Fast Machine Learning Algorithms for Massive Datasets with Applications in the Biomedical Domain

The continuous increase in the size of datasets introduces computational challenges for machine learning algorithms. In this dissertation, we cover the machine learning algorithms and applications in large-scale data analysis in manufacturing and healthcare. We begin with introducing a multilevel framework to scale the support vector machine (SVM), a popular supervised learning algorithm with a few tunable hyperparameters and highly accurate prediction. The computational complexity of nonlinear SVM is prohibitive on large-scale datasets compared to the linear SVM, which is more scalable for massive datasets. The nonlinear SVM has shown to produce significantly higher classification quality on complex and highly imbalanced datasets. However, a higher classification quality requires a computationally expensive quadratic programming solver and extra kernel parameters for model selection. We introduce a generalized fast multilevel framework for regular, weighted, and instance weighted SVM that achieves similar or better classification quality compared to the state-of-the-art SVM libraries such as LIBSVM. Our framework improves the runtime more than two orders of magnitude for some of the well-known benchmark datasets. We cover multiple versions of our proposed framework and its implementation in detail. The framework is implemented using PETSc library which allows easy integration with scientific computing tasks. Next, we propose an adaptive multilevel learning framework for SVM to reduce the variance between prediction qualities across the levels, improve the overall prediction accuracy, and boost the runtime. We implement multi-threaded support to speed up the parameter fitting runtime that results in more than an order of magnitude speed-up. We design an early stopping criteria to reduce the extra computational cost when we achieve expected prediction quality. This approach provides significant speed-up, especially for massive datasets. Finally, we propose an efficient low dimensional feature extraction over massive knowledge networks. Knowledge networks are becoming more popular in the biomedical domain for knowledge representation. Each layer in knowledge networks can store the information from one or multiple sources of data. The relationships between concepts or between layers represent valuable information. The proposed feature engineering approach provides an efficient and highly accurate prediction of the relationship between biomedical concepts on massive datasets. Our proposed approach utilizes semantics and probabilities to reduce the potential search space for the exploration and learning of machine learning algorithms. The calculation of probabilities is highly scalable with the size of the knowledge network. The number of features is fixed and equivalent to the number of relationships or classes in the data. A comprehensive comparison of well-known classifiers such as random forest, SVM, and deep learning over various features extracted from the same dataset, provides an overview for performance and computational trade-offs. Our source code, documentation and parameters will be available at https://github.com/esadr/

Trust-Based Control of Robotic Manipulators in Collaborative Assembly in Manufacturing

Human-robot interaction (HRI) is vastly addressed in the field of automation and manufacturing. Most of the HRI literature in manufacturing explored physical human-robot interaction (pHRI) and invested in finding means for ensuring safety and optimized effort sharing amongst a team of humans and robots. The recent emergence of safe, lightweight, and human-friendly robots has opened a new realm for human-robot collaboration (HRC) in collaborative manufacturing. For such robots with the new HRI functionalities to interact closely and effectively with a human coworker, new human-centered controllers that integrate both physical and social interaction are demanded. Social human-robot interaction (sHRI) has been demonstrated in robots with affective abilities in education, social services, health care, and entertainment. Nonetheless, sHRI should not be limited only to those areas. In particular, we focus on human trust in robot as a basis of social interaction. Human trust in robot and robot anthropomorphic features have high impacts on sHRI. Trust is one of the key factors in sHRI and a prerequisite for effective HRC. Trust characterizes the reliance and tendency of human in using robots. Factors within a robotic system (e.g. performance, reliability, or attribute), the task, and the surrounding environment can all impact the trust dynamically. Over-reliance or under-reliance might occur due to improper trust, which results in poor team collaboration, and hence higher task load and lower overall task performance. The goal of this dissertation is to develop intelligent control algorithms for the manipulator robots that integrate both physical and social HRI factors in the collaborative manufacturing. First, the evolution of human trust in a collaborative robot model is identified and verified through a series of human-in-the-loop experiments. This model serves as a computational trust model estimating an objective criterion for the evolution of human trust in robot rather than estimating an individual\u27s actual level of trust. Second, an HRI-based framework is developed for controlling the speed of a robot performing pick and place tasks. The impact of the consideration of the different level of interaction in the robot controller on the overall efficiency and HRI criteria such as human perceived workload and trust and robot usability is studied using a series of human-in-the-loop experiments. Third, an HRI-based framework is developed for planning and controlling the robot motion in performing hand-over tasks to the human. Again, series of human-in-the-loop experimental studies are conducted to evaluate the impact of implementation of the frameworks on overall efficiency and HRI criteria such as human workload and trust and robot usability. Finally, another framework is proposed for the cooperative manipulation of a common object by a team of a human and a robot. This framework proposes a trust-based role allocation strategy for adjusting the proactive behavior of the robot performing a cooperative manipulation task in HRC scenarios. For the mentioned frameworks, the results of the experiments show that integrating HRI in the robot controller leads to a lower human workload while it maintains a threshold level of human trust in robot and does not degrade robot usability and efficiency

