Reinforcement Learning for UAV Attitude Control

Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately implemented using Proportional, Integral Derivative (PID) control systems, which have demonstrated exceptional performance in stable environments. However more sophisticated control is required to operate in unpredictable, and harsh environments. Intelligent flight control systems is an active area of research addressing limitations of PID control most recently through the use of reinforcement learning (RL) which has had success in other applications such as robotics. However previous work has focused primarily on using RL at the mission-level controller. In this work, we investigate the performance and accuracy of the inner control loop providing attitude control when using intelligent flight control systems trained with the state-of-the-art RL algorithms, Deep Deterministic Gradient Policy (DDGP), Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO). To investigate these unknowns we first developed an open-source high-fidelity simulation environment to train a flight controller attitude control of a quadrotor through RL. We then use our environment to compare their performance to that of a PID controller to identify if using RL is appropriate in high-precision, time-critical flight control.Comment: 13 pages, 9 figure

Machine Learning Aided Stochastic Elastoplastic and Damage Analysis of Functionally Graded Structures

The elastoplastic and damage analyses, which serve as key indicators for the nonlinear performances of engineering structures, have been extensively investigated during the past decades. However, with the development of advanced composite material, such as the functionally graded material (FGM), the nonlinear behaviour evaluations of such advantageous materials still remain tough challenges. Moreover, despite of the assumption that structural system parameters are widely adopted as deterministic, it is already illustrated that the inevitable and mercurial uncertainties of these system properties inherently associate with the concerned structural models and nonlinear analysis process. The existence of such fluctuations potentially affects the actual elastoplastic and damage behaviours of the FGM structures, which leads to the inadequacy between the approximation results with the actual structural safety conditions. Consequently, it is requisite to establish a robust stochastic nonlinear analysis framework complied with the requirements of modern composite engineering practices. In this dissertation, a novel uncertain nonlinear analysis framework, namely the machine leaning aided stochastic elastoplastic and damage analysis framework, is presented herein for FGM structures. The proposed approach is a favorable alternative to determine structural reliability when full-scale testing is not achievable, thus leading to significant eliminations of manpower and computational efforts spent in practical engineering applications. Within the developed framework, a novel extended support vector regression (X-SVR) with Dirichlet feature mapping approach is introduced and then incorporated for the subsequent uncertainty quantification. By successfully establishing the governing relationship between the uncertain system parameters and any concerned structural output, a comprehensive probabilistic profile including means, standard deviations, probability density functions (PDFs), and cumulative distribution functions (CDFs) of the structural output can be effectively established through a sampling scheme. Consequently, by adopting the machine learning aided stochastic elastoplastic and damage analysis framework into real-life engineering application, the advantages of the next generation uncertainty quantification analysis can be highlighted, and appreciable contributions can be delivered to both structural safety evaluation and structural design fields

Graph learning and its applications : a thesis presented in partial fulfilment of the requirements for the degree of Doctor of Philosophy in Computer Science, Massey University, Albany, Auckland, New Zealand

