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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
This thesis dives into the world of artificial intelligence by exploring the functionality of a single layer artificial neural network through a simple housing price classification example while simultaneously considering its impact from a data management perspective on both the software and hardware level. To begin this study, the universally accepted model of an artificial neuron is broken down into its key components and then analyzed for functionality by relating back to its biological counterpart. The role of a neuron is then described in the context of a neural network, with equal emphasis placed on how it individually undergoes training and then for an entire network. Using the technique of supervised learning, the neural network is trained with three main factors for housing price classification, including its total number of rooms, bathrooms, and square footage. Once trained with most of the generated data set, it is tested for accuracy by introducing the remainder of the data-set and observing how closely its computed output for each set of inputs compares to the target value. From a programming perspective, the artificial neuron is implemented in C so that it would be more closely tied to the operating system and therefore make the collected profiler data more precise during the program's execution. The program is designed to break down each stage of the neuron's training process into distinct functions. In addition to utilizing more functional code, the struct data type is used as the underlying data structure for this project to not only represent the neuron but for implementing the neuron's training and test data. Once fully trained, the neuron's test results are then graphed to visually depict how well the neuron learned from its sample training set. Finally, the profiler data is analyzed to describe how the program operated from a data management perspective on the software and hardware level.
ContributorsRichards, Nicholas Giovanni (Author) / Miller, Phillip (Thesis director) / Meuth, Ryan (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Epilepsy affects numerous people around the world and is characterized by recurring seizures, prompting the ability to predict them so precautionary measures may be employed. One promising algorithm extracts spatiotemporal correlation based features from intracranial electroencephalography signals for use with support vector machines. The robustness of this methodology is tested through a sensitivity analysis. Doing so also provides insight about how to construct more effective feature vectors.
ContributorsMa, Owen (Author) / Bliss, Daniel (Thesis director) / Berisha, Visar (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2015-05
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
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
Cryptocurrencies have become one of the most fascinating forms of currency and economics due to their fluctuating values and lack of centralization. This project attempts to use machine learning methods to effectively model in-sample data for Bitcoin and Ethereum using rule induction methods. The dataset is cleaned by removing entries with missing data. The new column is created to measure price difference to create a more accurate analysis on the change in price. Eight relevant variables are selected using cross validation: the total number of bitcoins, the total size of the blockchains, the hash rate, mining difficulty, revenue from mining, transaction fees, the cost of transactions and the estimated transaction volume. The in-sample data is modeled using a simple tree fit, first with one variable and then with eight. Using all eight variables, the in-sample model and data have a correlation of 0.6822657. The in-sample model is improved by first applying bootstrap aggregation (also known as bagging) to fit 400 decision trees to the in-sample data using one variable. Then the random forests technique is applied to the data using all eight variables. This results in a correlation between the model and data of 9.9443413. The random forests technique is then applied to an Ethereum dataset, resulting in a correlation of 9.6904798. Finally, an out-of-sample model is created for Bitcoin and Ethereum using random forests, with a benchmark correlation of 0.03 for financial data. The correlation between the training model and the testing data for Bitcoin was 0.06957639, while for Ethereum the correlation was -0.171125. In conclusion, it is confirmed that cryptocurrencies can have accurate in-sample models by applying the random forests method to a dataset. However, out-of-sample modeling is more difficult, but in some cases better than typical forms of financial data. It should also be noted that cryptocurrency data has similar properties to other related financial datasets, realizing future potential for system modeling for cryptocurrency within the financial world.
ContributorsBrowning, Jacob Christian (Author) / Meuth, Ryan (Thesis director) / Jones, Donald (Committee member) / McCulloch, Robert (Committee member) / Computer Science and Engineering Program (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Machine learning for analytics has exponentially increased in the past few years due to its ability to identify hidden insights in data. It also has a plethora of applications in healthcare ranging from improving image recognition in CT scans to extracting semantic meaning from thousands of medical form PDFs. Currently in the BioElectrical Systems and Technology Lab, there is a biosensor in development that retrieves and analyzes data manually. In a proof of concept, this project uses the neural network architecture to automatically parse and classify a cardiac disease data set as well as explore health related factors impacting cardiac disease in patients of all ages.
ContributorsMurella, Akhila Sainagaki (Author) / Blain-Christen, Jennifer (Thesis director) / Meuth, Ryan (Committee member) / Computer Science and Engineering Program (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / School of the Arts, Media and Engineering (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
This work details the bootstrap estimation of a nonparametric information divergence measure, the Dp divergence measure, using a power law model. To address the challenge posed by computing accurate divergence estimates given finite size data, the bootstrap approach is used in conjunction with a power law curve to calculate an asymptotic value of the divergence estimator. Monte Carlo estimates of Dp are found for increasing values of sample size, and a power law fit is used to relate the divergence estimates as a function of sample size. The fit is also used to generate a confidence interval for the estimate to characterize the quality of the estimate. We compare the performance of this method with the other estimation methods. The calculated divergence is applied to the binary classification problem. Using the inherent relation between divergence measures and classification error rate, an analysis of the Bayes error rate of several data sets is conducted using the asymptotic divergence estimate.
ContributorsKadambi, Pradyumna Sanjay (Author) / Berisha, Visar (Thesis director) / Bliss, Daniel (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
Divergence functions are both highly useful and fundamental to many areas in information theory and machine learning, but require either parametric approaches or prior knowledge of labels on the full data set. This paper presents a method to estimate the divergence between two data sets in the absence of fully labeled data. This semi-labeled case is common in many domains where labeling data by hand is expensive or time-consuming, or wherever large data sets are present. The theory derived in this paper is demonstrated on a simulated example, and then applied to a feature selection and classification problem from pathological speech analysis.
ContributorsGilton, Davis Leland (Author) / Berisha, Visar (Thesis director) / Cochran, Douglas (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05