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Leveraging Machine Learning and Wireless Sensing for Robot Localization - Location Variance Analysis
Description
Object localization is used to determine the location of a device, an important aspect of applications ranging from autonomous driving to augmented reality. Commonly-used localization techniques include global positioning systems (GPS), simultaneous localization and mapping (SLAM), and positional tracking, but all of these methodologies have drawbacks, especially in high traffic indoor or urban environments. Using recent improvements in the field of machine learning, this project proposes a new method of localization using networks with several wireless transceivers and implemented without heavy computational loads or high costs. This project aims to build a proof-of-concept prototype and demonstrate that the proposed technique is feasible and accurate.
Modern communication networks heavily depend upon an estimate of the communication channel, which represents the distortions that a transmitted signal takes as it moves towards a receiver. A channel can become quite complicated due to signal reflections, delays, and other undesirable effects and, as a result, varies significantly with each different location. This localization system seeks to take advantage of this distinctness by feeding channel information into a machine learning algorithm, which will be trained to associate channels with their respective locations. A device in need of localization would then only need to calculate a channel estimate and pose it to this algorithm to obtain its location.
As an additional step, the effect of location noise is investigated in this report. Once the localization system described above demonstrates promising results, the team demonstrates that the system is robust to noise on its location labels. In doing so, the team demonstrates that this system could be implemented in a continued learning environment, in which some user agents report their estimated (noisy) location over a wireless communication network, such that the model can be implemented in an environment without extensive data collection prior to release.
Modern communication networks heavily depend upon an estimate of the communication channel, which represents the distortions that a transmitted signal takes as it moves towards a receiver. A channel can become quite complicated due to signal reflections, delays, and other undesirable effects and, as a result, varies significantly with each different location. This localization system seeks to take advantage of this distinctness by feeding channel information into a machine learning algorithm, which will be trained to associate channels with their respective locations. A device in need of localization would then only need to calculate a channel estimate and pose it to this algorithm to obtain its location.
As an additional step, the effect of location noise is investigated in this report. Once the localization system described above demonstrates promising results, the team demonstrates that the system is robust to noise on its location labels. In doing so, the team demonstrates that this system could be implemented in a continued learning environment, in which some user agents report their estimated (noisy) location over a wireless communication network, such that the model can be implemented in an environment without extensive data collection prior to release.
ContributorsChang, Roger (Co-author) / Kann, Trevor (Co-author) / Alkhateeb, Ahmed (Thesis director) / Bliss, Daniel (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
At present, the vast majority of human subjects with neurological disease are still diagnosed through in-person assessments and qualitative analysis of patient data. In this paper, we propose to use Topological Data Analysis (TDA) together with machine learning tools to automate the process of Parkinson’s disease classification and severity assessment. An automated, stable, and accurate method to evaluate Parkinson’s would be significant in streamlining diagnoses of patients and providing families more time for corrective measures. We propose a methodology which incorporates TDA into analyzing Parkinson’s disease postural shifts data through the representation of persistence images. Studying the topology of a system has proven to be invariant to small changes in data and has been shown to perform well in discrimination tasks. The contributions of the paper are twofold. We propose a method to 1) classify healthy patients from those afflicted by disease and 2) diagnose the severity of disease. We explore the use of the proposed method in an application involving a Parkinson’s disease dataset comprised of healthy-elderly, healthy-young and Parkinson’s disease patients.
ContributorsRahman, Farhan Nadir (Co-author) / Nawar, Afra (Co-author) / Turaga, Pavan (Thesis director) / Krishnamurthi, Narayanan (Committee member) / Electrical Engineering Program (Contributor) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
In the field of machine learning, reinforcement learning stands out for its ability to explore approaches to complex, high dimensional problems that outperform even expert humans. For robotic locomotion tasks reinforcement learning provides an approach to solving them without the need for unique controllers. In this thesis, two reinforcement learning algorithms, Deep Deterministic Policy Gradient and Group Factor Policy Search are compared based upon their performance in the bipedal walking environment provided by OpenAI gym. These algorithms are evaluated on their performance in the environment and their sample efficiency.
