicability and compared merits of the considered approaches while opening new perspectives in prediction and sequential design with set inputs

Doctor of Philosophy in Computing

dissertationStatistical shape analysis has emerged as an important tool for the quantitative analysis of anatomy in many medical imaging applications. The correspondence based approach to evaluate shape variability is a popular method, based on comparing configurations of carefully placed landmarks on each shape. In recent years, methods for automatic placement of landmarks have enhanced the ability of this approach to capture statistical properties of shape populations. However, biomedical shapes continue to present considerable difficulties in automatic correspondence optimization due to inherent geometric complexity and the need to correlate shape change with underlying biological parameters. This dissertation addresses these technical difficulties and presents improved shape correspondence models. In particular, this dissertation builds on the particle-based modeling (PBM) framework described by Joshua Cates' 2010 Ph.D. dissertation. In the PBM framework, correspondences are modeled as a set of dynamic points or a particle system, positioned automatically on shape surfaces by optimizing entropy contained in the model, with the idea of balancing model simplicity against accuracy of the particle system representation of shapes. This dissertation is a collection of four papers that extend the PBM framework to include shape regression and longitudinal analysis and also adds new methods to improve modeling of complex shapes. It also includes a summary of two applications from the field of orthopaedics. Technical details of the PBM framework are provided in Chapter 2, after which the first topic related to the study of shape change over time is addressed (Chapters 3 and 4). In analyses of normative growth or disease progression, shape regression models allow characterization of the underlying biological process while also facilitating comparison of a sample against a normative model. The first paper introduces a shape regression model into the PBM framework to characterize shape variability due to an underlying biological parameter. It further confirms the statistical significance of this relationship via systematic permutation testing. Simple regression models are, however, not sufficient to leverage information provided by longitudinal studies. Longitudinal studies collect data at multiple time points for each participant and have the potential to provide a rich picture of the anatomical changes occurring during development, disease progression, or recovery. The second paper presents a linear-mixed-effects (LME) shape model in order to fully leverage the high-dimensional, complex features provided by longitudinal data. The parameters of the LME shape model are estimated in a hierarchical manner within the PBM framework. The topic of geometric complexity present in certain biological shapes is addressed next (Chapters 5 and 6). Certain biological shapes are inherently complex and highly variable, inhibiting correspondence based methods from producing a faithful representation of the average shape. In the PBM framework, use of Euclidean distances leads to incorrect particle system interactions while a position-only representation leads to incorrect correspondences around sharp features across shapes. The third paper extends the PBM framework to use efficiently computed geodesic distances and also adds an entropy term based on the surface normal. The fourth paper further replaces the position-only representation with a more robust distance-from-landmark feature in the PBM framework to obtain isometry invariant correspondences. Finally, the above methods are applied to two applications from the field of orthopaedics. The first application uses correspondences across an ensemble of human femurs to characterize morphological shape differences due to femoroacetabular impingement. The second application involves an investigation of the short bone phenotype apparent in mouse models of multiple osteochondromas. Metaphyseal volume deviations are correlated with deviations in length to quantify the effect of cancer toward the apparent shortening of long bones (femur, tibia-fibula) in mouse models

From wearable towards epidermal computing : soft wearable devices for rich interaction on the skin

