Viewfinder: final activity report

The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources. The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation. The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein

A Review and Characterization of Progressive Visual Analytics

Progressive Visual Analytics (PVA) has gained increasing attention over the past years. It brings the user into the loop during otherwise long-running and non-transparent computations by producing intermediate partial results. These partial results can be shown to the user for early and continuous interaction with the emerging end result even while it is still being computed. Yet as clear-cut as this fundamental idea seems, the existing body of literature puts forth various interpretations and instantiations that have created a research domain of competing terms, various definitions, as well as long lists of practical requirements and design guidelines spread across different scientific communities. This makes it more and more difficult to get a succinct understanding of PVA’s principal concepts, let alone an overview of this increasingly diverging field. The review and discussion of PVA presented in this paper address these issues and provide (1) a literature collection on this topic, (2) a conceptual characterization of PVA, as well as (3) a consolidated set of practical recommendations for implementing and using PVA-based visual analytics solutions

QoS Enabled Video Telephony with a Virtualized HSS in a 4G EPC Environment

Video Telephony is the real time exchange of voice and video between end-users. It is the basis of a wide range of applications (e.g. Multiparty games, distance learning). Quality of service (QoS) enables network performance control for meeting specific applications and/or end-user requirements. It is a differentiating factor for service providers. Evolved Packet Core (EPC) is the new core network for 3GPP 4G networks. Home Subscriber Server (HSS) is the standardized master database of 3GPP next generation networks including video telephony networks and EPC. It contains the subscription related information that is needed to support the network entities when they handle sessions. The constant increase in the number of subscribers is one of the challenges for future mobile networks including video telephony networks and EPC. Virtualization is a technique used to emulate the physical characteristics of resources. It enables efficiency in resource usage and is a key technology for scalability and elasticity. This thesis proposes an architecture for QoS Enabled video telephony with a Virtualized HSS (VHSS) in a 3GPP 4G environment. It makes two main contributions. Firstly, it proposes a differentiated QoS service delivery platform that relies on EPC. This platform enables the provisioning of a refined differentiated QoS scheme which allows prioritization between different sessions of a same video telephony application running on a same network. This new scheme is a differentiating factor for service providers. Second it proposes a preliminary mechanism for a scalable and elastic HSS in order to cope with the increasing number of subscribers. This is done by decomposing the HSS into three main layers (diameter layer, database computation layer and storage layer). Each of these layers are virtualized and can grow/shrink independently. We have built a proof of concept prototype to demonstrate the feasibility of the proposed architecture. Performance measurements have also been made to evaluate viability

Progressively communicating rich telemetry from autonomous underwater vehicles via relays

Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution June 2012As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to surface observers remains a significant challenge – as a result, current telemetry from free-roaming autonomous marine vehicles remains limited to ‘heartbeat’ status messages, with minimal scientific data available until after recovery. Increasing the challenge, longdistance communication may require relaying data across multiple acoustic hops between vehicles, yet fixed infrastructure is not always appropriate or possible. In this thesis I present an analysis of the unique considerations facing telemetry systems for free-roaming Autonomous Underwater Vehicles (AUVs) used in exploration. These considerations include high-cost vehicle nodes with persistent storage and significant computation capabilities, combined with human surface operators monitoring each node. I then propose mechanisms for interactive, progressive communication of data across multiple acoustic hops. These mechanisms include wavelet-based embedded coding methods, and a novel image compression scheme based on texture classification and synthesis. The specific characteristics of underwater communication channels, including high latency, intermittent communication, the lack of instantaneous end-to-end connectivity, and a broadcast medium, inform these proposals. Human feedback is incorporated by allowing operators to identify segments of data thatwarrant higher quality refinement, ensuring efficient use of limited throughput. I then analyze the performance of these mechanisms relative to current practices. Finally, I present CAPTURE, a telemetry architecture that builds on this analysis. CAPTURE draws on advances in compression and delay tolerant networking to enable progressive transmission of scientific data, including imagery, across multiple acoustic hops. In concert with a physical layer, CAPTURE provides an endto- end networking solution for communicating science data from autonomous marine vehicles. Automatically selected imagery, sonar, and time-series sensor data are progressively transmitted across multiple hops to surface operators. Human operators can request arbitrarily high-quality refinement of any resource, up to an error-free reconstruction. The components of this system are then demonstrated through three field trials in diverse environments on SeaBED, OceanServer and Bluefin AUVs, each in different software architectures.Thanks to the National Science Foundation, and the National Oceanic and Atmospheric Administration for their funding of my education and this work

Multimedia over wireless ip networks:distortion estimation and applications.