ContributorsMcDonald, Dax (Author) / Ben Amor, Heni (Thesis director) / Yang, Yezhou (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor)
Created2018-12
Description
This thesis dives into the world of machine learning by attempting to create an application that will accurately predict whether or not a sneaker will resell at a profit. To begin this study, I first researched different machine learning algorithms to determine which would be best for this project. After ultimately deciding on using an artificial neural network, I then moved on to collecting data, using StockX and Twitter. StockX is a platform where individuals can post and resell shoes, while also providing statistics and analytics about each pair of shoes. I used StockX to retrieve data about the actual shoe, which involved retrieving data for the network feature variables: gender, brand, and retail price. Additionally, I also retrieved the data for the average deadstock price for each shoe, which describes what the mean price of new, unworn shoes are selling for on StockX. This data was used with the retail price data to determine whether or not a shoe has been, on average, selling for a profit. I used Twitter’s API to retrieve links to different shoes on StockX along with retrieving the number of favorites and retweets each of those links had. These metrics were used to account for ‘hype’ of the shoe, with shoes traditionally being more profitable the larger the hype surrounding them. After preprocessing the data, I trained the model using a randomized 80% of the data. On average, the model had about a 65-70% accuracy range when tested with the remaining 20% of the data. Once the model was optimized, I saved it and uploaded it to a web application that took in user input for the five feature variables, tested the datapoint using the model, and outputted the confidence in whether or not the shoe would generate a profit.
From a technical perspective, I used Python for the whole project, while also using HTML/CSS for the front-end of the application. As for key packages, I used Keras, an open source neural network library to build the model; data preprocessing was done using sklearn’s various subpackages. All charts and graphs were done using data visualization libraries matplotlib and seaborn. These charts provided insight as to what the final dataset looked like. They showed how the brand distribution is relatively close to what it should be, while the gender distribution was heavily skewed. Future work on this project would involve expanding the dataset, automating the entirety of the data retrieval process, and finally deploying the project on the cloud for users everywhere to use the application.
From a technical perspective, I used Python for the whole project, while also using HTML/CSS for the front-end of the application. As for key packages, I used Keras, an open source neural network library to build the model; data preprocessing was done using sklearn’s various subpackages. All charts and graphs were done using data visualization libraries matplotlib and seaborn. These charts provided insight as to what the final dataset looked like. They showed how the brand distribution is relatively close to what it should be, while the gender distribution was heavily skewed. Future work on this project would involve expanding the dataset, automating the entirety of the data retrieval process, and finally deploying the project on the cloud for users everywhere to use the application.
ContributorsShah, Shail (Author) / Meuth, Ryan (Thesis director) / Nakamura, Mutsumi (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Lyric classification and generation are trending in topics in the machine learning community. Long Short-Term Networks (LSTMs) are effective tools for classifying and generating text. We explored their effectiveness in the generation and classification of lyrical data and proposed methods of evaluating their accuracy. We found that LSTM networks with dropout layers were effective at lyric classification. We also found that Word embedding LSTM networks were extremely effective at lyric generation.
ContributorsTallapragada, Amit (Author) / Ben Amor, Heni (Thesis director) / Caviedes, Jorge (Committee member) / Computer Science and Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
The prevalence of bots, or automated accounts, on social media is a well-known problem. Some of the ways bots harm social media users include, but are not limited to, spreading misinformation, influencing topic discussions, and dispersing harmful links. Bots have affected the field of disaster relief on social media as well. These bots cause problems such as preventing rescuers from determining credible calls for help, spreading fake news and other malicious content, and generating large amounts of content which burdens rescuers attempting to provide aid in the aftermath of disasters. To address these problems, this research seeks to detect bots participating in disaster event related discussions and increase the recall, or number of bots removed from the network, of Twitter bot detection methods. The removal of these bots will also prevent human users from accidentally interacting with these bot accounts and being manipulated by them. To accomplish this goal, an existing bot detection classification algorithm known as BoostOR was employed. BoostOR is an ensemble learning algorithm originally modeled to increase bot detection recall in a dataset and it has the possibility to solve the social media bot dilemma where there may be several different types of bots in the data. BoostOR was first introduced as an adjustment to existing ensemble classifiers to increase recall. However, after testing the BoostOR algorithm on unobserved datasets, results showed that BoostOR does not perform as expected. This study attempts to improve the BoostOR algorithm by comparing it with a baseline classification algorithm, AdaBoost, and then discussing the intentional differences between the two. Additionally, this study presents the main factors which contribute to the shortcomings of the BoostOR algorithm and proposes a solution to improve it. These recommendations should ensure that the BoostOR algorithm can be applied to new and unobserved datasets in the future.
