Matching Items (297)
Filtering by
- All Subjects: Artificial Intelligence
- Creators: Arizona State University
Description
Question Answering has been under active research for decades, but it has recently taken the spotlight following IBM Watson's success in Jeopardy! and digital assistants such as Apple's Siri, Google Now, and Microsoft Cortana through every smart-phone and browser. However, most of the research in Question Answering aims at factual questions rather than deep ones such as ``How'' and ``Why'' questions.
In this dissertation, I suggest a different approach in tackling this problem. We believe that the answers of deep questions need to be formally defined before found.
Because these answers must be defined based on something, it is better to be more structural in natural language text; I define Knowledge Description Graphs (KDGs), a graphical structure containing information about events, entities, and classes. We then propose formulations and algorithms to construct KDGs from a frame-based knowledge base, define the answers of various ``How'' and ``Why'' questions with respect to KDGs, and suggest how to obtain the answers from KDGs using Answer Set Programming. Moreover, I discuss how to derive missing information in constructing KDGs when the knowledge base is under-specified and how to answer many factual question types with respect to the knowledge base.
After having the answers of various questions with respect to a knowledge base, I extend our research to use natural language text in specifying deep questions and knowledge base, generate natural language text from those specification. Toward these goals, I developed NL2KR, a system which helps in translating natural language to formal language. I show NL2KR's use in translating ``How'' and ``Why'' questions, and generating simple natural language sentences from natural language KDG specification. Finally, I discuss applications of the components I developed in Natural Language Understanding.
In this dissertation, I suggest a different approach in tackling this problem. We believe that the answers of deep questions need to be formally defined before found.
Because these answers must be defined based on something, it is better to be more structural in natural language text; I define Knowledge Description Graphs (KDGs), a graphical structure containing information about events, entities, and classes. We then propose formulations and algorithms to construct KDGs from a frame-based knowledge base, define the answers of various ``How'' and ``Why'' questions with respect to KDGs, and suggest how to obtain the answers from KDGs using Answer Set Programming. Moreover, I discuss how to derive missing information in constructing KDGs when the knowledge base is under-specified and how to answer many factual question types with respect to the knowledge base.
After having the answers of various questions with respect to a knowledge base, I extend our research to use natural language text in specifying deep questions and knowledge base, generate natural language text from those specification. Toward these goals, I developed NL2KR, a system which helps in translating natural language to formal language. I show NL2KR's use in translating ``How'' and ``Why'' questions, and generating simple natural language sentences from natural language KDG specification. Finally, I discuss applications of the components I developed in Natural Language Understanding.
ContributorsVo, Nguyen Ha (Author) / Baral, Chitta (Thesis advisor) / Lee, Joohyung (Committee member) / VanLehn, Kurt (Committee member) / Tran, Son Cao (Committee member) / Arizona State University (Publisher)
Created2015
Description
Humans and robots need to work together as a team to accomplish certain shared goals due to the limitations of current robot capabilities. Human assistance is required to accomplish the tasks as human capabilities are often better suited for certain tasks and they complement robot capabilities in many situations. Given the necessity of human-robot teams, it has been long assumed that for the robotic agent to be an effective team member, it must be equipped with automated planning technologies that helps in achieving the goals that have been delegated to it by their human teammates as well as in deducing its own goal to proactively support its human counterpart by inferring their goals. However there has not been any systematic evaluation on the accuracy of this claim.
In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios.
Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general.
In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios.
Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general.
ContributorsNarayanan, Vignesh (Author) / Kambhampati, Subbarao (Thesis advisor) / Zhang, Yu (Thesis advisor) / Cooke, Nancy J. (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
Lighting systems and air-conditioning systems are two of the largest energy consuming end-uses in buildings. Lighting control in smart buildings and homes can be automated by having computer controlled lights and window blinds along with illumination sensors that are distributed in the building, while temperature control can be automated by having computer controlled air-conditioning systems. However, programming actuators in a large-scale environment for buildings and homes can be time consuming and expensive. This dissertation presents an approach that algorithmically sets up the control system that can automate any building without requiring custom programming. This is achieved by imbibing the system self calibrating and self learning abilities.
For lighting control, the dissertation describes how the problem is non-deterministic polynomial-time hard(NP-Hard) but can be resolved by heuristics. The resulting system controls blinds to ensure uniform lighting and also adds artificial illumination to ensure light coverage remains adequate at all times of the day, while adjusting for weather and seasons. In the absence of daylight, the system resorts to artificial lighting.
For temperature control, the dissertation describes how the temperature control problem is modeled using convex quadratic programming. The impact of every air conditioner on each sensor at a particular time is learnt using a linear regression model. The resulting system controls air-conditioning equipments to ensure the maintenance of user comfort and low cost of energy consumptions. The system can be deployed in large scale environments. It can accept multiple target setpoints at a time, which improves the flexibility and efficiency of cooling systems requiring temperature control.