2006/2007This thesis deals with multimedia communication over unreliable and resource constrained IP-based packet-switched networks. The focus is on estimating, evaluating and enhancing the quality of streaming media services with particular regard to video services. The original contributions of this study involve mainly the development of three video distortion estimation techniques and the successive definition of some application scenarios used to demonstrate the benefits obtained applying such algorithms. The material presented in this dissertation is the result of the studies performed within the Telecommunication Group of the Department of Electronic Engineering at the University of Trieste during the course of Doctorate in Information Engineering. In recent years multimedia communication over wired and wireless packet based networks is exploding. Applications such as BitTorrent, music file sharing, multimedia podcasting are the main source of all traffic on the Internet. Internet radio for example is now evolving into peer to peer television such as CoolStreaming. Moreover, web sites such as YouTube have made publishing videos on demand available to anyone owning a home video camera. Another challenge in the multimedia evolution is inside the house where videos are distributed over local WiFi networks to many end devices around the house. More in general we are assisting an all media over IP revolution, with radio, television, telephony and stored media all being delivered over IP wired and wireless networks. All the presented applications require an extreme high bandwidth and often a low delay especially for interactive applications. Unfortunately the Internet and the wireless networks provide only limited support for multimedia applications. Variations in network conditions can have considerable consequences for real-time multimedia applications and can lead to unsatisfactory user experience. In fact, multimedia applications are usually delay sensitive, bandwidth intense and loss tolerant applications. In order to overcame this limitations, efficient adaptation mechanism must be derived to bridge the application requirements with the transport medium characteristics. Several approaches have been proposed for the robust transmission of multimedia packets; they range from source coding solutions to the addition of redundancy with forward error correction and retransmissions. Additionally, other techniques are based on developing efficient QoS architectures at the network layer or at the data link layer where routers or specialized devices apply different forwarding behaviors to packets depending on the value of some field in the packet header. Using such network architecture, video packets are assigned to classes, in order to obtain a different treatment by the network; in particular, packets assigned to the most privileged class will be lost with a very small probability, while packets belonging to the lowest priority class will experience the traditional best–effort service. But the key problem in this solution is how to assign optimally video packets to the network classes. One way to perform the assignment is to proceed on a packet-by-packet basis, to exploit the highly non-uniform distortion impact of compressed video. Working on the distortion impact of each individual video packet has been shown in recent years to deliver better performance than relying on the average error sensitivity of each bitstream element. The distortion impact of a video packet can be expressed as the distortion that would be introduced at the receiver by its loss, taking into account the effects of both error concealment and error propagation due to temporal prediction. The estimation algorithms proposed in this dissertation are able to reproduce accurately the distortion envelope deriving from multiple losses on the network and the computational complexity required is negligible in respect to those proposed in literature. Several tests are run to validate the distortion estimation algorithms and to measure the influence of the main encoder-decoder settings. Different application scenarios are described and compared to demonstrate the benefits obtained using the developed algorithms. The packet distortion impact is inserted in each video packet and transmitted over the network where specialized agents manage the video packets using the distortion information. In particular, the internal structure of the agents is modified to allow video packets prioritization using primarily the distortion impact estimated by the transmitter. The results obtained will show that, in each scenario, a significant improvement may be obtained with respect to traditional transmission policies. The thesis is organized in two parts. The first provides the background material and represents the basics of the following arguments, while the other is dedicated to the original results obtained during the research activity. Referring to the first part in the first chapter it summarized an introduction to the principles and challenges for the multimedia transmission over packet networks. The most recent advances in video compression technologies are detailed in the