Since graph features consider the correlations between two data points to provide high-order information, i.e., more complex correlations than the low-order information which considers the correlations in the individual data, they have attracted much attention in real applications. The key of graph feature extraction is the graph construction. Previous study has demonstrated that the quality of the graph usually determines the effectiveness of the graph feature. However, the graph is usually constructed from the original data which often contain noise and redundancy. To address the above issue, graph learning is designed to iteratively adjust the graph and model parameters so that improving the quality of the graph and outputting optimal model parameters. As a result, graph learning has become a very popular research topic in traditional machine learning and deep learning. Although previous graph learning methods have been applied in many fields by adding a graph regularization to the objective function, they still have some issues to be addressed. This thesis focuses on the study of graph learning aiming to overcome the drawbacks in previous methods for different applications. We list the proposed methods as follows. • We propose a traditional graph learning method under supervised learning to consider the robustness and the interpretability of graph learning. Specifically, we propose utilizing self-paced learning to assign important samples with large weights, conducting feature selection to remove redundant features, and learning a graph matrix from the low dimensional data of the original data to preserve the local structure of the data. As a consequence, both important samples and useful features are used to select support vectors in the SVM framework. • We propose a traditional graph learning method under semi-supervised learning to explore parameter-free fusion of graph learning. Specifically, we first employ the discrete wavelet transform and Pearson correlation coefficient to obtain multiple fully connected Functional Connectivity brain Networks (FCNs) for every subject, and then learn a sparsely connected FCN for every subject. Finally, the ℓ1-SVM is employed to learn the important features and conduct disease diagnosis. • We propose a deep graph learning method to consider graph fusion of graph learning. Specifically, we first employ the Simple Linear Iterative Clustering (SLIC) method to obtain multi-scale features for every image, and then design a new graph fusion method to fine-tune features of every scale. As a result, the multi-scale feature fine-tuning, graph learning, and feature learning are embedded into a unified framework. All proposed methods are evaluated on real-world data sets, by comparing to state-of-the-art methods. Experimental results demonstrate that our methods outperformed all comparison methods

Towards autonomous diagnostic systems with medical imaging

Democratizing access to high quality healthcare has highlighted the need for autonomous diagnostic systems that a non-expert can use. Remote communities, first responders and even deep space explorers will come to rely on medical imaging systems that will provide them with Point of Care diagnostic capabilities. This thesis introduces the building blocks that would enable the creation of such a system. Firstly, we present a case study in order to further motivate the need and requirements of autonomous diagnostic systems. This case study primarily concerns deep space exploration where astronauts cannot rely on communication with earth-bound doctors to help them through diagnosis, nor can they make the trip back to earth for treatment. Requirements and possible solutions about the major challenges faced with such an application are discussed. Moreover, this work describes how a system can explore its perceived environment by developing a Multi Agent Reinforcement Learning method that allows for implicit communication between the agents. Under this regime agents can share the knowledge that benefits them all in achieving their individual tasks. Furthermore, we explore how systems can understand the 3D properties of 2D depicted objects in a probabilistic way. In Part II, this work explores how to reason about the extracted information in a causally enabled manner. A critical view on the applications of causality in medical imaging, and its potential uses is provided. It is then narrowed down to estimating possible future outcomes and reasoning about counterfactual outcomes by embedding data on a pseudo-Riemannian manifold and constraining the latent space by using the relativistic concept of light cones. By formalizing an approach to estimating counterfactuals, a computationally lighter alternative to the abduction-action-prediction paradigm is presented through the introduction of Deep Twin Networks. Appropriate partial identifiability constraints for categorical variables are derived and the method is applied in a series of medical tasks involving structured data, images and videos. All methods are evaluated in a wide array of synthetic and real life tasks that showcase their abilities, often achieving state-of-the-art performance or matching the existing best performance while requiring a fraction of the computational cost.Open Acces

Multi-task near-field perception for autonomous driving using surround-view fisheye cameras

