Concurrent evolution of feature extractors and modular artificial neural networks

Artificial Neural Networks (ANNs) are commonly used in both academia and industry as a solution to challenges in the pattern recognition domain. However, there are two problems that must be addressed before an ANN can be successfully applied to a given recognition task: ANN customization and data pre-processing. First, ANNs require customization for each specific application. Although the underlying mathematics of ANNs is well understood, customization based on theoretical analysis is impractical because of the complex interrelationship between ANN behavior and the problem domain. On the other hand, an empirical approach to the task of customization can be successful with the selection of an appropriate test domain. However, this latter approach is computationally intensive, especially due to the many variables that can be adjusted within the system. Additionally, it is subject to the limitations of the selected search algorithm used to find the optimal solution. Second, data pre-processing (feature extraction) is almost always necessary in order to organize and minimize the input data, thereby optimizing ANN performance. Not only is it difficult to know what and how many features to extract from the data, but it is also challenging to find the right balance between the computational requirements for the preprocessing algorithm versus the ANN itself. Furthermore, the task of developing an appropriate pre-processing algorithm usually requires expert knowledge of the problem domain, which may not always be available. This paper contends that the concurrent evolution of ANNs and data pre-processors allows the design of highly accurate recognition networks without the need for expert knowledge in the application domain. To this end, a novel method for evolving customized ANNs with correlated feature extractors was designed and tested. This method involves the use of concurrent evolutionary processes (CEPs) as a mechanism to search the space of recognition networks. In a series of controlled experiments the CEP was applied to the digit recognition domain to show that the efficacy of this method is in-line with results seen in other digit recognition research, but without the need for expert knowledge in image processing techniques for digit recognition

Support vector machines for interval discriminant analysis

The use of data represented by intervals can be caused by imprecision in the input information, incompleteness in patterns, discretization procedures, prior knowledge insertion or speed-up learning. All the existing support vector machine (SVM) approaches working on interval data use local kernels based on a certain distance between intervals, either by combining the interval distance with a kernel or by explicitly defining an interval kernel. This article introduces a new procedure for the linearly separable case, derived from convex optimization theory, inserting information directly into the standard SVM in the form of intervals, without taking any particular distance into consideration.Ministerio de Educación y Ciencia DPI2006-15630- C02-0

Biomedical applications of belief networks

Biomedicine is an area in which computers have long been expected to play a significant role. Although many of the early claims have proved unrealistic, computers are gradually becoming accepted in the biomedical, clinical and research environment. Within these application areas, expert systems appear to have met with the most resistance, especially when applied to image interpretation.In order to improve the acceptance of computerised decision support systems it is necessary to provide the information needed to make rational judgements concerning the inferences the system has made. This entails an explanation of what inferences were made, how the inferences were made and how the results of the inference are to be interpreted. Furthermore there must be a consistent approach to the combining of information from low level computational processes through to high level expert analyses.nformation from low level computational processes through to high level expert analyses. Until recently ad hoc formalisms were seen as the only tractable approach to reasoning under uncertainty. A review of some of these formalisms suggests that they are less than ideal for the purposes of decision making. Belief networks provide a tractable way of utilising probability theory as an inference formalism by combining the theoretical consistency of probability for inference and decision making, with the ability to use the knowledge of domain experts.nowledge of domain experts. The potential of belief networks in biomedical applications has already been recog¬ nised and there has been substantial research into the use of belief networks for medical diagnosis and methods for handling large, interconnected networks. In this thesis the use of belief networks is extended to include detailed image model matching to show how, in principle, feature measurement can be undertaken in a fully probabilistic way. The belief networks employed are usually cyclic and have strong influences between adjacent nodes, so new techniques for probabilistic updating based on a model of the matching process have been developed.An object-orientated inference shell called FLAPNet has been implemented and used to apply the belief network formalism to two application domains. The first application is model-based matching in fetal ultrasound images. The imaging modality and biological variation in the subject make model matching a highly uncertain process. A dynamic, deformable model, similar to active contour models, is used. A belief network combines constraints derived from local evidence in the image, with global constraints derived from trained models, to control the iterative refinement of an initial model cue.In the second application a belief network is used for the incremental aggregation of evidence occurring during the classification of objects on a cervical smear slide as part of an automated pre-screening system. A belief network provides both an explicit domain model and a mechanism for the incremental aggregation of evidence, two attributes important in pre-screening systems.Overall it is argued that belief networks combine the necessary quantitative features required of a decision support system with desirable qualitative features that will lead to improved acceptability of expert systems in the biomedical domain

