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- Genre: Masters Thesis
- Creators: Turaga, Pavan
Description
Advancements in computer vision and machine learning have added a new dimension to remote sensing applications with the aid of imagery analysis techniques. Applications such as autonomous navigation and terrain classification which make use of image classification techniques are challenging problems and research is still being carried out to find better solutions. In this thesis, a novel method is proposed which uses image registration techniques to provide better image classification. This method reduces the error rate of classification by performing image registration of the images with the previously obtained images before performing classification. The motivation behind this is the fact that images that are obtained in the same region which need to be classified will not differ significantly in characteristics. Hence, registration will provide an image that matches closer to the previously obtained image, thus providing better classification. To illustrate that the proposed method works, naïve Bayes and iterative closest point (ICP) algorithms are used for the image classification and registration stages respectively. This implementation was tested extensively in simulation using synthetic images and using a real life data set called the Defense Advanced Research Project Agency (DARPA) Learning Applied to Ground Robots (LAGR) dataset. The results show that the ICP algorithm does help in better classification with Naïve Bayes by reducing the error rate by an average of about 10% in the synthetic data and by about 7% on the actual datasets used.
ContributorsMuralidhar, Ashwini (Author) / Saripalli, Srikanth (Thesis advisor) / Papandreou-Suppappola, Antonia (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2011
Description
K-Nearest-Neighbors (KNN) search is a fundamental problem in many application domains such as database and data mining, information retrieval, machine learning, pattern recognition and plagiarism detection. Locality sensitive hash (LSH) is so far the most practical approximate KNN search algorithm for high dimensional data. Algorithms such as Multi-Probe LSH and LSH-Forest improve upon the basic LSH algorithm by varying hash bucket size dynamically at query time, so these two algorithms can answer different KNN queries adaptively. However, these two algorithms need a data access post-processing step after candidates' collection in order to get the final answer to the KNN query. In this thesis, Multi-Probe LSH with data access post-processing (Multi-Probe LSH with DAPP) algorithm and LSH-Forest with data access post-processing (LSH-Forest with DAPP) algorithm are improved by replacing the costly data access post-processing (DAPP) step with a much faster histogram-based post-processing (HBPP). Two HBPP algorithms: LSH-Forest with HBPP and Multi- Probe LSH with HBPP are presented in this thesis, both of them achieve the three goals for KNN search in large scale high dimensional data set: high search quality, high time efficiency, high space efficiency. None of the previous KNN algorithms can achieve all three goals. More specifically, it is shown that HBPP algorithms can always achieve high search quality (as good as LSH-Forest with DAPP and Multi-Probe LSH with DAPP) with much less time cost (one to several orders of magnitude speedup) and same memory usage. It is also shown that with almost same time cost and memory usage, HBPP algorithms can always achieve better search quality than LSH-Forest with random pick (LSH-Forest with RP) and Multi-Probe LSH with random pick (Multi-Probe LSH with RP). Moreover, to achieve a very high search quality, Multi-Probe with HBPP is always a better choice than LSH-Forest with HBPP, regardless of the distribution, size and dimension number of the data set.
ContributorsYu, Renwei (Author) / Candan, Kasim S (Thesis advisor) / Sapino, Maria L (Committee member) / Chen, Yi (Committee member) / Sundaram, Hari (Committee member) / Arizona State University (Publisher)
Created2011
Description
Navigating within non-linear structures is a challenge for all users when the space is large but the problem is most pronounced when the users are blind or visually impaired. Such users access digital content through screen readers like JAWS which read out the text on the screen. However presentation of non-linear narratives in such a manner without visual cues and information about spatial dependencies is very inefficient for such users. The NSDL Science Literacy StrandMaps are visual layouts to help students and teachers browse educational resources. A Strandmap shows relationships between concepts and how they build upon one another across grade levels. NSDL Strandmaps are non-linear narratives which need to be presented to users who are blind in an effective way. A good summary of the Strandmap can give the users an idea about the concepts that are explained in it. This can help them decide whether to view the map or not. In addition, a preview-based navigation mechanism can help users decide which direction they want to take, based on a preview of upcoming content in each direction. Given a non-linear narrative like a Strandmap which has both text and structure, and a word limit w, the goal of this thesis is to find the best way to create its summary. The following approaches are considered: – Purely Text-based Approach using a Multi-document Text Summarizer – Purely Structure-based Approach using PageRank – Approaches Combining both Text and Structure → CUTS-Based Approach (Topic Segmentation) → PageRank with Content Since no reference summaries for such structures were available, user studies were conducted to evaluate these algorithms. PageRank with Content approach performed the best. Another important conclusion was that text and structure are intertwined in a Strandmap by design.
