Development and Applications of Similarity Measures for Spatial-Temporal Event and Setting Sequences

Similarity or distance measures between data objects are applied frequently in many fields or domains such as geography, environmental science, biology, economics, computer science, linguistics, logic, business analytics, and statistics, among others. One area where similarity measures are particularly important is in the analysis of spatiotemporal event sequences and associated environs or settings. This dissertation focuses on developing a framework of modeling, representation, and new similarity measure construction for sequences of spatiotemporal events and corresponding settings, which can be applied to different event data types and used in different areas of data science. The first core part of this dissertation presents a matrix-based spatiotemporal event sequence representation that unifies punctual and interval-based representation of events. This framework supports different event data types and provides support for data mining and sequence classification and clustering. The similarity measure is based on the modified Jaccard index with temporal order constraints and accommodates different event data types. This approach is demonstrated through simulated data examples and the performance of the similarity measures is evaluated with a k-nearest neighbor algorithm (k-NN) classification test on synthetic datasets. These similarity measures are incorporated into a clustering method and successfully demonstrate the usefulness in a case study analysis of event sequences extracted from space time series of a water quality monitoring system. This dissertation further proposes a new similarity measure for event setting sequences, which involve the space and time in which events occur. While similarity measures for spatiotemporal event sequences have been studied, the settings and setting sequences have not yet been considered. While modeling event setting sequences, spatial and temporal scales are considered to define the bounds of the setting and incorporate dynamic variables along with static variables. Using a matrix-based representation and an extended Jaccard index, new similarity measures are developed to allow for the use of all variable data types. With these similarity measures coupled with other multivariate statistical analysis approaches, results from a case study involving setting sequences and pollution event sequences associated with the same monitoring stations, support the hypothesis that more similar spatial-temporal settings or setting sequences may generate more similar events or event sequences. To test the scalability of STES similarity measure in a larger dataset and an extended application in different fields, this dissertation compares and contrasts the prospective space-time scan statistic with the STES similarity approach for identifying COVID-19 hotspots. The COVID-19 pandemic has highlighted the importance of detecting hotspots or clusters of COVID-19 to provide decision makers at various levels with better information for managing distribution of human and technical resources as the outbreak in the USA continues to grow. The prospective space-time scan statistic has been used to help identify emerging disease clusters yet results from this approach can encounter strategic limitations imposed by the spatial constraints of the scanning window. The STES-based approach adapted for this pandemic context computes the similarity of evolving normalized COVID-19 daily cases by county and clusters these to identify counties with similarly evolving COVID-19 case histories. This dissertation analyzes the spread of COVID-19 within the continental US through four periods beginning from late January 2020 using the COVID-19 datasets maintained by John Hopkins University, Center for Systems Science and Engineering (CSSE). Results of the two approaches can complement with each other and taken together can aid in tracking the progression of the pandemic. Overall, the dissertation highlights the importance of developing similarity measures for analyzing spatiotemporal event sequences and associated settings, which can be applied to different event data types and used for data mining, sequence classification, and clustering

Planning Algorithms for Multi-Robot Active Perception

A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties may include a map of the environment, the presence of objects, or the parameters of a dynamic field. Observations are highly viewpoint dependent and, thus, the performance of perception algorithms can be improved by planning the motion of the robots to obtain high-value observations. This motivates the problem of active perception, where the goal is to plan the motion of robots to improve perception performance. This fundamental problem is central to many robotics applications, including environmental monitoring, planetary exploration, and precision agriculture. The core contribution of this thesis is a suite of planning algorithms for multi-robot active perception. These algorithms are designed to improve system-level performance on many fronts: online and anytime planning, addressing uncertainty, optimising over a long time horizon, decentralised coordination, robustness to unreliable communication, predicting plans of other agents, and exploiting characteristics of perception models. We first propose the decentralised Monte Carlo tree search algorithm as a generally-applicable, decentralised algorithm for multi-robot planning. We then present a self-organising map algorithm designed to find paths that maximally observe points of interest. Finally, we consider the problem of mission monitoring, where a team of robots monitor the progress of a robotic mission. A spatiotemporal optimal stopping algorithm is proposed and a generalisation for decentralised monitoring. Experimental results are presented for a range of scenarios, such as marine operations and object recognition. Our analytical and empirical results demonstrate theoretically-interesting and practically-relevant properties that support the use of the approaches in practice

Machine Learning in Wireless Sensor Networks: Algorithms, Strategies, and Applications

Wireless sensor networks monitor dynamic environments that change rapidly over time. This dynamic behavior is either caused by external factors or initiated by the system designers themselves. To adapt to such conditions, sensor networks often adopt machine learning techniques to eliminate the need for unnecessary redesign. Machine learning also inspires many practical solutions that maximize resource utilization and prolong the lifespan of the network. In this paper, we present an extensive literature review over the period 2002-2013 of machine learning methods that were used to address common issues in wireless sensor networks (WSNs). The advantages and disadvantages of each proposed algorithm are evaluated against the corresponding problem. We also provide a comparative guide to aid WSN designers in developing suitable machine learning solutions for their specific application challenges.Comment: Accepted for publication in IEEE Communications Surveys and Tutorial