Human skin provides a large, always available, and easy to access real-estate for interaction. Recent advances in new materials, electronics, and human-computer interaction have led to the emergence of electronic devices that reside directly on the user's skin. These conformal devices, referred to as Epidermal Devices, have mechanical properties compatible with human skin: they are very thin, often thinner than human hair; they elastically deform when the body is moving, and stretch with the user's skin. Firstly, this thesis provides a conceptual understanding of Epidermal Devices in the HCI literature. We compare and contrast them with other technical approaches that enable novel on-skin interactions. Then, through a multi-disciplinary analysis of Epidermal Devices, we identify the design goals and challenges that need to be addressed for advancing this emerging research area in HCI. Following this, our fundamental empirical research investigated how epidermal devices of different rigidity levels affect passive and active tactile perception. Generally, a correlation was found between the device rigidity and tactile sensitivity thresholds as well as roughness discrimination ability. Based on these findings, we derive design recommendations for realizing epidermal devices. Secondly, this thesis contributes novel Epidermal Devices that enable rich on-body interaction. SkinMarks contributes to the fabrication and design of novel Epidermal Devices that are highly skin-conformal and enable touch, squeeze, and bend sensing with co-located visual output. These devices can be deployed on highly challenging body locations, enabling novel interaction techniques and expanding the design space of on-body interaction. Multi-Touch Skin enables high-resolution multi-touch input on the body. We present the first non-rectangular and high-resolution multi-touch sensor overlays for use on skin and introduce a design tool that generates such sensors in custom shapes and sizes. Empirical results from two technical evaluations confirm that the sensor achieves a high signal-to-noise ratio on the body under various grounding conditions and has a high spatial accuracy even when subjected to strong deformations. Thirdly, Epidermal Devices are in contact with the skin, they offer opportunities for sensing rich physiological signals from the body. To leverage this unique property, this thesis presents rapid fabrication and computational design techniques for realizing Multi-Modal Epidermal Devices that can measure multiple physiological signals from the human body. Devices fabricated through these techniques can measure ECG (Electrocardiogram), EMG (Electromyogram), and EDA (Electro-Dermal Activity). We also contribute a computational design and optimization method based on underlying human anatomical models to create optimized device designs that provide an optimal trade-off between physiological signal acquisition capability and device size. The graphical tool allows for easily specifying design preferences and to visually analyze the generated designs in real-time, enabling designer-in-the-loop optimization. Experimental results show high quantitative agreement between the prediction of the optimizer and experimentally collected physiological data. Finally, taking a multi-disciplinary perspective, we outline the roadmap for future research in this area by highlighting the next important steps, opportunities, and challenges. Taken together, this thesis contributes towards a holistic understanding of Epidermal Devices}: it provides an empirical and conceptual understanding as well as technical insights through contributions in DIY (Do-It-Yourself), rapid fabrication, and computational design techniques.Die menschliche Haut bietet eine große, stets verfügbare und leicht zugängliche Fläche für Interaktion. Jüngste Fortschritte in den Bereichen Materialwissenschaft, Elektronik und Mensch-Computer-Interaktion (Human-Computer-Interaction, HCI) [so that you can later use the Englisch abbreviation] haben zur Entwicklung elektronischer Geräte geführt, die sich direkt auf der Haut des Benutzers befinden. Diese sogenannten Epidermisgeräte haben mechanische Eigenschaften, die mit der menschlichen Haut kompatibel sind: Sie sind sehr dünn, oft dünner als ein menschliches Haar; sie verformen sich elastisch, wenn sich der Körper bewegt, und dehnen sich mit der Haut des Benutzers. Diese Thesis bietet, erstens, ein konzeptionelles Verständnis von Epidermisgeräten in der HCI-Literatur. Wir vergleichen sie mit anderen technischen Ansätzen, die neuartige Interaktionen auf der Haut ermöglichen. Dann identifizieren wir durch eine multidisziplinäre Analyse von Epidermisgeräten die Designziele und Herausforderungen, die angegangen werden müssen, um diesen aufstrebenden Forschungsbereich voranzubringen. Im Anschluss daran untersuchten wir in unserer empirischen Grundlagenforschung, wie epidermale Geräte unterschiedlicher Steifigkeit die passive und aktive taktile Wahrnehmung beeinflussen. Im Allgemeinen wurde eine Korrelation zwischen der Steifigkeit des Geräts und den taktilen Empfindlichkeitsschwellen sowie der Fähigkeit zur Rauheitsunterscheidung festgestellt. Basierend auf diesen Ergebnissen leiten wir Designempfehlungen für die Realisierung epidermaler Geräte ab. Zweitens trägt diese Thesis zu neuartigen Epidermisgeräten bei, die eine reichhaltige Interaktion am Körper ermöglichen. SkinMarks trägt zur Herstellung und zum Design neuartiger Epidermisgeräte bei, die hochgradig an die Haut angepasst sind und Berührungs-, Quetsch- und Biegesensoren mit gleichzeitiger visueller Ausgabe ermöglichen. Diese Geräte können an sehr schwierigen Körperstellen eingesetzt werden, ermöglichen neuartige Interaktionstechniken und erweitern den Designraum für die Interaktion am Körper. Multi-Touch Skin ermöglicht hochauflösende Multi-Touch-Eingaben am Körper. Wir präsentieren die ersten nicht-rechteckigen und hochauflösenden Multi-Touch-Sensor-Overlays zur Verwendung auf der Haut und stellen ein Design-Tool vor, das solche Sensoren in benutzerdefinierten Formen und Größen erzeugt. Empirische Ergebnisse aus zwei technischen Evaluierungen bestätigen, dass der Sensor auf dem Körper unter verschiedenen Bedingungen ein hohes Signal-Rausch-Verhältnis erreicht und eine hohe räumliche Auflösung aufweist, selbst wenn er starken Verformungen ausgesetzt ist. Drittens, da Epidermisgeräte in Kontakt mit der Haut stehen, bieten sie die Möglichkeit, reichhaltige physiologische Signale des Körpers zu erfassen. Um diese einzigartige Eigenschaft zu nutzen, werden in dieser Arbeit Techniken zur schnellen Herstellung und zum computergestützten Design von multimodalen Epidermisgeräten vorgestellt, die mehrere physiologische Signale des menschlichen Körpers messen können. Die mit diesen Techniken hergestellten Geräte können EKG (Elektrokardiogramm), EMG (Elektromyogramm) und EDA (elektrodermale Aktivität) messen. Darüber hinaus stellen wir eine computergestützte Design- und Optimierungsmethode vor, die auf den zugrunde liegenden anatomischen Modellen des Menschen basiert, um optimierte Gerätedesigns zu erstellen. Diese Designs bieten einen optimalen Kompromiss zwischen der Fähigkeit zur Erfassung physiologischer Signale und der Größe des Geräts. Das grafische Tool ermöglicht die einfache Festlegung von Designpräferenzen und die visuelle Analyse der generierten Designs in Echtzeit, was eine Optimierung durch den Designer im laufenden Betrieb ermöglicht. Experimentelle Ergebnisse zeigen eine hohe quantitative Übereinstimmung zwischen den Vorhersagen des Optimierers und den experimentell erfassten physiologischen Daten. Schließlich skizzieren wir aus einer multidisziplinären Perspektive einen Fahrplan für zukünftige Forschung in diesem Bereich, indem wir die nächsten wichtigen Schritte, Möglichkeiten und Herausforderungen hervorheben. Insgesamt trägt diese Arbeit zu einem ganzheitlichen Verständnis von Epidermisgeräten bei: Sie liefert ein empirisches und konzeptionelles Verständnis sowie technische Einblicke durch Beiträge zu DIY (Do-It-Yourself), schneller Fertigung und computergestützten Entwurfstechniken

EigenFIT : a statistical learning approach to facial composites

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