ContributorsGaur, Shruti (Author) / Candan, Kasim Selcuk (Thesis advisor) / Sundaram, Hari (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2011
Description
Templates are wildly used in Web sites development. Finding the template for a given set of Web pages could be very important and useful for many applications like Web page classification and monitoring content and structure changes of Web pages. In this thesis, two novel sequence-based Web page template detection algorithms are presented. Different from tree mapping algorithms which are based on tree edit distance, sequence-based template detection algorithms operate on the Prüfer/Consolidated Prüfer sequences of trees. Since there are one-to-one correspondences between Prüfer/Consolidated Prüfer sequences and trees, sequence-based template detection algorithms identify the template by finding a common subsequence between to Prüfer/Consolidated Prüfer sequences. This subsequence should be a sequential representation of a common subtree of input trees. Experiments on real-world web pages showed that our approaches detect templates effectively and efficiently.
ContributorsHuang, Wei (Author) / Candan, Kasim Selcuk (Thesis advisor) / Sundaram, Hari (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2011
Description
Advancements in mobile technologies have significantly enhanced the capabilities of mobile devices to serve as powerful platforms for sensing, processing, and visualization. Surges in the sensing technology and the abundance of data have enabled the use of these portable devices for real-time data analysis and decision-making in digital signal processing (DSP) applications. Most of the current efforts in DSP education focus on building tools to facilitate understanding of the mathematical principles. However, there is a disconnect between real-world data processing problems and the material presented in a DSP course. Sophisticated mobile interfaces and apps can potentially play a crucial role in providing a hands-on-experience with modern DSP applications to students. In this work, a new paradigm of DSP learning is explored by building an interactive easy-to-use health monitoring application for use in DSP courses. This is motivated by the increasing commercial interest in employing mobile phones for real-time health monitoring tasks. The idea is to exploit the computational abilities of the Android platform to build m-Health modules with sensor interfaces. In particular, appropriate sensing modalities have been identified, and a suite of software functionalities have been developed. Within the existing framework of the AJDSP app, a graphical programming environment, interfaces to on-board and external sensor hardware have also been developed to acquire and process physiological data. The set of sensor signals that can be monitored include electrocardiogram (ECG), photoplethysmogram (PPG), accelerometer signal, and galvanic skin response (GSR). The proposed m-Health modules can be used to estimate parameters such as heart rate, oxygen saturation, step count, and heart rate variability. A set of laboratory exercises have been designed to demonstrate the use of these modules in DSP courses. The app was evaluated through several workshops involving graduate and undergraduate students in signal processing majors at Arizona State University. The usefulness of the software modules in enhancing student understanding of signals, sensors and DSP systems were analyzed. Student opinions about the app and the proposed m-health modules evidenced the merits of integrating tools for mobile sensing and processing in a DSP curriculum, and familiarizing students with challenges in modern data-driven applications.
ContributorsRajan, Deepta (Author) / Spanias, Andreas (Thesis advisor) / Frakes, David (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
With robots being used extensively in various areas, a certain degree of robot autonomy has always been found desirable. In applications like planetary exploration, autonomous path planning and navigation are considered essential. But every now and then, a need to modify the robot's operation arises, a need for a human to provide it some supervisory parameters that modify the degree of autonomy or allocate extra tasks to the robot. In this regard, this thesis presents an approach to include a provision to accept and incorporate such human inputs and modify the navigation functions of the robot accordingly. Concepts such as applying kinematical constraints while planning paths, traversing of unknown areas with an intent of maximizing field of view, performing complex tasks on command etc. have been examined and implemented. The approaches have been tested in Robot Operating System (ROS), using robots such as the iRobot Create, Personal Robotics (PR2) etc. Simulations and experimental demonstrations have proved that this approach is feasible for solving some of the existing problems and that it certainly can pave way to further research for enhancing functionality.
ContributorsVemprala, Sai Hemachandra (Author) / Saripalli, Srikanth (Thesis advisor) / Fainekos, Georgios (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
In contemporary society, sustainability and public well-being have been pressing challenges. Some of the important questions are:how can sustainable practices, such as reducing carbon emission, be encouraged? , How can a healthy lifestyle be maintained?Even though individuals are interested, they are unable to adopt these behaviors due to resource constraints. Developing a framework to enable cooperative behavior adoption and to sustain it for a long period of time is a major challenge. As a part of developing this framework, I am focusing on methods to understand behavior diffusion over time. Facilitating behavior diffusion with resource constraints in a large population is qualitatively different from promoting cooperation in small groups. Previous work in social sciences has derived conditions for sustainable cooperative behavior in small homogeneous groups. However, how groups of individuals having resource constraint co-operate over extended periods of time is not well understood, and is the focus of my thesis. I develop models to analyze behavior diffusion over time through the lens of epidemic models with the condition that individuals have resource constraint. I introduce an epidemic model SVRS ( Susceptible-Volatile-Recovered-Susceptible) to accommodate multiple behavior adoption. I investigate the longitudinal effects of behavior diffusion by varying different properties of an individual such as resources,threshold and cost of behavior adoption. I also consider how behavior adoption of an individual varies with her knowledge of global adoption. I evaluate my models on several synthetic topologies like complete regular graph, preferential attachment and small-world and make some interesting observations. Periodic injection of early adopters can help in boosting the spread of behaviors and sustain it for a longer period of time. Also, behavior propagation for the classical epidemic model SIRS (Susceptible-Infected-Recovered-Susceptible) does not continue for an infinite period of time as per conventional wisdom. One interesting future direction is to investigate how behavior adoption is affected when number of individuals in a network changes. The affects on behavior adoption when availability of behavior changes with time can also be examined.