ContributorsDavis, Matthew William (Author) / Liu, Huan (Thesis director) / Nazer, Tahora H. (Committee member) / Computer Science and Engineering Program (Contributor, Contributor) / Department of Information Systems (Contributor) / Barrett, The Honors College (Contributor)
Created2018-12
Description
Machine learning is one of the fastest growing fields and it has applications in almost any industry. Predicting sports games is an obvious use case for machine learning, data is relatively easy to collect, generally complete data is available, and outcomes are easily measurable. Predicting the outcomes of sports events may also be easily profitable, predictions can be taken to a sportsbook and wagered on. A successful prediction model could easily turn a profit. The goal of this project was to build a model using machine learning to predict the outcomes of NBA games.
In order to train the model, data was collected from the NBA statistics website. The model was trained on games dating from the 2010 NBA season through the 2017 NBA season. Three separate models were built, predicting the winner, predicting the total points, and finally predicting the margin of victory for a team. These models learned on 80 percent of the data and validated on the other 20 percent. These models were trained for 40 epochs with a batch size of 15.
The model for predicting the winner achieved an accuracy of 65.61 percent, just slightly below the accuracy of other experts in the field of predicting the NBA. The model for predicting total points performed decently as well, it could beat Las Vegas’ prediction 50.04 percent of the time. The model for predicting margin of victory also did well, it beat Las Vegas 50.58 percent of the time.
In order to train the model, data was collected from the NBA statistics website. The model was trained on games dating from the 2010 NBA season through the 2017 NBA season. Three separate models were built, predicting the winner, predicting the total points, and finally predicting the margin of victory for a team. These models learned on 80 percent of the data and validated on the other 20 percent. These models were trained for 40 epochs with a batch size of 15.
The model for predicting the winner achieved an accuracy of 65.61 percent, just slightly below the accuracy of other experts in the field of predicting the NBA. The model for predicting total points performed decently as well, it could beat Las Vegas’ prediction 50.04 percent of the time. The model for predicting margin of victory also did well, it beat Las Vegas 50.58 percent of the time.
ContributorsGarretson, Samuel Burkett (Author) / Meuth, Ryan (Thesis director) / Nakamura, Mutsumi (Committee member) / Computer Science and Engineering Program (Contributor) / Dean, W.P. Carey School of Business (Contributor) / Department of Management and Entrepreneurship (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
This thesis serves as a baseline for the potential for prediction through machine learning (ML) in baseball. Hopefully, it also will serve as motivation for future work to expand and reach the potential of sabermetrics, advanced Statcast data and machine learning. The problem this thesis attempts to solve is predicting the outcome of a pitch. Given proper pitch data and situational data, is it possible to predict the result or outcome of a pitch? The result or outcome refers to the specific outcome of a pitch, beyond ball or strike, but if the hitter puts the ball in play for a double, this thesis shows how I attempted to predict that type of outcome. Before diving into my methods, I take a deep look into sabermetrics, advanced statistics and the history of the two in Major League Baseball. After this, I describe my implemented machine learning experiment. First, I found a dataset that is suitable for training a pitch prediction model, I then analyzed the features and used some feature engineering to select a set of 16 features, and finally, I trained and tested a pair of ML models on the data. I used a decision tree classifier and random forest classifier to test the data. I attempted to us a long short-term memory to improve my score, but came up short. Each classifier performed at around 60% accuracy. I also experimented using a neural network approach with a long short-term memory (LSTM) model, but this approach requires more feature engineering to beat the simpler classifiers. In this thesis, I show examples of five hitters that I test the models on and the accuracy for each hitter. This work shows promise that advanced classification models (likely requiring more feature engineering) can provide even better prediction outcomes, perhaps with 70% accuracy or higher! There is much potential for future work and to improve on this thesis, mainly through the proper construction of a neural network, more in-depth feature analysis/selection/extraction, and data visualization.
