Biologically inspired learning system

Learning Systems used on robots require either a-priori knowledge in the form of models, rules of thumb or databases or require that robot to physically execute multitudes of trial solutions. The first requirement limits the robot’s ability to operate in unstructured changing environments, and the second limits the robot’s service life and resources. In this research a generalized approach to learning was developed through a series of algorithms that can be used for construction of behaviors that are able to cope with unstructured environments through adaptation of both internal parameters and system structure as a result of a goal based supervisory mechanism. Four main learning algorithms have been developed, along with a goal directed random exploration routine. These algorithms all use the concept of learning from a recent memory in order to save the robot/agent from having to exhaustively execute all trial solutions. The first algorithm is a reactive online learning algorithm that uses a supervised learning to find the sensor/action combinations that promote realization of a preprogrammed goal. It produces a feed forward neural network controller that is used to control the robot. The second algorithm is similar to first in that it uses a supervised learning strategy, but it produces a neural network that considers past values, thus providing a non-reactive solution. The third algorithm is a departure from the first two in that uses a non-supervised learning technique to learn the best actions for each situation the robot encounters. The last algorithm builds a graph of the situations encountered by agent/robot in order to learn to associate the best actions with sensor inputs. It uses an unsupervised learning approach based on shortest paths to a goal situation in the graph in order to generate a non-reactive feed forward neural network. Test results were good, the first and third algorithms were tested in a formation maneuvering task in both simulation and onboard mobile robots, while the second and fourth were tested simulation

Indoor Positioning and Navigation

In recent years, rapid development in robotics, mobile, and communication technologies has encouraged many studies in the field of localization and navigation in indoor environments. An accurate localization system that can operate in an indoor environment has considerable practical value, because it can be built into autonomous mobile systems or a personal navigation system on a smartphone for guiding people through airports, shopping malls, museums and other public institutions, etc. Such a system would be particularly useful for blind people. Modern smartphones are equipped with numerous sensors (such as inertial sensors, cameras, and barometers) and communication modules (such as WiFi, Bluetooth, NFC, LTE/5G, and UWB capabilities), which enable the implementation of various localization algorithms, namely, visual localization, inertial navigation system, and radio localization. For the mapping of indoor environments and localization of autonomous mobile sysems, LIDAR sensors are also frequently used in addition to smartphone sensors. Visual localization and inertial navigation systems are sensitive to external disturbances; therefore, sensor fusion approaches can be used for the implementation of robust localization algorithms. These have to be optimized in order to be computationally efficient, which is essential for real-time processing and low energy consumption on a smartphone or robot

Mathematics and Digital Signal Processing

Modern computer technology has opened up new opportunities for the development of digital signal processing methods. The applications of digital signal processing have expanded significantly and today include audio and speech processing, sonar, radar, and other sensor array processing, spectral density estimation, statistical signal processing, digital image processing, signal processing for telecommunications, control systems, biomedical engineering, and seismology, among others. This Special Issue is aimed at wide coverage of the problems of digital signal processing, from mathematical modeling to the implementation of problem-oriented systems. The basis of digital signal processing is digital filtering. Wavelet analysis implements multiscale signal processing and is used to solve applied problems of de-noising and compression. Processing of visual information, including image and video processing and pattern recognition, is actively used in robotic systems and industrial processes control today. Improving digital signal processing circuits and developing new signal processing systems can improve the technical characteristics of many digital devices. The development of new methods of artificial intelligence, including artificial neural networks and brain-computer interfaces, opens up new prospects for the creation of smart technology. This Special Issue contains the latest technological developments in mathematics and digital signal processing. The stated results are of interest to researchers in the field of applied mathematics and developers of modern digital signal processing systems

A computational framework for the comparative analysis of glioma models and patients