Engineering Fast Multilevel Support Vector Machines

The computational complexity of solving nonlinear support vector machine (SVM) is prohibitive on large-scale data. In particular, this issue becomes very sensitive when the data represents additional difficulties such as highly imbalanced class sizes. Typically, nonlinear kernels produce significantly higher classification quality to linear kernels but introduce extra kernel and model parameters which requires computationally expensive fitting. This increases the quality but also reduces the performance dramatically. We introduce a generalized fast multilevel framework for regular and weighted SVM and discuss several versions of its algorithmic components that lead to a good trade-off between quality and time. Our framework is implemented using PETSc which allows an easy integration with scientific computing tasks. The experimental results demonstrate significant speed up compared to the state-of-the-art nonlinear SVM libraries. Our source code, documentation and parameters are available at https://github.com/esadr/mlsvm

Predictive Models for Bariatric Surgery Risks with Imbalanced Medical Datasets

Bariatric surgery (BAR) has become a popular treatment for type 2 diabetes mellitus (T2DM) which is among the most critical obesity-related comorbidities. Patients who have bariatric surgery, are exposed to complications after surgery. Furthermore, the mid- to long-term complications after bariatric surgery can be deadly and increase the complexity of managing safety of these operations and healthcare costs. Current studies on BAR complications have mainly used risk scoring for identifying patients who are more likely to have complications after surgery. Though, these studies do not take into considera-tion the imbalanced nature of the data where the size of the class of interest (patients who have complications after surgery) is relatively small. We propose the use of imbalanced classification techniques to tackle the imbalanced bariatric surgery data: synthetic minority oversampling technique (SMOTE), random undersampling, and en-semble learning classification methods including Random Forest, Bagging, and AdaBoost. Moreover, we improve classification performance through using Chi-Squared, Information Gain, and Correlation-based feature selection (CFS) techniques. We study the Premier Healthcare Database with focus on the most-frequent complications includ-ing Diabetes, Angina, Heart Failure, and Stroke. Our results show that the ensemble learning-based classification techniques using any feature selection method mentioned above are the best approach for handling the imbalanced nature of the bariatric surgical outcome data. In our evaluation, we find a slight preference toward using SMOTE method compared to the random undersampling method. These results demonstrate the potential of machine-learning tools as clinical decision support in identifying risks/outcomes associated with bariatric surgery and their effectiveness in reducing the surgery complications as well as improving patient care

Gaze-Based Human-Robot Interaction by the Brunswick Model

We present a new paradigm for human-robot interaction based on social signal processing, and in particular on the Brunswick model. Originally, the Brunswick model copes with face-to-face dyadic interaction, assuming that the interactants are communicating through a continuous exchange of non verbal social signals, in addition to the spoken messages. Social signals have to be interpreted, thanks to a proper recognition phase that considers visual and audio information. The Brunswick model allows to quantitatively evaluate the quality of the interaction using statistical tools which measure how effective is the recognition phase. In this paper we cast this theory when one of the interactants is a robot; in this case, the recognition phase performed by the robot and the human have to be revised w.r.t. the original model. The model is applied to Berrick, a recent open-source low-cost robotic head platform, where the gazing is the social signal to be considered