second chapter, focusing in particular on aspects that involve the resilience to packet loss impairments. The third chapter deals with the main techniques adopted to protect the multimedia flow for mitigating the packet loss corruption due to channel failures. The fourth chapter introduces the more recent advances in network adaptive media transport detailing the techniques that prioritize the video packet flow. The fifth chapter makes a literature review of the existing distortion estimation techniques focusing mainly on their limitation aspects. The second part of the thesis describes the original results obtained in the modelling of the video distortion deriving from the transmission over an error prone network. In particular, the sixth chapter presents three new distortion estimation algorithms able to estimate the video quality and shows the results of some validation tests performed to measure the accuracy of the employed algorithms. The seventh chapter proposes different application scenarios where the developed algorithms may be used to enhance quickly the video quality at the end user side. Finally, the eight chapter summarizes the thesis contributions and remarks the most important conclusions. It also derives some directions for future improvements. The intent of the entire work presented hereafter is to develop some video distortion estimation algorithms able to predict the user quality deriving from the loss on the network as well as providing the results of some useful applications able to enhance the user experience during a video streaming session.Questa tesi di dottorato affronta il problema della trasmissione efficiente di contenuti multimediali su reti a pacchetto inaffidabili e con limitate risorse di banda. L’obiettivo è quello di ideare alcuni algoritmi in grado di predire l’andamento della qualità del video ricevuto da un utente e successivamente ideare alcune tecniche in grado di migliorare l’esperienza dell’utente finale nella fruizione dei servizi video. In particolare i contributi originali del presente lavoro riguardano lo sviluppo di algoritmi per la stima della distorsione e l’ideazione di alcuni scenari applicativi in molto frequenti dove poter valutare i benefici ottenibili applicando gli algoritmi di stima. I contributi presentati in questa tesi di dottorato sono il risultato degli studi compiuti con il gruppo di Telecomunicazioni del Dipartimento di Elettrotecnica Elettronica ed Informatica (DEEI) dell’Università degli Studi di Trieste durante il corso di dottorato in Ingegneria dell’Informazione. Negli ultimi anni la multimedialità, diffusa sulle reti cablate e wireless, sta diventando parte integrante del modo di utilizzare la rete diventando di fatto il fenomeno più imponente. Applicazioni come BitTorrent, la condivisione di file musicali e multimediali e il podcasting ad esempio costituiscono una parte significativa del traffico attuale su Internet. Quelle che negli ultimi anni erano le prime radio che trsmettevano sulla rete oggi si stanno evolvendo nei sistemi peer to peer per più avanzati per la diffusione della TV via web come CoolStreaming. Inoltre siti web come YouTube hanno costruito il loro business sulla memorizzazione/ distribuzione di video creati da chiunque abbia una semplice video camera. Un’altra caratteristica dell’imponente rivoluzione multimediale a cui stiamo assistendo è la diffusione dei video anche all’interno delle case dove i contenuti multimediali vengono distribuiti mediante delle reti wireless locali tra i vari dispositivi finali. Tutt’oggi è in corso una rivoluzione della multimedialità sulle reti IP con le radio, i televisioni, la telefonia e tutti i video che devono essere distribuiti sulle reti cablate e wireless verso utenti eterogenei. In generale la gran parte delle applicazioni multimediali richiedono una banda elevata e dei ritardi molto contenuti specialmente se le applicazioni sono di tipo interattivo. Sfortunatamente le reti wireless e Internet più in generale sono in grado di fornire un supporto limitato alle applicazioni multimediali. La variabilità di banda, di ritardo e nella perdita possono avere conseguenze gravi sulla qualità con cui viene ricevuto il video e questo può portare a una parziale insoddisfazione o addirittura alla rinuncia della fruizione da parte dell’utente finale. Le applicazioni multimediali sono spesso sensibili al ritardo e con requisiti di banda molto stringenti ma di fatto rimango tolleranti nei confronti delle perdite che possono avvenire durante la trasmissione. Al fine di superare le limitazioni è necessario sviluppare dei meccanismi di adattamento in grado di fare da ponte fra i requisiti delle applicazioni multimediali e le caratteristiche offerte dal livello di trasporto. Diversi approcci sono stati proposti in passato in letteratura per migliorare la trasmissione dei pacchetti riducendo le perdite; gli approcci variano dalle soluzioni di compressione efficiente all’aggiunta di ridondanza con tecniche di forward error correction e ritrasmissioni. Altre tecniche si basano sulla creazione di architetture di rete complesse in grado di garantire la QoS a livello rete dove router oppure altri agenti specializzati