ContributorsDey, Anindita (Author) / Sundaram, Hari (Thesis advisor) / Turaga, Pavan (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2013
Description
One of the main challenges in planetary robotics is to traverse the shortest path through a set of waypoints. The shortest distance between any two waypoints is a direct linear traversal. Often times, there are physical restrictions that prevent a rover form traversing straight to a waypoint. Thus, knowledge of the terrain is needed prior to traversal. The Digital Terrain Model (DTM) provides information about the terrain along with waypoints for the rover to traverse. However, traversing a set of waypoints linearly is burdensome, as the rovers would constantly need to modify their orientation as they successively approach waypoints. Although there are various solutions to this problem, this research paper proposes the smooth traversability of the rover using splines as a quick and easy implementation to traverse a set of waypoints. In addition, a rover was used to compare the smoothness of the linear traversal along with the spline interpolations. The data collected illustrated that spline traversals had a less rate of change in the velocity over time, indicating that the rover performed smoother than with linear paths.
ContributorsKamasamudram, Anurag (Author) / Saripalli, Srikanth (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
We solve the problem of activity verification in the context of sustainability. Activity verification is the process of proving the user assertions pertaining to a certain activity performed by the user. Our motivation lies in incentivizing the user for engaging in sustainable activities like taking public transport or recycling. Such incentivization schemes require the system to verify the claim made by the user. The system verifies these claims by analyzing the supporting evidence captured by the user while performing the activity. The proliferation of portable smart-phones in the past few years has provided us with a ubiquitous and relatively cheap platform, having multiple sensors like accelerometer, gyroscope, microphone etc. to capture this evidence data in-situ. In this research, we investigate the supervised and semi-supervised learning techniques for activity verification. Both these techniques make use the data set constructed using the evidence submitted by the user. Supervised learning makes use of annotated evidence data to build a function to predict the class labels of the unlabeled data points. The evidence data captured can be either unimodal or multimodal in nature. We use the accelerometer data as evidence for transportation mode verification and image data as evidence for recycling verification. After training the system, we achieve maximum accuracy of 94% when classifying the transport mode and 81% when detecting recycle activity. In the case of recycle verification, we could improve the classification accuracy by asking the user for more evidence. We present some techniques to ask the user for the next best piece of evidence that maximizes the probability of classification. Using these techniques for detecting recycle activity, the accuracy increases to 93%. The major disadvantage of using supervised models is that it requires extensive annotated training data, which expensive to collect. Due to the limited training data, we look at the graph based inductive semi-supervised learning methods to propagate the labels among the unlabeled samples. In the semi-supervised approach, we represent each instance in the data set as a node in the graph. Since it is a complete graph, edges interconnect these nodes, with each edge having some weight representing the similarity between the points. We propagate the labels in this graph, based on the proximity of the data points to the labeled nodes. We estimate the performance of these algorithms by measuring how close the probability distribution of the data after label propagation is to the probability distribution of the ground truth data. Since labeling has a cost associated with it, in this thesis we propose two algorithms that help us in selecting minimum number of labeled points to propagate the labels accurately. Our proposed algorithm achieves a maximum of 73% increase in performance when compared to the baseline algorithm.
ContributorsDesai, Vaishnav (Author) / Sundaram, Hari (Thesis advisor) / Li, Baoxin (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
In this thesis, quantitative evaluation of quality of movement during stroke rehabilitation will be discussed. Previous research on stroke rehabilitation in hospital has been shown to be effective. In this thesis, we study various issues that arise when creating a home-based system that can be deployed in a patient's home. Limitation of motion capture due to reduced number of sensors leads to problems with design of kinematic features for quantitative evaluation. Also, the hierarchical three-level tasks of rehabilitation requires new design of kinematic features. In this thesis, the design of kinematic features for a home based stroke rehabilitation system will be presented. Results of the most challenging classifier are shown and proves the effectiveness of the design. Comparison between modern classification techniques and low computational cost threshold based classification with same features will also be shown.
ContributorsCheng, Long (Author) / Turaga, Pavan (Thesis advisor) / Arizona State University (Publisher)
Created2012