ContributorsGoodman, Avi (Author) / Bryan, Chris (Thesis director) / Hsiao, Sharon (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
Machine learning is the process of training a computer with algorithms to learn from data and make informed predictions. In a world where large amounts of data are constantly collected, machine learning is an important tool to analyze this data to find patterns and learn useful information from it. Machine learning applications expand to numerous fields; however, I chose to focus on machine learning with a business perspective for this thesis, specifically e-commerce.
The e-commerce market utilizes information to target customers and drive business. More and more online services have become available, allowing consumers to make purchases and interact with an online system. For example, Amazon is one of the largest Internet-based retail companies. As people shop through this website, Amazon gathers huge amounts of data on its customers from personal information to shopping history to viewing history. After purchasing a product, the customer may leave reviews and give a rating based on their experience. Performing analytics on all of this data can provide insights into making more informed business and marketing decisions that can lead to business growth and also improve the customer experience.
For this thesis, I have trained binary classification models on a publicly available product review dataset from Amazon to predict whether a review has a positive or negative sentiment. The sentiment analysis process includes analyzing and encoding the human language, then extracting the sentiment from the resulting values. In the business world, sentiment analysis provides value by revealing insights into customer opinions and their behaviors. In this thesis, I will explain how to perform a sentiment analysis and analyze several different machine learning models. The algorithms for which I compared the results are KNN, Logistic Regression, Decision Trees, Random Forest, Naïve Bayes, Linear Support Vector Machines, and Support Vector Machines with an RBF kernel.
The e-commerce market utilizes information to target customers and drive business. More and more online services have become available, allowing consumers to make purchases and interact with an online system. For example, Amazon is one of the largest Internet-based retail companies. As people shop through this website, Amazon gathers huge amounts of data on its customers from personal information to shopping history to viewing history. After purchasing a product, the customer may leave reviews and give a rating based on their experience. Performing analytics on all of this data can provide insights into making more informed business and marketing decisions that can lead to business growth and also improve the customer experience.
For this thesis, I have trained binary classification models on a publicly available product review dataset from Amazon to predict whether a review has a positive or negative sentiment. The sentiment analysis process includes analyzing and encoding the human language, then extracting the sentiment from the resulting values. In the business world, sentiment analysis provides value by revealing insights into customer opinions and their behaviors. In this thesis, I will explain how to perform a sentiment analysis and analyze several different machine learning models. The algorithms for which I compared the results are KNN, Logistic Regression, Decision Trees, Random Forest, Naïve Bayes, Linear Support Vector Machines, and Support Vector Machines with an RBF kernel.
ContributorsMadaan, Shreya (Author) / Meuth, Ryan (Thesis director) / Nakamura, Mutsumi (Committee member) / Computer Science and Engineering Program (Contributor, Contributor) / Dean, W.P. Carey School of Business (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
This paper introduces a wireless reconfigurable “button-type” pressure sensor system, via machine learning, for gait analysis application. The pressure sensor system consists of an array of independent button-type pressure sensing units interfaced with a remote computer. The pressure sensing unit contains pressure-sensitive resistors, readout electronics, and a wireless Bluetooth module, which are assembled within footprint of 40 × 25 × 6mm3. The small-footprint, low-profile sensors are populated onto a shoe insole, like buttons, to collect temporal pressure data. The pressure sensing unit measures pressures up to 2,000 kPa while maintaining an error under 10%. The reconfigurable pressure sensor array reduces the total power consumption of the system by 50%, allowing extended period of operation, up to 82.5 hrs. A robust machine learning program identifies the optimal pressure sensing units in any given configuration at an accuracy of up to 98%.
ContributorsBooth, Jayden Charles (Author) / Chae, Junseok (Thesis director) / Chen, Ang (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-12