applicano diverse politiche di gestione del traffico in base ai valori contenuti nei campi dei pacchetti. Mediante queste architetture il traffico video viene marcato con delle classi di priorità al fine di creare una differenziazione nel traffico a livello rete; in particolare i pacchetti con i privilegi maggiori vengono assegnati alle classi di priorità più elevate e verranno persi con probabilità molto bassa mentre i pacchetti appartenenti alle classi di priorità inferiori saranno trattati alla stregua dei servizi di tipo best-effort. Uno dei principali problemi di questa soluzione riguarda come assegnare in maniera ottimale i singoli pacchetti video alle diverse classi di priorità. Un modo per effettuare questa classificazione è quello di procedere assegnando i pacchetti alle varie classi sulla base dell’importanza che ogni pacchetto ha sulla qualità finale. E’ stato dimostrato in numerosi lavori recenti che utilizzando come meccanismo per l’adattamento l’impatto sulla distorsione finale, porta significativi miglioramenti rispetto alle tecniche che utilizzano come parametro la sensibilità media del flusso nei confronti delle perdite. L’impatto che ogni pacchetto ha sulla qualità può essere espresso come la distorsione che viene introdotta al ricevitore se il pacchetto viene perso tenendo in considerazione gli effetti del recupero (error concealment) e la propagazione dell’errore (error propagation) caratteristica dei più recenti codificatori video. Gli algoritmi di stima della distorsione proposti in questa tesi sono in grado di riprodurre in maniera accurata l’inviluppo della distorsione derivante sia da perdite isolate che da perdite multiple nella rete con una complessità computazionale minima se confrontata con le più recenti tecniche di stima. Numerose prove sono stati effettuate al fine di validare gli algoritmi di stima e misurare l’influenza dei principali parametri di codifica e di decodifica. Al fine di enfatizzare i benefici ottenuti applicando gli algoritmi di stima della distorsione, durante la tesi verranno presentati alcuni scenari applicativi dove l’applicazione degli algoritmi proposti migliora sensibilmente la qualità finale percepita dagli utenti. Tali scenari verranno descritti, implementati e accuratamente valutati. In particolare, la distorsione stimata dal trasmettitore verrà incapsulata nei pacchetti video e, trasmessa nella rete dove agenti specializzati potranno agevolmente estrarla e utilizzarla come meccanismo rate-distortion per privilegiare alcuni pacchetti a discapito di altri. In particolare la struttura interna di un agente (un router) verrà modificata al fine di consentire la differenziazione del traffico utilizzando l’informazione dell’impatto che ogni pacchetto ha sulla qualità finale. I risultati ottenuti anche in termini di ridotta complessità computazionale in ogni scenario applicativo proposto mettono in luce i benefici derivanti dall’implementazione degli algoritmi di stima. La presenti tesi di dottorato è strutturata in due parti principali; la prima fornisce il background e rappresenta la base per tutti gli argomenti trattati nel seguito mentre la seconda parte è dedicata ai contributi originali e ai risultati ottenuti durante l’intera attività di ricerca. In riferimento alla prima parte in particolare un’introduzione ai principi e alle opportunità offerte dalla diffusione dei servizi multimediali sulle reti a pacchetto viene esposta nel primo capitolo. I progressi più recenti nelle tecniche di compressione video vengono esposti dettagliatamente nel secondo capitolo che si focalizza in particolare solo sugli aspetti che riguardano le tecniche per la mitigazione delle perdite. Il terzo capitolo introduce le principali tecniche per proteggere i flussi multimediali e ridurre le perdite causate dai fenomeni caratteristici del canale. Il quarto capitolo descrive i recenti avanzamenti nelle tecniche di network adaptive media transport illustrando i principali metodi utilizzati per differenziare il traffico video. Il quinto capitolo analizza i principali contributi nella letteratura sulle tecniche di stima della distorsione e si focalizza in particolare sulle limitazioni dei metodi attuali. La seconda parte della tesi descrive i contributi originali ottenuti nella modellizzazione della distorsione video derivante dalla trasmissione sulle reti con perdite. In particolare il sesto capitolo presenta tre nuovi algoritmi in grado di riprodurre fedelmente l’inviluppo della distorsione video. I numerosi test e risultati verranno proposti al fine di validare gli algoritmi e misurare l’accuratezza nella stima. Il settimo capitolo propone diversi scenari applicativi dove gli algoritmi sviluppati possono essere utilizzati per migliorare in maniera significativa la qualità percepita dall’utente finale. Infine l’ottavo capitolo sintetizza l’intero lavoro svolto e i principali risultati ottenuti. Nello stesso capitolo vengono inoltre descritti gli sviluppi futuri dell’attività di ricerca. L’obiettivo dell’intero lavoro presentato è quello di mostrare i benefici derivanti dall’utilizzo di nuovi algoritmi per la stima della distorsione e di fornire alcuni scenari applicativi di utilizzo.XIX Ciclo197

