A comparative study of supervised learning techniques for data-driven haptic simulation

This paper focuses on the choice of a supervised learning algorithm and possible data preprocessing in the domain of data-driven haptic simulation. This is done through a comparison of the performance of different supervised learning techniques with and without data preprocessing. The simulation of haptic interactions with deformable objects using data-driven methods has emerged as an alternative to parametric methods. The accuracy of the simulation depends on the empirical data and the learning method. Several methods were suggested in the literature and here we provide a comparison between their performance and applicability to this domain. We selected four examples to be compared: singular learning mechanism which is artificial neural networks (ANN), attribute selection followed by ANN learning process, ensemble of multiple learning techniques, and attribute selection followed by the learning ensemble. These methods performance was compared in the domain of simulating multiple interactions with a deformable object with nonlinear material behavior.

Towards an efficient haptic rendering using data-driven modeling

This thesis focuses on the optimisation of haptic rendering of interactions with deformable models. The research demonstrated that data-driven techniques can produce a real-time, accurate and complex simulation experience. Applications include, but not limited to, virtual training, rapid prototyping, virtual presence, and entertainment.

Data-driven computation of contact dynamics during two-point manipulation of deformable objects

This study represents a preliminary step towards data-driven computation of contact dynamics during manipulation of deformable objects at two points of contact. A modeling approach is proposed that characterizes the individual interaction at both points and the mutual effects of the two interactions on each other via a set of parameters. Both global as well as local coordinate systems are tested for encoding the contact mechanics. Artificial neural networks are trained on simulated data to capture the object behavior. A comparison of test data with the output of the trained system reveals a mean squared error percentage between 1% and 3% for simple interactions.

Automatic deformation transfer for data-driven haptic rendering

This paper addresses a major challenge in datadriven haptic modeling of deformable objects. Data-driven modelling is done for specific objects and is difficult to generalize for nearly isometric objects that have similarities in semantics or topology. This limitation prevents the wide use of the data-driven modeling techniques when compared with parametric methods such as finite element methods. The proposed solution is to incorporate deformation transfer methods when processing similar instances. The contributions of this work are focused on the novel automatic shape correspondence method that overcomes the problems of symmetry and semantics presence requirement. The results shows that the proposed algorithm can efficiently calculate the correspondence and transfer deformations for a range of similar 3D objects.

Flood forecasting in large rivers with data-driven models

Results from the application of adaptive neuro-fuzzy inference system (ANFIS) to forecast water levels at 3 stations along the mainstream of the Lower Mekong River are reported in this paper. The study investigated the effects of including water levels from upstream stations and tributaries, and rainfall as inputs to ANFIS models developed for the 3 stations. When upstream water levels in the mainstream were used as input, improvements to forecasts were realized only when the water levels from 1 or at most 2 upstream stations were included. This is because when there are significant contributions of flow from the tributaries, the correlation between the water levels in the upstream stations and stations of interest decreases, limiting the effectiveness of including water levels from upstream stations as inputs. In addition, only improvements at short lead times were achieved. Including the water level from the tributaries did not significantly improve forecast results. This is attributed mainly to the fact that the flow contributions represented by the tributaries may not be significant enough, given that there could be large volume of flow discharging directly from the catchments which are ungauged, into the mainstream. The largest improvement for 1-day forecasts was obtained for Kratie station where lateral flow contribution was 17 %, the highest for the 3 stations considered. The inclusion of rainfall as input resulted in significant improvements to long-term forecasts. For Thakhek, where rainfall is most significant, the persistence index and coefficient of efficiency for 5-lead-day forecasts improved from 0.17 to 0.44 and 0.89 to 0.93, respectively, whereas the root mean square error decreased from 0.83 to 0.69 m.

3D Intervertebral disc localization and segmentation from MR images by data-driven regression and classification

In this paper we propose a new fully-automatic method for localizing and segmenting 3D intervertebral discs from MR images, where the two problems are solved in a unified data-driven regression and classification framework. We estimate the output (image displacements for localization, or fg/bg labels for segmentation) of image points by exploiting both training data and geometric constraints simultaneously. The problem is formulated in a unified objective function which is then solved globally and efficiently. We validate our method on MR images of 25 patients. Taking manually labeled data as the ground truth, our method achieves a mean localization error of 1.3 mm, a mean Dice metric of 87%, and a mean surface distance of 1.3 mm. Our method can be applied to other localization and segmentation tasks.

On the determination of the number of factors using information criteria with data-driven penalty

As is well known, when using an information criterion to select the number of common factors in factor models the appropriate penalty is generally indetermine in the sense that it can be scaled by an arbitrary constant, c say, without affecting consistency. In an influential paper, Hallin and Liška (J Am Stat Assoc102:603–617, 2007) proposes a data-driven procedure for selecting the appropriate value of c. However, by removing one source of indeterminacy, the new procedure simultaneously creates several new ones, which make for rather complicated implementation, a problem that has been largely overlooked in the literature. By providing an extensive analysis using both simulated and real data, the current paper fills this gap.

Localization and degmentation of 3D intervertebral discs in MR Images by data driven estimation

This paper addresses the problem of fully-automatic localization and segmentation of 3D intervertebral discs (IVDs) from MR images. Our method contains two steps, where we first localize the center of each IVD, and then segment IVDs by classifying image pixels around each disc center as foreground (disc) or background. The disc localization is done by estimating the image displacements from a set of randomly sampled 3D image patches to the disc center. The image displacements are estimated by jointly optimizing the training and test displacement values in a data-driven way, where we take into consideration both the training data and the geometric constraint on the test image. After the disc centers are localized, we segment the discs by classifying image pixels around disc centers as background or foreground. The classification is done in a similar data-driven approach as we used for localization, but in this segmentation case we are aiming to estimate the foreground/background probability of each pixel instead of the image displacements. In addition, an extra neighborhood smooth constraint is introduced to enforce the local smoothness of the label field. Our method is validated on 3D T2-weighted turbo spin echo MR images of 35 patients from two different studies. Experiments show that compared to state of the art, our method achieves better or comparable results. Specifically, we achieve for localization a mean error of 1.6-2.0 mm, and for segmentation a mean Dice metric of 85%-88% and a mean surface distance of 1.3-1.4 mm.