Dynamic knowledge modelling

The integration of knowledge from various modelling paradigms has posed great difficulty to knowledge engineers due to the inability to re-use knowledge from diverse domains. This research has identified novel processes, which collectively provide the basis for dynamic knowledge modelling, as the key step in knowledge integration. These processes required prototypical knowledge structures derived from abstractions of reasoning processes and have been shown to provide a knowledge modelling solution to complex knowledge management tasks.

Kinect with ROS, interact with oculus: towards dynamic user interfaces for robotic teleoperation

Teleoperation remains an important aspect for robotic systems especially when deployed in unstructured environments. While a range of research strives for robots that are completely autonomous, many robotic applications still require some level of human-in-The-loop control. In any situation where teleoperation is required an effective User Interface (UI) remains a key component within the systems design. Current advancements in Virtual Reality (VR) software and hardware such as the Oculus Rift, HTC Vive and Google Cardboard combined with greater transparency to robotic systems afforded by middleware such as the Robot Operating System (ROS) provides an opportunity to rapidly improve traditional teleoperation interfaces. This paper uses a System of System (SoS) approach to present the concept of a Virtual Reality Dynamic User Interface (VRDUI) for the teleoperation of heterogeneous robots. Different geometric virtual workspaces are discussed and a cylindrical workspace aligned with interactive displays is presented as a virtual control room. A presentation mode within the proposed VRDUI is also detailed, this shows how point cloud information obtained from the Microsoft Kinect can be incorporated within the proposed virtual workspace. This point cloud data is successfully processed into an OctoMap utilizing the octree data structure to create a voxelized representation of the 3D scanned environment. The resulting OctoMap is then displayed to an operator as a 3D point cloud using the Oculus Rift Head Mounted Display (HMD).

Robust video/ultrasonic fusion based estimation for automotive applications

We describe how object estimation by a stationary or a non-stationary camera can be improved using recently-developed robust estimation ideas. The robustness of vision-based systems can be improved significantly by employing a Robust Extended Kalman Filter (REKF). The system performance is also enhanced by increasing the spatial diveristy in measurements via employing additional cameras for video capture. We describe a normal-flow based image segmentation technique to identify the object for the application of our proposed state estimation technique. Our simulations demonstrate that dynamic system modelling coupled with the application of a REKF significantly improves the estimation system performance, especially when large uncertainties are present.

"You Tube and I Find" - personalizing multimedia content access

Recent growth in broadband access and proliferation of small personal devices that capture images and videos has led to explosive growth of multimedia content available everywhereVfrom personal disks to the Web. While digital media capture and upload has become nearly universal with newer device technology, there is still a need for better tools and technologies to search large collections of multimedia data and to find and deliver the right content to a user according to her current needs and preferences. A renewed focus on the subjective dimension in the multimedia lifecycle, fromcreation, distribution, to delivery and consumption, is required to address this need beyond what is feasible today. Integration of the subjective aspects of the media itselfVits affective, perceptual, and physiological potential (both intended and achieved), together with those of the users themselves will allow for personalizing the content access, beyond today’s facility. This integration, transforming the traditional multimedia information retrieval (MIR) indexes to more effectively answer specific user needs, will allow a richer degree of personalization predicated on user intention and mode of interaction, relationship to the producer, content of the media, and their history and lifestyle. In this paper, we identify the challenges in achieving this integration, current approaches to interpreting content creation processes, to user modelling and profiling, and to personalized content selection, and we detail future directions. The structure of the paper is as follows: In Section I, we introduce the problem and present some definitions. In Section II, we present a review of the aspects of personalized content and current approaches for the same. Section III discusses the problem of obtaining metadata that is required for personalized media creation and present eMediate as a case study of an integrated media capture environment. Section IV presents the MAGIC system as a case study of capturing effective descriptive data and putting users first in distributed learning delivery. The aspects of modelling the user are presented as a case study in using user’s personality as a way to personalize summaries in Section V. Finally, Section VI concludes the paper with a discussion on the emerging challenges and the open problems.