Prioritizing causal disease genes using unbiased genomic features

Background: Cardiovascular disease (CVD) is the leading cause of death in the developed world. Human genetic studies, including genome-wide sequencing and SNP-array approaches, promise to reveal disease genes and mechanisms representing new therapeutic targets. In practice, however, identification of the actual genes contributing to disease pathogenesis has lagged behind identification of associated loci, thus limiting the clinical benefits. Results: To aid in localizing causal genes, we develop a machine learning approach, Objective Prioritization for Enhanced Novelty (OPEN), which quantitatively prioritizes gene-disease associations based on a diverse group of genomic features. This approach uses only unbiased predictive features and thus is not hampered by a preference towards previously well-characterized genes. We demonstrate success in identifying genetic determinants for CVD-related traits, including cholesterol levels, blood pressure, and conduction system and cardiomyopathy phenotypes. Using OPEN, we prioritize genes, including FLNC, for association with increased left ventricular diameter, which is a defining feature of a prevalent cardiovascular disorder, dilated cardiomyopathy or DCM. Using a zebrafish model, we experimentally validate FLNC and identify a novel FLNC splice-site mutation in a patient with severe DCM. Conclusion: Our approach stands to assist interpretation of large-scale genetic studies without compromising their fundamentally unbiased nature. Electronic supplementary material The online version of this article (doi:10.1186/s13059-014-0534-8) contains supplementary material, which is available to authorized users

Household-specific targeting of agricultural advice via mobile phones: Feasibility of a minimum data approach for smallholder context

In recent years, agricultural extension services in developing countries have increasingly introduced modern information and communication technologies (ICT) to deliver advice. But to realize efficiency gains, digital applications may need to address heterogeneous information needs by targeting agricultural advisory contents in a household-specific way. We explore the feasibility of an automated advisory service that collects household data from farmers, for example through the keypads of conventional mobile phones, and uses this data to prioritize agricultural advisory messages accordingly. To reduce attrition, such a system must avoid lengthy inquiry. Therefore, our objective was to identify a viable trade-off between low data requirements and useful household-specific prioritizations of advisory messages. At three sites in Ethiopia, Kenya, and Tanzania in-dependently, we collected experimental preference rankings from smallholder farmers for receiving information about different agricultural and livelihood practices. At each site, we identified socio-economic household variables that improved model-based predictions of individual farmers’information preferences. We used the models to predict household-specific rankings of information options based on 2–4 variables, requiring the farmer to answer between 5 and 10 questions through an ICT interface. These predicted rankings could inform household-specific prioritizations of advisory messages in a digital agro-advisory application. Household-specific “top 3” options suggested by the models were better-fit to farmers’preferences than a random selection of 3 options by 48–68%, on average. The analysis shows that relatively limited data inputs from farmers, in a simple format, can be used to increase the client-orientation of ICT-mediated agricultural extension. This suggests that household-specific prioritization of agricultural advisory messages through digital two-way communication is feasible. In future digital agricultural advisory applications, collecting little data from farmers at each interaction may feed into learning algorithms that continuously improve the targeting of advice

Flexible dual TCP/UDP streaming for H.264 HD video over WLANs

High Definition video streaming over WLANs faces many challenges because video data requires not only data integrity but also frames have strict playout deadline. Traditional streaming methods that rely solely on either UDP or TCP have difficulties meeting both requirements because UDP incurs packet loss while TCP incurs delay. This thesis proposed a new streaming method called Flexible Dual-TCP/UDP Streaming Protocol (FDSP) that utilizes the benefit of both UDP and TCP. The FDSP takes advantage of the hierarchical structure of the H.264/AVC syntax and uses TCP to transmit important syntax elements of H.264/AVC video and UDP to transmit non-important elements. Moreover, if desired, FDSP is flexible enough to send any H.264 syntax element via TCP. The proposed FDSP is implemented and validated under different wireless network conditions. Both visual quality and delay results are compared against pure-UDP and pure-TCP streaming methods. Our results show that FDSP effectively achieves a balance between delay and visual quality, thus it has advantage over traditional pure-UDP and pure-TCP methods