On-the-fly synthesizer programming with rule learning

This manuscript explores automatic programming of sound synthesis algorithms within the context of the performative artistic practice known as live coding. Writing source code in an improvised way to create music or visuals became an instrument the moment affordable computers were able to perform real-time sound synthesis with languages that keep their interpreter running. Ever since, live coding has dealt with real time programming of synthesis algorithms. For that purpose, one possibility is an algorithm that automatically creates variations out of a few presets selected by the user. However, the need for real-time feedback and the small size of the data sets (which can even be collected mid-performance) are constraints that make existing automatic sound synthesizer programmers and learning algorithms unfeasible. Also, the design of such algorithms is not oriented to create variations of a sound but rather to find the synthesizer parameters that match a given one. Other approaches create representations of the space of possible sounds, allowing the user to explore it by means of interactive evolution. Even though these systems are exploratory-oriented, they require longer run-times. This thesis investigates inductive rule learning for on-the-fly synthesizer programming. This approach is conceptually different from those found in both synthesizer programming and live coding literature. Rule models offer interpretability and allow working with the parameter values of the synthesis algorithms (even with symbolic data), making preprocessing unnecessary. RuLer, the proposed learning algorithm, receives a dataset containing user labeled combinations of parameter values of a synthesis algorithm. Among those combinations sharing the same label, it analyses the patterns based on dissimilarity. These patterns are described as an IF-THEN rule model. The algorithm parameters provide control to define what is considered a pattern. As patterns are the base for inducting new parameter settings, the algorithm parameters control the degree of consistency of the inducted settings respect to the original input data. An algorithm (named FuzzyRuLer) able to extend IF-THEN rules to hyperrectangles, which in turn are used as the cores of membership functions, is presented. The resulting fuzzy rule model creates a map of the entire input feature space. For such a pursuit, the algorithm generalizes the logical rules solving the contradictions by following a maximum volume heuristics. Across the manuscript it is discussed how, when machine learning algorithms are used as creative tools, glitches, errors or inaccuracies produced by the resulting models are sometimes desirable as they might offer novel, unpredictable results. The evaluation of the algorithms follows two paths. The first focuses on user tests. The second responds to the fact that this work was carried out within the computer science department and is intended to provide a broader, nonspecific domain evaluation of the algorithms performance using extrinsic benchmarks (i.e not belonging to a synthesizer's domain) for cross validation and minority oversampling. In oversampling tasks, using imbalanced datasets, the algorithm yields state-of-the-art results. Moreover, the synthetic points produced are significantly different from those created by the other algorithms and perform (controlled) exploration of more distant regions. Finally, accompanying the research, various performances, concerts and an album were produced with the algorithms and examples of this thesis. The reviews received and collections where the album has been featured show a positive reception within the community. Together, these evaluations suggest that rule learning is both an effective method and a promising path for further research.Aquest manuscrit explora la programació automàtica d’algorismes de síntesi de so dins del context de la pràctica artística performativa coneguda com a live coding. L'escriptura improvisada de codi font per crear música o visuals es va convertir en un instrument en el moment en què els ordinadors van poder realitzar síntesis de so en temps real amb llenguatges que mantenien el seu intèrpret en funcionament. D'aleshores ençà, el live coding comporta la programació en temps real d’algorismes de síntesi de so. Per a aquest propòsit, una possibilitat és tenir un algorisme que creï automàticament variacions a partir d'alguns presets seleccionats. No obstant, la necessitat de retroalimentació en temps real i la petita mida dels conjunts de dades són restriccions que fan que els programadors automàtics de sintetitzadors de so i els algorismes d’aprenentatge no siguin factibles d’utilitzar. A més, el seu disseny no està orientat a crear variacions d'un so, sinó a trobar els paràmetres del sintetitzador que aplicats a l'algorisme de síntesi produeixen un so determinat (target). Altres enfocaments creen representacions de l'espai de sons possibles, per permetre a l'usuari explorar-lo mitjançant l'evolució interactiva, però requereixen temps més llargs. Aquesta tesi investiga l'aprenentatge inductiu de regles per a la programació on-the-fly de sintetitzadors. Aquest enfocament és conceptualment diferent dels que es troben a la literatura. Els models de regles ofereixen interpretabilitat i permeten treballar amb els valors dels paràmetres dels algorismes de síntesi, sense processament previ. RuLer, l'algorisme d'aprenentatge proposat, rep dades amb combinacions etiquetades per l'usuari dels valors dels paràmetres d'un algorisme de síntesi. A continuació, analitza els patrons, basats en la dissimilitud, entre les combinacions de cada etiqueta. Aquests patrons es descriuen com un model de regles IF-THEN. Els paràmetres de l'algorisme proporcionen control per definir el que es considera un