Diffuse Gliome bei Erwachsenen sind aggressive, unheilbare Hirntumore. Humanisierte Mausmodelle helfen, molekulare Mechanismen zu verstehen und therapeutische Ziele zu identifizieren, aber der Vergleich mit Proben von Patienten gestaltet sich schwierig. Ich habe eine computergestützte Plattform namens CAPE entwickelt, um Tumormodelle und Patienten-Expressionsprofile mit Hilfe der nicht-negativen Matrixfaktorisierung zu vergleichen. Die Anwendung von CAPE auf humanisierte Maus-Gliom-Avatar-Modelle (GSA) und diffuse Glioma-Patienten zeigte eine starke Übereinstimmung zwischen den Modellen und dem proneuralen Glioblastom-Subtyp. CAPE hat gezeigt, dass durch die Transplantation der Erwerb neuer Tumorzustände in den Modellen verbessert wurde. Durch die Kombination von reporterbasiertem genetischem Tracing und CAPE zeigte sich, dass eine Untergruppe der in vivo GSA-Populationen mit Patienten zusammenfällt, die astrozytische Merkmale aufweisen. Die Behandlung von GSA-Modellen in vitro mit menschlichem Serum, TNFα oder ionisierender Strahlung führte zu einer Verschiebung in den mesenchymalen Zustand. Einzelzell-Transkriptomik annotierte GSA-Populationen unter verschiedenen Bedingungen und zeigte alle Glioblastomzustände in vivo und bei Aktivierung durch externe Faktoren. Der Vergleich von GSA-Einzelzellpopulationen und Patienten bestätigte diese Identitäten. Die Studie etablierte einen umfassenden Rahmen für die Erprobung und Validierung von Verbesserungen der Tumormodelle, um Patienten besser abzubilden, und erweiterte das Verständnis der Tumorbiologie und Ansprechen auf Therapie.Adult-type diffuse gliomas are aggressive, incurable adult brain cancers. Humanized mouse models help understand molecular mechanisms and identify therapeutic targets, but comparing them with patient samples is difficult. I developed a computational framework, CAPE, for comparing tumor models and patient expression profiles using non-negative matrix factorization. Applying CAPE to humanized mouse glioma subtype avatar models (GSA) and adult-type diffuse glioma patients revealed a strong resemblance between models and proneural glioblastoma subtype. CAPE showed that transplantation improved new tumor state acquisition in models. Combining genetic tracing reporter phenotypic selection with CAPE showed a subset of in vivo GSA populations clustering with patients having astrocytic-like identities. In vitro treatment of GSA models with human serum, TNFα, or ionizing radiation led to a mesenchymal state shift upon reporter selection. Single-cell transcriptomics annotated GSA populations in different conditions, revealing all glioblastoma states in vivo and upon external factor activation. Comparing GSA single-cell populations and patients confirmed these identities. The study established a comprehensive framework for testing and validating tumor model improvements to resemble patients, advancing tumor biology and treatment response understanding

SamuROI, a Python-Based Software Tool for Visualization and Analysis of Dynamic Time Series Imaging at Multiple Spatial Scales

The measurement of activity in vivo and in vitro has shifted from electrical to optical methods. While the indicators for imaging activity have improved significantly over the last decade, tools for analysing optical data have not kept pace. Most available analysis tools are limited in their flexibility and applicability to datasets obtained at different spatial scales. Here, we present SamuROI (Structured analysis of multiple user-defined ROIs), an open source Python-based analysis environment for imaging data. SamuROI simplifies exploratory analysis and visualization of image series of fluorescence changes in complex structures over time and is readily applicable at different spatial scales. In this paper, we show the utility of SamuROI in Ca2+-imaging based applications at three spatial scales: the micro-scale (i.e., sub-cellular compartments including cell bodies, dendrites and spines); the meso-scale, (i.e., whole cell and population imaging with single-cell resolution); and the macro-scale (i.e., imaging of changes in bulk fluorescence in large brain areas, without cellular resolution). The software described here provides a graphical user interface for intuitive data exploration and region of interest (ROI) management that can be used interactively within Jupyter Notebook: a publicly available interactive Python platform that allows simple integration of our software with existing tools for automated ROI generation and post-processing, as well as custom analysis pipelines. SamuROI software, source code and installation instructions are publicly available on GitHub and documentation is available online. SamuROI reduces the energy barrier for manual exploration and semi-automated analysis of spatially complex Ca2+ imaging datasets, particularly when these have been acquired at different spatial scales.Peer Reviewe