Die Bildung der Augen führte zum Urknall der Evolution. Die Dynamik änderte sich von einem primitiven Organismus, der auf den Kontakt mit der Nahrung wartete, zu einem Organismus, der durch visuelle Sensoren gesucht wurde. Das menschliche Auge ist eine der raffiniertesten Entwicklungen der Evolution, aber es hat immer noch Mängel. Der Mensch hat über Millionen von Jahren einen biologischen Wahrnehmungsalgorithmus entwickelt, der in der Lage ist, Autos zu fahren, Maschinen zu bedienen, Flugzeuge zu steuern und Schiffe zu navigieren. Die Automatisierung dieser Fähigkeiten für Computer ist entscheidend für verschiedene Anwendungen, darunter selbstfahrende Autos, Augmented Realität und architektonische Vermessung. Die visuelle Nahfeldwahrnehmung im Kontext von selbstfahrenden Autos kann die Umgebung in einem Bereich von 0 - 10 Metern und 360° Abdeckung um das Fahrzeug herum wahrnehmen. Sie ist eine entscheidende Entscheidungskomponente bei der Entwicklung eines sichereren automatisierten Fahrens. Jüngste Fortschritte im Bereich Computer Vision und Deep Learning in Verbindung mit hochwertigen Sensoren wie Kameras und LiDARs haben ausgereifte Lösungen für die visuelle Wahrnehmung hervorgebracht. Bisher stand die Fernfeldwahrnehmung im Vordergrund. Ein weiteres wichtiges Problem ist die begrenzte Rechenleistung, die für die Entwicklung von Echtzeit-Anwendungen zur Verfügung steht. Aufgrund dieses Engpasses kommt es häufig zu einem Kompromiss zwischen Leistung und Laufzeiteffizienz. Wir konzentrieren uns auf die folgenden Themen, um diese anzugehen: 1) Entwicklung von Nahfeld-Wahrnehmungsalgorithmen mit hoher Leistung und geringer Rechenkomplexität für verschiedene visuelle Wahrnehmungsaufgaben wie geometrische und semantische Aufgaben unter Verwendung von faltbaren neuronalen Netzen. 2) Verwendung von Multi-Task-Learning zur Überwindung von Rechenengpässen durch die gemeinsame Nutzung von initialen Faltungsschichten zwischen den Aufgaben und die Entwicklung von Optimierungsstrategien, die die Aufgaben ausbalancieren.The formation of eyes led to the big bang of evolution. The dynamics changed from a primitive organism waiting for the food to come into contact for eating food being sought after by visual sensors. The human eye is one of the most sophisticated developments of evolution, but it still has defects. Humans have evolved a biological perception algorithm capable of driving cars, operating machinery, piloting aircraft, and navigating ships over millions of years. Automating these capabilities for computers is critical for various applications, including self-driving cars, augmented reality, and architectural surveying. Near-field visual perception in the context of self-driving cars can perceive the environment in a range of 0 - 10 meters and 360° coverage around the vehicle. It is a critical decision-making component in the development of safer automated driving. Recent advances in computer vision and deep learning, in conjunction with high-quality sensors such as cameras and LiDARs, have fueled mature visual perception solutions. Until now, far-field perception has been the primary focus. Another significant issue is the limited processing power available for developing real-time applications. Because of this bottleneck, there is frequently a trade-off between performance and run-time efficiency. We concentrate on the following issues in order to address them: 1) Developing near-field perception algorithms with high performance and low computational complexity for various visual perception tasks such as geometric and semantic tasks using convolutional neural networks. 2) Using Multi-Task Learning to overcome computational bottlenecks by sharing initial convolutional layers between tasks and developing optimization strategies that balance tasks

Simulation Analytics for Deeper Comparisons

Output analysis for stochastic simulation has traditionally focused on obtaining statistical summaries of time-averaged and replication-averaged performance measures. Although providing a useful overview of expected long-run results, this focus ignores the finer behaviour and dynamic interactions that characterise a stochastic system, motivating an opening for simulation analytics. Data analysis efforts directed towards the detailed event logs of simulation sample paths can extend the analytical toolkit of simulation beyond static summaries of long-run behaviour. This thesis contributes novel methodologies to the field of simulation analytics. Through a careful mining of sample path data and application of appropriate machine learning techniques, we unlock new opportunities for understanding and improving the performance of stochastic systems. Our first area of focus is on the real-time prediction of dynamic performance measures, and we demonstrate a k-nearest neighbours model on the multivariate state of a simulation. In conjunction with this, metric learning is employed to refine a system-specific distance measure that operates between simulation states. The involvement of metric learning is found not only to enhance prediction accuracy, but also to offer insight into the driving factors behind a system’s stochastic performance. Our main contribution within this approach is the adaptation of a metric learning formulation to accommodate the type of data that is typical of simulation sample paths. Secondly, we explore the continuous-time trajectories of simulation variables. Shapelets are found to identify the patterns that characterise and distinguish the trajectories of competing systems. Tailoring to the structure of discrete-event sample paths, we probe a deeper understanding and comparison of the dynamic behaviours of stochastic simulation