Stroke rehabilitation is to train the motor function of a patients limb. In this process, functional assessment is of importance, and it is primarily based on a patients task performance. The context of the rehabilitation discussed in this thesis is such that functional assessment is conducted through a computer system and the Internet. In particular, a patient performs the task at home in a haptic virtual environment, and the task performance is transmitted to the therapist over the Internet. One problem with this approach to functional assessment is that a patients mind state is little known to the therapist. This immediately leads to one question, that is, whether an elevated mind state will have some significant effect on the patients task performance? If so, this approach can result in a considerable error. The overall objective of this thesis study was to generate an answer to the aforementioned question. The study focused on a patients elevated fatigue state. The specific objectives of the study include: (i) developing a haptic virtual environment prototype system for functional assessment, (ii) developing a physiological-based inference system for fatigue state, and (iii) performing an experiment to generate knowledge regarding the fatigue effect on task performance. With a limited resource in recruiting patients in the experiment, the study conducted few experiments on patients but mostly on healthy subjects. The study has concluded: (1) the proposed haptic virtual environment system is effective for the wrist coordination task and is likely promising to other tasks, (2) the accuracy of proposed fatigue inference system achieves 89.54%, for two levels of fatigue state, which is promising, (3) the elevated fatigue state significantly affects task performance in the context of wrist coordination task, and (4) the accuracy of the individual-based inference approach is significantly higher than that of the group-based inference approach. The main contributions of the thesis are (1) generation of the new knowledge regarding the fatigue effect on task performance in the context of home-based rehabilitation, (2) provision of the new fatigue inference system with the highest accuracy in comparison with the existing approaches in literature, and (3) generation of the new knowledge regarding the difference between the individual-based inference and group-based inference approaches.

An autonomous machine is a machine that can navigate through its environment without human interactions. These machines use sensors to sense the environment and have computing abilities for receiving and interpreting the sensory data as well as for controlling their displacement. At the University of Saskatchewan (Saskatoon, Canada), a low level autonomous machine was developed. This low level machine was the sensor system for an autonomous machine. The machine was capable of sensing the environment and carrying out actions based on commands sent to it. This machine provided a sensing and control layer, but the path planning (decision making) part of the autonomous machine was not developed.<p>This autonomous machine was developed on a Case IH DX 34H tractor with the purpose of providing a machine for testing software and sensors in a true agricultural environment. The tractor was equipped with sensors capable of sensing the speed and heading of the tractor. A control architecture was developed that received input commands from a human or computer in the form of a target heading and speed. The control architecture then adjusted controls on the tractor to make the tractor reach and maintain the target heading and speed until a new command was provided. The tractor was capable of being used in all kinds of weather, although some minor issues arose when testing in rain and snow. The sensor platform developed was found to be insufficient for proper control. The control structure appeared to work correctly, but was hindered by the poor sensor platform performance.

Fall among the elderly is an important health issue. Fall detection and movement tracking techniques are therefore instrumental in dealing with this issue. This thesis responds to the challenge of classifying different movement types as a part of a system designed to fulfill the need for a wearable device to collect data for fall and near-fall analysis. Four different fall activities (forward, backward, left and right), three normal activities (standing, walking and lying down) and near-fall situations are identified and detected. Different machine learning algorithms are compared and the best one is used for the real time classification. The comparison is made using Waikato Environment for Knowledge Analysis or in short WEKA. The system also has the ability to adapt to different gaits of different people. A feature selection algorithm is also introduced to reduce the number of features required for the classification problem.

In real-time control systems, the value of a control decision depends not only on the correctness of the decision but also on the time when that decision is available. Recent work in real-time decision making has used machine learning techniques to automatically construct reactive controllers, that is, controllers with little or no internal state and low time complexity pathways between sensors and effectors. This paper presents research on 1) how a problem representation affects the trade-offs between space and performance, and 2) off -line versus on-line approaches for collecting training examples when using machine learning techniques to construct reactive controllers. Empirical results show that for a partially observable problem both the inclusion of history information in the problem representation and the use of on-line rather than off -line learning can improve the performance of the reactive controller. / Graduation date: 1994

University of Macau / Faculty of Social Sciences and Humanities / Department of English

To understand biology at a system level, I presented novel machine learning algorithms to reveal the underlying mechanisms of how genes and their products function in different biological levels in this thesis. Specifically, at sequence level, based on Kernel Support Vector Machines (SVMs), I proposed learned random-walk kernel and learned empirical-map kernel to identify protein remote homology solely based on sequence data, and I proposed a discriminative motif discovery algorithm to identify sequence motifs that characterize protein sequences' remote homology membership. The proposed approaches significantly outperform previous methods, especially on some challenging protein families. At expression and protein level, using hierarchical Bayesian graphical models, I developed the first high-throughput computational predictive model to filter sequence-based predictions of microRNA targets by incorporating the proteomic data of putative microRNA target genes, and I proposed another probabilistic model to explore the underlying mechanisms of microRNA regulation by combining the expression profile data of messenger RNAs and microRNAs. At cellular level, I further investigated how yeast genes manifest their functions in cell morphology by performing gene function prediction from the morphology data of yeast temperature-sensitive alleles. The developed prediction models enable biologists to choose some interesting yeast essential genes and study their predicted novel functions.