patró. Llavors, controlen el grau de consistència dels nous paràmetres de síntesi induïts respecte a les dades d'entrada originals. A continuació, es presenta un algorisme (FuzzyRuLer) capaç d’estendre les regles IF-THEN a hiperrectangles, que al seu torn s’utilitzen com a nuclis de funcions de pertinença. El model de regles difuses resultant crea un mapa complet de l'espai de la funció d'entrada. Per això, l'algorisme generalitza les regles lògiques seguint una heurística de volum màxim. Al llarg del manuscrit es discuteix com, quan s’utilitzen algorismes d’aprenentatge automàtic com a eines creatives, de vegades són desitjables glitches, errors o imprecisions produïdes pels models resultants, ja que poden oferir nous resultats imprevisibles. L'avaluació dels algorismes segueix dos camins. El primer es centra en proves d'usuari. El segon, que respon al fet que aquest treball es va dur a terme dins del departament de ciències de la computació, pretén proporcionar una avaluació més àmplia, no específica d'un domini, del rendiment dels algorismes mitjançant benchmarks extrínsecs utilitzats per cross-validation i minority oversampling. En tasques d'oversampling, mitjançant imbalanced data sets, l'algorisme proporciona resultats equiparables als de l'estat de l'art. A més, els punts sintètics produïts són significativament diferents als creats pels altres algorismes i realitzen exploracions (controlades) de regions més llunyanesEste manuscrito explora la programación automática de algoritmos de síntesis de sonido dentro del contexto de la práctica artística performativa conocida como live coding. La escritura de código fuente de forma improvisada para crear música o imágenes, se convirtió en un instrumento en el momento en que las computadoras asequibles pudieron realizar síntesis de sonido en tiempo real con lenguajes que mantuvieron su interprete en funcionamiento. Desde entonces, el live coding ha implicado la programación en tiempo real de algoritmos de síntesis. Para ese propósito, una posibilidad es tener un algoritmo que cree automáticamente variaciones a partir de unos pocos presets seleccionados. Sin embargo, la necesidad de retroalimentación en tiempo real y el pequeño tamaño de los conjuntos de datos (que incluso pueden recopilarse durante la misma actuación), limitan el uso de los algoritmos existentes, tanto de programación automática de sintetizadores como de aprendizaje de máquina. Además, el diseño de dichos algoritmos no está orientado a crear variaciones de un sonido, sino a encontrar los parámetros del sintetizador que coincidan con un sonido dado. Otros enfoques crean representaciones del espacio de posibles sonidos, para permitir al usuario explorarlo mediante evolución interactiva. Aunque estos sistemas están orientados a la exploración, requieren tiempos más largos. Esta tesis investiga el aprendizaje inductivo de reglas para la programación de sintetizadores on-the-fly. Este enfoque es conceptualmente diferente de los que se encuentran en la literatura, tanto de programación de sintetizadores como de live coding. Los modelos de reglas ofrecen interpretabilidad y permiten trabajar con los valores de los parámetros de los algoritmos de síntesis (incluso con datos simbólicos), haciendo innecesario el preprocesamiento. RuLer, el algoritmo de aprendizaje propuesto, recibe un conjunto de datos que contiene combinaciones, etiquetadas por el usuario, de valores de parámetros de un algoritmo de síntesis. Luego, analiza los patrones, en función de la disimilitud, entre las combinaciones de cada etiqueta. Estos patrones se describen como un modelo de reglas lógicas IF-THEN. Los parámetros del algoritmo proporcionan el control para definir qué se considera un patrón. Como los patrones son la base para inducir nuevas configuraciones de parámetros, los parámetros del algoritmo controlan también el grado de consistencia de las configuraciones inducidas con respecto a los datos de entrada originales. Luego, se presenta un algoritmo (llamado FuzzyRuLer) capaz de extender las reglas lógicas tipo IF-THEN a hiperrectángulos, que a su vez se utilizan como núcleos de funciones de pertenencia. El modelo de reglas difusas resultante crea un mapa completo del espacio de las clases de entrada. Para tal fin, el algoritmo generaliza las reglas lógicas resolviendo las contradicciones utilizando una heurística de máximo volumen. A lo largo del manuscrito se analiza cómo, cuando los algoritmos de aprendizaje automático se utilizan como herramientas creativas, los glitches, errores o inexactitudes producidas por los modelos resultantes son a veces deseables, ya que pueden ofrecer resultados novedosos e impredecibles. La evaluación de los algoritmos sigue dos caminos. El primero se centra en pruebas de usuario. El segundo, responde al hecho de que este trabajo se llevó a cabo dentro del departamento de ciencias de la computación y está destinado a proporcionar una evaluación más amplia, no de dominio específica, del rendimiento de los algoritmos utilizando beanchmarks extrínsecos para cross-validation y oversampling. En estas últimas pruebas, utilizando conjuntos de datos no balanceados, el algoritmo produce resultados equiparables a los del estado del arte. Además, los puntos sintéticos producidos son significativamente diferentes de los creados por los otros algoritmos y realizan una exploración (controlada) de regiones más distantes. Finalmente, acompañando la investigación, realicé diversas presentaciones, conciertos y un ´álbum utilizando los algoritmos y ejemplos de esta tesis. Las críticas recibidas y las listas donde se ha presentado el álbum muestran una recepción positiva de la comunidad. En conjunto, estas evaluaciones sugieren que el aprendizaje de reglas es al mismo tiempo un método eficaz y un camino prometedor para futuras investigaciones.Postprint (published version