Proceedings of Abstracts, School of Physics, Engineering and Computer Science Research Conference 2022

© 2022 The Author(s). This is an open-access work distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. For further details please see https://creativecommons.org/licenses/by/4.0/. Plenary by Prof. Timothy Foat, ‘Indoor dispersion at Dstl and its recent application to COVID-19 transmission’ is © Crown copyright (2022), Dstl. This material is licensed under the terms of the Open Government Licence except where otherwise stated. To view this licence, visit http://www.nationalarchives.gov.uk/doc/open-government-licence/version/3 or write to the Information Policy Team, The National Archives, Kew, London TW9 4DU, or email: [email protected] present proceedings record the abstracts submitted and accepted for presentation at SPECS 2022, the second edition of the School of Physics, Engineering and Computer Science Research Conference that took place online, the 12th April 2022

Smart Monitoring and Control in the Future Internet of Things

The Internet of Things (IoT) and related technologies have the promise of realizing pervasive and smart applications which, in turn, have the potential of improving the quality of life of people living in a connected world. According to the IoT vision, all things can cooperate amongst themselves and be managed from anywhere via the Internet, allowing tight integration between the physical and cyber worlds and thus improving efficiency, promoting usability, and opening up new application opportunities. Nowadays, IoT technologies have successfully been exploited in several domains, providing both social and economic benefits. The realization of the full potential of the next generation of the Internet of Things still needs further research efforts concerning, for instance, the identification of new architectures, methodologies, and infrastructures dealing with distributed and decentralized IoT systems; the integration of IoT with cognitive and social capabilities; the enhancement of the sensing–analysis–control cycle; the integration of consciousness and awareness in IoT environments; and the design of new algorithms and techniques for managing IoT big data. This Special Issue is devoted to advancements in technologies, methodologies, and applications for IoT, together with emerging standards and research topics which would lead to realization of the future Internet of Things

Mobility management in multi-RAT multiI-band heterogeneous networks

Support for user mobility is the raison d'etre of mobile cellular networks. However, mounting pressure for more capacity is leading to adaption of multi-band multi-RAT ultra-dense network design, particularly with the increased use of mmWave based small cells. While such design for emerging cellular networks is expected to offer manyfold more capacity, it gives rise to a new set of challenges in user mobility management. Among others, frequent handovers (HO) and thus higher impact of poor mobility management on quality of user experience (QoE) as well as link capacity, lack of an intelligent solution to manage dual connectivity (of user with both 4G and 5G cells) activation/deactivation, and mmWave cell discovery are the most critical challenges. In this dissertation, I propose and evaluate a set of solutions to address the aforementioned challenges. The beginning outcome of our investigations into the aforementioned problems is the first ever taxonomy of mobility related 3GPP defined network parameters and Key Performance Indicators (KPIs) followed by a tutorial on 3GPP-based 5G mobility management procedures. The first major contribution of the thesis here is a novel framework to characterize the relationship between the 28 critical mobility-related network parameters and 8 most vital KPIs. A critical hurdle in addressing all mobility related challenges in emerging networks is the complexity of modeling realistic mobility and HO process. Mathematical models are not suitable here as they cannot capture the dynamics as well as the myriad parameters and KPIs involved. Existing simulators also mostly either omit or overly abstract the HO and user mobility, chiefly because the problems caused by poor HO management had relatively less impact on overall performance in legacy networks as they were not multi-RAT multi-band and therefore incurred much smaller number of HOs compared to emerging networks. The second key contribution of this dissertation is development of a first of its kind system level simulator, called SyntheticNET that can help the research community in overcoming the hurdle of realistic mobility and HO process modeling. SyntheticNET is the very first python-based simulator that fully conforms to 3GPP Release 15 5G standard. Compared to the existing simulators, SyntheticNET includes a modular structure, flexible propagation modeling, adaptive numerology, realistic mobility patterns, and detailed HO evaluation criteria. SyntheticNET’s python-based platform allows the effective application of Artificial Intelligence (AI) to various network functionalities. Another key challenge in emerging multi-RAT technologies is the lack of an intelligent solution to manage dual connectivity with 4G as well 5G cell needed by a user to access 5G infrastructure. The 3rd contribution of this thesis is a solution to address this challenge. I present a QoE-aware E-UTRAN New Radio-Dual Connectivity (EN-DC) activation scheme where AI is leveraged to develop a model that can accurately predict radio link failure (RLF) and voice muting using the low-level measurements collected from a real network. The insights from the AI based RLF and mute prediction models are then leveraged to configure sets of 3GPP parameters to maximize EN-DC activation while keeping the QoE-affecting RLF and mute anomalies to minimum. The last contribution of this dissertation is a novel solution to address mmWave cell discovery problem. This problem stems from the highly directional nature of mmWave transmission. The proposed mmWave cell discovery scheme builds upon a joint search method where mmWave cells exploit an overlay coverage layer from macro cells sharing the UE location to the mmWave cell. The proposed scheme is made more practical by investigating and developing solutions for the data sparsity issue in model training. Ability to work with sparse data makes the proposed scheme feasible in realistic scenarios where user density is often not high enough to provide coverage reports from each bin of the coverage area. Simulation results show that the proposed scheme, efficiently activates EN-DC to a nearby mmWave 5G cell and thus substantially reduces the mmWave cell discovery failures compared to the state of the art cell discovery methods