The methods proposed work as generic control algorithms and are not preprogrammed for a particular place or building. The feasibility, adaptivity and scalability features of the system have been validated through various actual and simulated experiments.
For lighting control, the dissertation describes how the problem is non-deterministic polynomial-time hard(NP-Hard) but can be resolved by heuristics. The resulting system controls blinds to ensure uniform lighting and also adds artificial illumination to ensure light coverage remains adequate at all times of the day, while adjusting for weather and seasons. In the absence of daylight, the system resorts to artificial lighting.
For temperature control, the dissertation describes how the temperature control problem is modeled using convex quadratic programming. The impact of every air conditioner on each sensor at a particular time is learnt using a linear regression model. The resulting system controls air-conditioning equipments to ensure the maintenance of user comfort and low cost of energy consumptions. The system can be deployed in large scale environments. It can accept multiple target setpoints at a time, which improves the flexibility and efficiency of cooling systems requiring temperature control.
The methods proposed work as generic control algorithms and are not preprogrammed for a particular place or building. The feasibility, adaptivity and scalability features of the system have been validated through various actual and simulated experiments.
ContributorsWang, Yuan (Author) / Dasgupta, Partha (Thesis advisor) / Davulcu, Hasan (Committee member) / Huang, Dijiang (Committee member) / Reddy, T. Agami (Committee member) / Arizona State University (Publisher)
Created2015
Description
Feature learning and the discovery of nonlinear variation patterns in high-dimensional data is an important task in many problem domains, such as imaging, streaming data from sensors, and manufacturing. This dissertation presents several methods for learning and visualizing nonlinear variation in high-dimensional data. First, an automated method for discovering nonlinear variation patterns using deep learning autoencoders is proposed. The approach provides a functional mapping from a low-dimensional representation to the original spatially-dense data that is both interpretable and efficient with respect to preserving information. Experimental results indicate that deep learning autoencoders outperform manifold learning and principal component analysis in reproducing the original data from the learned variation sources.
A key issue in using autoencoders for nonlinear variation pattern discovery is to encourage the learning of solutions where each feature represents a unique variation source, which we define as distinct features. This problem of learning distinct features is also referred to as disentangling factors of variation in the representation learning literature. The remainder of this dissertation highlights and provides solutions for this important problem.
An alternating autoencoder training method is presented and a new measure motivated by orthogonal loadings in linear models is proposed to quantify feature distinctness in the nonlinear models. Simulated point cloud data and handwritten digit images illustrate that standard training methods for autoencoders consistently mix the true variation sources in the learned low-dimensional representation, whereas the alternating method produces solutions with more distinct patterns.
Finally, a new regularization method for learning distinct nonlinear features using autoencoders is proposed. Motivated in-part by the properties of linear solutions, a series of learning constraints are implemented via regularization penalties during stochastic gradient descent training. These include the orthogonality of tangent vectors to the manifold, the correlation between learned features, and the distributions of the learned features. This regularized learning approach yields low-dimensional representations which can be better interpreted and used to identify the true sources of variation impacting a high-dimensional feature space. Experimental results demonstrate the effectiveness of this method for nonlinear variation pattern discovery on both simulated and real data sets.
A key issue in using autoencoders for nonlinear variation pattern discovery is to encourage the learning of solutions where each feature represents a unique variation source, which we define as distinct features. This problem of learning distinct features is also referred to as disentangling factors of variation in the representation learning literature. The remainder of this dissertation highlights and provides solutions for this important problem.
An alternating autoencoder training method is presented and a new measure motivated by orthogonal loadings in linear models is proposed to quantify feature distinctness in the nonlinear models. Simulated point cloud data and handwritten digit images illustrate that standard training methods for autoencoders consistently mix the true variation sources in the learned low-dimensional representation, whereas the alternating method produces solutions with more distinct patterns.
Finally, a new regularization method for learning distinct nonlinear features using autoencoders is proposed. Motivated in-part by the properties of linear solutions, a series of learning constraints are implemented via regularization penalties during stochastic gradient descent training. These include the orthogonality of tangent vectors to the manifold, the correlation between learned features, and the distributions of the learned features. This regularized learning approach yields low-dimensional representations which can be better interpreted and used to identify the true sources of variation impacting a high-dimensional feature space. Experimental results demonstrate the effectiveness of this method for nonlinear variation pattern discovery on both simulated and real data sets.
ContributorsHoward, Phillip (Author) / Runger, George C. (Thesis advisor) / Montgomery, Douglas C. (Committee member) / Mirchandani, Pitu (Committee member) / Apley, Daniel (Committee member) / Arizona State University (Publisher)
Created2016
Description
For this master's thesis, an open learner model is integrated with Quinn, a teachable robotic agent developed at Arizona State University. This system is represented as a feedback system, which aims to improve a student’s understanding of a subject. It also helps to understand the effect of the learner model when it is represented by performance of the teachable agent. The feedback system represents performance of the teachable agent, and not of a student. Data in the feedback system is thus updated according to a student's understanding of the subject. This provides students an opportunity to enhance their understanding of a subject by analyzing their performance. To test the effectiveness of the feedback system, student understanding in two different conditions is analyzed. In the first condition a feedback report is not provided to the students, while in the second condition the feedback report is provided in the form of the agent’s performance.