Intelligent Sensors for Human Motion Analysis

The book, "Intelligent Sensors for Human Motion Analysis," contains 17 articles published in the Special Issue of the Sensors journal. These articles deal with many aspects related to the analysis of human movement. New techniques and methods for pose estimation, gait recognition, and fall detection have been proposed and verified. Some of them will trigger further research, and some may become the backbone of commercial systems

Computational Methods for Cognitive and Cooperative Robotics

In the last decades design methods in control engineering made substantial progress in the areas of robotics and computer animation. Nowadays these methods incorporate the newest developments in machine learning and artificial intelligence. But the problems of flexible and online-adaptive combinations of motor behaviors remain challenging for human-like animations and for humanoid robotics. In this context, biologically-motivated methods for the analysis and re-synthesis of human motor programs provide new insights in and models for the anticipatory motion synthesis. This thesis presents the author’s achievements in the areas of cognitive and developmental robotics, cooperative and humanoid robotics and intelligent and machine learning methods in computer graphics. The first part of the thesis in the chapter “Goal-directed Imitation for Robots” considers imitation learning in cognitive and developmental robotics. The work presented here details the author’s progress in the development of hierarchical motion recognition and planning inspired by recent discoveries of the functions of mirror-neuron cortical circuits in primates. The overall architecture is capable of ‘learning for imitation’ and ‘learning by imitation’. The complete system includes a low-level real-time capable path planning subsystem for obstacle avoidance during arm reaching. The learning-based path planning subsystem is universal for all types of anthropomorphic robot arms, and is capable of knowledge transfer at the level of individual motor acts. Next, the problems of learning and synthesis of motor synergies, the spatial and spatio-temporal combinations of motor features in sequential multi-action behavior, and the problems of task-related action transitions are considered in the second part of the thesis “Kinematic Motion Synthesis for Computer Graphics and Robotics”. In this part, a new approach of modeling complex full-body human actions by mixtures of time-shift invariant motor primitives in presented. The online-capable full-body motion generation architecture based on dynamic movement primitives driving the time-shift invariant motor synergies was implemented as an online-reactive adaptive motion synthesis for computer graphics and robotics applications. The last chapter of the thesis entitled “Contraction Theory and Self-organized Scenarios in Computer Graphics and Robotics” is dedicated to optimal control strategies in multi-agent scenarios of large crowds of agents expressing highly nonlinear behaviors. This last part presents new mathematical tools for stability analysis and synthesis of multi-agent cooperative scenarios.In den letzten Jahrzehnten hat die Forschung in den Bereichen der Steuerung und Regelung komplexer Systeme erhebliche Fortschritte gemacht, insbesondere in den Bereichen Robotik und Computeranimation. Die Entwicklung solcher Systeme verwendet heutzutage neueste Methoden und Entwicklungen im Bereich des maschinellen Lernens und der künstlichen Intelligenz. Die flexible und echtzeitfähige Kombination von motorischen Verhaltensweisen