Searching Baxter's URDF robot joint and link tree for active serial chains

Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new approaches to teleoperation control. This paper considers a dynamic user interface for improving the operator's ability to teleoperate heterogeneous robotic systems in dynamic and challenging environments. In order to achieve the proposed dynamic user interface the robot(s) comprising the heterogeneous robotic system and their active components need to be categorized. The recent uptake of ROS means that many robots are now represented within the standardized Unified Robot Descriptive Format (URDF), and this paper proposes a method for searching the URDF for active serial chains in individual robot systems. Results demonstrate the ability of the approach to determine active serial chains and associated kinematic information for the Baxter torso robot.

Layered dynamic probabilistic networks for spatio-temporal modelling

In applications such as tracking and surveillance in large spatial environments, there is a need for representing dynamic and noisy data and at the same time dealing with them at different levels of detail. In the spatial domain, there has been work dealing with these two issues separately, however, there is no existing common framework for dealing with both of them. In this paper, we propose a new representation framework called the Layered Dynamic Probabilistic Network (LDPN), a special type of Dynamic Probabilistic Network (DPN), capable of handling uncertainty and representing spatial data at various levels of detail. The framework is thus particularly suited to applications in wide-area environments which are characterised by large region size, complex spatial layout and multiple sensors/cameras. For example, a building has three levels: entry/exit to the building, entry/exit between rooms and moving within rooms. To avoid the problem of a relatively large state space associated with a large spatial environment, the LDPN explicitly encodes the hierarchy of connected spatial locations, making it scalable to the size of the environment being modelled. There are three main advantages of the LDPN. First, the reduction in state space makes it suitable for dealing with wide area surveillance involving multiple sensors. Second, it offers a hierarchy of intervals for indexing temporal data. Lastly, the explicit representation of intermediate sub-goals allows for the extension of the framework to easily represent group interactions by allowing coupling between sub-goal layers of different individuals or objects. We describe an adaptation of the likelihood sampling inference scheme for the LDPN, and illustrate its use in a hypothetical surveillance scenario.

Dynamic shot suggestion filtering for home video based on user performance

This paper presents novel additions to our existing amateur media creation framework. The framework provides at-capture guidance to enable the home movie maker to realize their aesthetic and narrative goals and automation of post-production editing. A common problem with the amateur filming context is its contingent nature, which often results in the failure to gain footage vital to the user's goals, even with at-capture software embedding. Accordingly, we have modelled minimizing the difference between target and captured footage at a given time during filming as a probability distribution divergence problem. We apply two policies of feedback to the user on their performance, passive communication via a suggestion desirability measure, and active filtering of undesirable suggestions. We demonstrate the framework using each policy with a simulation of various user and filming situations with promising results.

Haptics interface for modelling and simulation of flexible cables

Virtual reality systems are becoming a must for product and process design, training practices and ergonomic analysis in many manufacturing industries. The automotive sector is considered to be the leader in applying virtual reality (VR) solutions for real-world, non-trivial, problems. Although, a number of commercial 3D engineering tools for digital mockups exist, most of them lack intuitive direct manipulation of the digital mockups. The majority of these 3D engineering tools are constrained to the interaction mainly with rigid objects which is just half the story. To bridge this gap, we have developed a haptics interface for modelling and simulation of flexible objects. The graphical and haptic user interface developed allows the creation of multiple one dimensional (1D) flexible objects, such as hoses, cables and harnesses. The user is required to provide the mechanical properties of the material such as Young's modulus, Poisson's ratio, material density, damping factors, as well as dimensional properties such as length, and inner and outer diameters of the flexible object. Flexilution solver is employed to estimate and simulate the dynamic behaviour of flexible objects in response to external user interaction, whereas Nvidia's generic physics engine is used to simulate the behaviour of rigid objects. A generic communication interface is developed to accommodate a variety of devices without the reconfiguration of the simulation platform.