This thesis investigates cooperative and intelligent control of autonomous multi-robot systems in a dynamic, unstructured and unknown environment and makes significant original contributions with regard to self-deterministic learning for robot cooperation, evolutionary optimization of robotic actions, improvement of system robustness, vision-based object tracking, and real-time performance. A distributed multi-robot architecture is developed which will facilitate operation of a cooperative multi-robot system in a dynamic and unknown environment in a self-improving, robust, and real-time manner. It is a fully distributed and hierarchical architecture with three levels. By combining several popular AI, soft computing, and control techniques such as learning, planning, reactive paradigm, optimization, and hybrid control, the developed architecture is expected to facilitate effective autonomous operation of cooperative multi-robot systems in a dynamically changing, unknown, and unstructured environment. A machine learning technique is incorporated into the developed multi-robot system for self-deterministic and self-improving cooperation and coping with uncertainties in the environment. A modified Q-learning algorithm termed Sequential Q-learning with Kalman Filtering (SQKF) is developed in the thesis, which can provide fast multi-robot learning. By arranging the robots to learn according to a predefined sequence, modeling the effect of the actions of other robots in the work environment as Gaussian white noise and estimating this noise online with a Kalman filter, the SQKF algorithm seeks to solve several key problems in multi-robot learning. As a part of low-level sensing and control in the proposed multi-robot architecture, a fast computer vision algorithm for color-blob tracking is developed to track multiple moving objects in the environment. By removing the brightness and saturation information in an image and filtering unrelated information based on statistical features and domain knowledge, the algorithm solves the problems of uneven illumination in the environment and improves real-time performance. In order to validate the developed approaches, a Java-based simulation system and a physical multi-robot experimental system are developed to successfully transport an object of interest to a goal location in a dynamic and unknown environment with complex obstacle distribution. The developed approaches in this thesis are implemented in the prototype system and rigorously tested and validated through computer simulation and experimentation.

In Sweden and many other northern countries, it is common for heat to be distributed to homes and industries through district heating networks. Such networks consist of pipes buried underground carrying hot water or steam with temperatures in the range of 90-150 C. Due to bad insulation or cracks, heat or water leakages might appear. A system for large-scale monitoring of district heating networks through remote thermography has been developed and is in use at the company Termisk Systemteknik AB. Infrared images are captured from an aircraft and analysed, finding and indicating the areas for which the ground temperature is higher than normal. During the analysis there are, however, many other warm areas than true water or energy leakages that are marked as detections. Objects or phenomena that can cause false alarms are those who, for some reason, are warmer than their surroundings, for example, chimneys, cars and heat leakages from buildings. During the last couple of years, the system has been used in a number of cities. Therefore, there exists a fair amount of examples of different types of detections. The purpose of the present master’s thesis is to evaluate the reduction of false alarms of the existing analysis that can be achieved with the use of a learning system, i.e. a system which can learn how to recognize different types of detections.  A labelled data set for training and testing was acquired by contact with customers. Furthermore, a number of features describing the intensity difference within the detection, its shape and propagation as well as proximity information were found, implemented and evaluated. Finally, four different classifiers and other methods for classification were evaluated. The method that obtained the best results consists of two steps. In the initial step, all detections which lie on top of a building are removed from the data set of labelled detections. The second step consists of classification using a Random forest classifier. Using this two-step method, the number of false alarms is reduced by 43% while the percentage of water and energy detections correctly classified is 99%.

Ces dernières années, des recherches ont été menées sur plusieurs techniques reliées à la collection des déchets. Plusieurs découvertes centrales pour le ramassage de miettes par copie ont été réalisées. Cependant, des améliorations sont encore possibles. Dans ce mémoire, nous introduisons des nouvelles techniques et de nouveaux algorithmes pour améliorer le ramassage de miettes. En particulier, nous introduisons une technique utilisant des cadres délimités pour marquer et retracer les pointeurs racines. Cette technique permet un calcul efficace de l'ensemble des racines. Elle réutilise des concepts de deux techniques existantes, card marking et remembered sets, et utilise une configuration bidirectionelle des objets pour améliorer ces concepts en stabilisant le surplus de mémoire utilisée et en réduisant la charge de travail lors du parcours des pointeurs. Nous présentons aussi un algorithme pour marquer récursivement les objets rejoignables sans utiliser de pile (éliminant le gaspillage de mémoire habituel). Nous adaptons cet algorithme pour implémenter un ramasse-miettes copiant en profondeur et améliorer la localité du heap. Nous améliorons l'algorithme de collection des miettes older-first et sa version générationnelle en ajoutant une phase de marquage garantissant la collection de toutes les miettes, incluant les structures cycliques réparties sur plusieurs fenêtres. Finalement, nous introduisons une technique pour gérer les gros objets. Pour tester nos idées, nous avons conçu et implémenté, dans la machine virtuelle libre Java SableVM, un cadre de développement portable et extensible pour la collection des miettes. Dans ce cadre, nous avons implémenté des algorithmes de collection semi-space, older-first et generational. Nos expérimentations montrent que la technique du cadre délimité procure des performances compétitives pour plusieurs benchmarks. Elles montrent aussi que, pour la plupart des benchmarks, notre algorithme de parcours en profondeur améliore la localité et augmente ainsi la performance. Nos mesures de la performance générale montrent que, utilisant nos techniques, un ramasse-miettes peut délivrer une performance compétitive et surpasser celle des ramasses-miettes existants pour plusieurs benchmarks. ______________________________________________________________________________ MOTS-CLÉS DE L’AUTEUR : Ramasse-Miettes, Machine Virtuelle, Java, SableVM.

Le projet porte sur la communication homme-machine. Homme et machine sont pris comme deux espaces cognitifs distincts, naturel et artificiel. Quelle perception ont-ils l'un de l'aulre? Comment interagissent-ils? L'expression sonore constitue un point commun aux deux espèces. Cnidaria est une installation robotique interactive et immersive. Une communauté de robots occupent un territoire public. Le public peut interagir avec l'installation et entrer dans la représentation en usant d'un langage rudimentaire. Le spectacle se crée par la dynamique entre les interacteurs et un système informatique autonome et génératif