ist eine wesentliche Herausforderung für die Generierung menschenähnlicher Animationen und in der humanoiden Robotik. In diesem Zusammenhang liefern biologisch motivierte Methoden zur Analyse und Resynthese menschlicher motorischer Programme neue Erkenntnisse und Modelle für die antizipatorische Bewegungssynthese. Diese Dissertation präsentiert die Ergebnisse der Arbeiten des Autors im Gebiet der kognitiven und Entwicklungsrobotik, kooperativer und humanoider Robotersysteme sowie intelligenter und maschineller Lernmethoden in der Computergrafik. Der erste Teil der Dissertation im Kapitel “Zielgerichtete Nachahmung für Roboter” behandelt das Imitationslernen in der kognitiven und Entwicklungsrobotik. Die vorgestellten Arbeiten beschreiben neue Methoden für die hierarchische Bewegungserkennung und -planung, die durch Erkenntnisse zur Funktion der kortikalen Spiegelneuronen-Schaltkreise bei Primaten inspiriert wurden. Die entwickelte Architektur ist in der Lage, ‘durch Imitation zu lernen’ und ‘zu lernen zu imitieren’. Das komplette entwickelte System enthält ein echtzeitfähiges Pfadplanungssubsystem zur Hindernisvermeidung während der Durchführung von Armbewegungen. Das lernbasierte Pfadplanungssubsystem ist universell und für alle Arten von anthropomorphen Roboterarmen in der Lage, Wissen auf der Ebene einzelner motorischer Handlungen zu übertragen. Im zweiten Teil der Arbeit “Kinematische Bewegungssynthese für Computergrafik und Robotik” werden die Probleme des Lernens und der Synthese motorischer Synergien, d.h. von räumlichen und räumlich-zeitlichen Kombinationen motorischer Bewegungselemente bei Bewegungssequenzen und bei aufgabenbezogenen Handlungs übergängen behandelt. Es wird ein neuer Ansatz zur Modellierung komplexer menschlicher Ganzkörperaktionen durch Mischungen von zeitverschiebungsinvarianten Motorprimitiven vorgestellt. Zudem wurde ein online-fähiger Synthesealgorithmus für Ganzköperbewegungen entwickelt, der auf dynamischen Bewegungsprimitiven basiert, die wiederum auf der Basis der gelernten verschiebungsinvarianten Primitive konstruiert werden. Dieser Algorithmus wurde für verschiedene Probleme der Bewegungssynthese für die Computergrafik- und Roboteranwendungen implementiert. Das letzte Kapitel der Dissertation mit dem Titel “Kontraktionstheorie und selbstorganisierte Szenarien in der Computergrafik und Robotik” widmet sich optimalen Kontrollstrategien in Multi-Agenten-Szenarien, wobei die Agenten durch eine hochgradig nichtlineare Kinematik gekennzeichnet sind. Dieser letzte Teil präsentiert neue mathematische Werkzeuge für die Stabilitätsanalyse und Synthese von kooperativen Multi-Agenten-Szenarien

Bayesian networks in environmental modeling

Bayesian networks (BNs), also known as Bayesian belief networks or Bayes nets, are a kind of probabilistic graphical model that has become very popular to practitioners mainly due to the powerful probability theory involved, which makes them able to deal with a wide range of problems.The goal of this review is to show how BNs are being used in environmental modelling. We are interested in the application of BNs, from January 1990 to December 2010, in the areas of the ISI Web of Knowledge related to Environmental Sciences. It is noted that only the 4.2% of the papers have been published under this item. The different steps that configure modelling via BNs have been revised: aim of the model, data preprocessing, model learning, validation and software. Our literature review indicates that BNs have barely been used for Environmental Science and their potential is, as yet, largely unexploited