Hydrological modelling with a dynamic neural fuzzy inference system

Dynamic Evolving Neural-Fuzzy Inference System (DENFIS) is a Takagi-Sugeno-type fuzzy inference system for online learning which can be applied for dynamic time series prediction. Data from Heshui catchment (2,275 km2) which is rural catchment in China, comprising daily time series of rainfall and discharge from January 1, 1990 to January 21, 2006 were analyzed. Rainfall and discharge antecedents were the inputs used for the DENFIS and ANFIS models and the output was discharge at the present time. DENFIS model results were compared with the results obtained from the physically-based University Regina Hydrologic Model (URHM) and an Adaptive Network-based Fuzzy Inference System (ANFIS) which employs offline learning. Our analysis shows that DENFIS results are better or at least comparable to URHM, but almost identical to ANFIS.

Dynamic evolving neural-fuzzy inference system for rainfall-runoff (R-R) modelling

Dynamic Evolving Neural-Fuzzy Inference System (DENFIS) is a Takagi-Sugeno-type fuzzy inference system for online learning which can be applied for dynamic time series prediction. To the best of our knowledge, this is the first time that DENFIS has been used for rainfall-runoff (R-R) modeling. DENFIS model results were compared to the results obtained from the physically-based Storm Water Management Model (SWMM) and an Adaptive Network-based Fuzzy Inference System (ANFIS) which employs offline learning. Data from a small (5.6 km2) catchment in Singapore, comprising 11 separated storm events were analyzed. Rainfall was the only input used for the DENFIS and ANFIS models and the output was discharge at the present time. It is concluded that DENFIS results are better or at least comparable to SWMM, but similar to ANFIS. These results indicate a strong potential for DENFIS to be used in R-R modeling.

Dynamic access point association using software defined networking

Previous attempts in addressing Access Point (AP) association at overlapping zone of IEEE 802.11 networks have shown some issues. They work passively and estimate load from different network metrics such as frame delay, packet loss, number of users etc. that may not always true. Further the user behaviour is selfish i.e. illegitimate user consume high network resources. This adversely affect existing or new users which in turn motivates them to change locations. To alleviate these issues, we propose the use of a Software Defined Networking (SDN) enabled client side (wireless end user) solution. In this paper, we start by proposing a dynamic AP selection algorithm/framework in wireless user device. The device receive network resource related statistics from SDN Controller and guide the client device to associate itself with the best selected AP. We justify that the use of SDN discourage users to act selfishly. Further, a mathematical modelling of the proposed scheme is derived using Fuzzy membership function and the simulation is carried out. Results obtained from simulation necessitates to implement SDN enabled client side methods.

GIS-based dynamic modelling and analysis of flash floods considering land-use planning

Flood inundation is a common natural disaster and a growing development challenge for many cities and thousands of small towns around the world. Soil features have frequently altered with the rapid development of urbanised regions, which has led to more frequent and longer duration of flooding in urban flood-prone regions. Thus, this paper presents a geographic information system (GIS)-based methodology for measuring and visualising the effects on urban flash floods generated by land-use changes over time. The measurement is formulated with a time series in order to perform a dynamic analysis. A catchment mesh is introduced into a hydrological model for reflecting the spatial layouts of infrastructure and structures over different construction periods. The Geelong Waurn Ponds campus of Deakin University is then selected as a case study. Based on GIS simulation and mapping technologies, this research illustrates the evolutionary process of flash floods. The paper then describes flood inundation for different built environments and presents a comparison by quantifying the flooding extents for infrastructure and structures. The results reveal that the GIS-based estimation model can examine urban flash floods in different development phases and identify the change of flooding extents in terms of land-use planning. This study will bring benefits to urban planners in raising awareness of flood impact and the approach proposed here could be used for flood mitigation through future urban planning.