Data Analytics and Wide-Area Visualization Associated with Power Systems Using Phasor Measurements

As power system research becomes more data-driven, this study presents a framework for the analysis and visualization of phasor measurement unit (PMU) data obtained from large, interconnected systems. The proposed framework has been implemented in three steps: (a) large-scale, synthetic PMU data generation: conducted to generate research-based measurements with the inclusion of features associated with industry-grade PMU data; (b) error and event detection: conducted to assess risk levels and data accuracy of phasor measurements, and furthermore search for system events or disturbances; (c) oscillation mode visualization: conducted to present wide-area, modal information associated with large-scale power grids. To address the challenges due to real data confidentiality, the creation of realistic, synthetic PMU measurements is proposed for research use. First, data error propagation models are generated after a study of some of the issues associated with the unique time-synchronization feature of PMUs. An analysis of some of the features of real PMU data is performed to extract some of the statistics associated with data errors. Afterwards, an approach which leverages on existing, large-scale, synthetic networks to model the constantly-changing dynamics often observed in real measurements is used to generate an initial synthetic dataset. Further inclusion of PMU-related data anomalies ensures the production of realistic, synthetic measurements fit for research purposes. An application of different techniques based on a moving-window approach is suggested for use in the detection of events in real and synthetic PMU measurements. These fast methods rely on smaller time-windows to assess fewer measurement samples for events, classify disturbances into global or local events, and detect unreliable measurement sources. For large-scale power grids with complex dynamics, a distributed error analysis is proposed for the isolation of local dynamics prior any reliability assessment of PMU-obtained measurements. Finally, fundamental system dynamics which are inherent in complex, interconnected power systems are made apparent through a wide-area visualization of large-scale, electric grid oscillation modes. The approach ensures a holistic interpretation of modal information given that large amounts of modal data are often generated in these complex systems irrespective of the technique that is used

A two teraflop swarm

© 2018 Jones, Studley, Hauert and Winfield. We introduce the Xpuck swarm, a research platform with an aggregate raw processing power in excess of two teraflops. The swarm uses 16 e-puck robots augmented with custom hardware that uses the substantial CPU and GPU processing power available from modern mobile system-on-chip devices. The augmented robots, called Xpucks, have at least an order of magnitude greater performance than previous swarm robotics platforms. The platform enables new experiments that require high individual robot computation and multiple robots. Uses include online evolution or learning of swarm controllers, simulation for answering what-if questions about possible actions, distributed super-computing for mobile platforms, and real-world applications of swarm robotics that requires image processing, or SLAM. The teraflop swarm could also be used to explore swarming in nature by providing platforms with similar computational power as simple insects. We demonstrate the computational capability of the swarm by implementing a fast physics-based robot simulator and using this within a distributed island model evolutionary system, all hosted on the Xpucks