ContributorsUpadhyay, Abha (Author) / Walker, Erin (Thesis advisor) / Nelson, Brian (Committee member) / Amresh, Ashish (Committee member) / Arizona State University (Publisher)
Created2016
Description
Although current urban search and rescue (USAR) robots are little more than remotely controlled cameras, the end goal is for them to work alongside humans as trusted teammates. Natural language communications and performance data are collected as a team of humans works to carry out a simulated search and rescue task in an uncertain virtual environment. Conditions are tested emulating a remotely controlled robot versus an intelligent one. Differences in performance, situation awareness, trust, workload, and communications are measured. The Intelligent robot condition resulted in higher levels of performance and operator situation awareness (SA).
ContributorsBartlett, Cade Earl (Author) / Cooke, Nancy J. (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Wu, Bing (Committee member) / Arizona State University (Publisher)
Created2015
Description
There has been a lot of research in the field of artificial intelligence about thinking machines. Alan Turing proposed a test to observe a machine's intelligent behaviour with respect to natural language conversation. The Winograd schema challenge is suggested as an alternative, to the Turing test. It needs inferencing capabilities, reasoning abilities and background knowledge to get the answer right. It involves a coreference resolution task in which a machine is given a sentence containing a situation which involves two entities, one pronoun and some more information about the situation and the machine has to come up with the right resolution of a pronoun to one of the entities. The complexity of the task is increased with the fact that the Winograd sentences are not constrained by one domain or specific sentence structure and it also contains a lot of human proper names. This modification makes the task of association of entities, to one particular word in the sentence, to derive the answer, difficult. I have developed a pronoun resolver system for the confined domain Winograd sentences. I have developed a classifier or filter which takes input sentences and decides to accept or reject them based on a particular criteria. Once the sentence is accepted. I run parsers on it to obtain the detailed analysis. Furthermore I have developed four answering modules which use world knowledge and inferencing mechanisms to try and resolve the pronoun. The four techniques I use are : ConceptNet knowledgebase, Search engine pattern counts,Narrative event chains and sentiment analysis. I have developed a particular aggregation mechanism for the answers from these modules to arrive at a final answer. I have used caching technique for the association relations that I obtain for different modules, so as to boost the performance. I run my system on the standard ‘nyu dataset’ of Winograd sentences and questions. This dataset is then restricted, by my classifier, to 90 sentences. I evaluate my system on this 90 sentence dataset. When I compare my results against the state of the art system on the same dataset, I get nearly 4.5 % improvement in the restricted domain.
ContributorsBudukh, Tejas Ulhas (Author) / Baral, Chitta (Thesis advisor) / VanLehn, Kurt (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2013
Description
Biological organisms are made up of cells containing numerous interconnected biochemical processes. Diseases occur when normal functionality of these processes is disrupted, manifesting as disease symptoms. Thus, understanding these biochemical processes and their interrelationships is a primary task in biomedical research and a prerequisite for activities including diagnosing diseases and drug development. Scientists studying these interconnected processes have identified various pathways involved in drug metabolism, diseases, and signal transduction, etc. High-throughput technologies, new algorithms and speed improvements over the last decade have resulted in deeper knowledge about biological systems, leading to more refined pathways. Such pathways tend to be large and complex, making it difficult for an individual to remember all aspects. Thus, computer models are needed to represent and analyze them. The refinement activity itself requires reasoning with a pathway model by posing queries against it and comparing the results against the real biological system. Many existing models focus on structural and/or factoid questions, relying on surface-level information. These are generally not the kind of questions that a biologist may ask someone to test their understanding of biological processes. Examples of questions requiring understanding of biological processes are available in introductory college level biology text books. Such questions serve as a model for the question answering system developed in this thesis. Thus, the main goal of this thesis is to develop a system that allows the encoding of knowledge about biological pathways to answer questions demonstrating understanding of the pathways. To that end, a language is developed to specify a pathway and pose questions against it. Some existing tools are modified and used to accomplish this goal. The utility of the framework developed in this thesis is illustrated with applications in the biological domain. Finally, the question answering system is used in real world applications by extracting pathway knowledge from text and answering questions related to drug development.
ContributorsAnwar, Saadat (Author) / Baral, Chitta (Thesis advisor) / Inoue, Katsumi (Committee member) / Chen, Yi (Committee member) / Davulcu, Hasan (Committee member) / Lee, Joohyung (Committee member) / Arizona State University (Publisher)
Created2014
Description
As the size and scope of valuable datasets has exploded across many industries and fields of research in recent years, an increasingly diverse audience has sought out effective tools for their large-scale data analytics needs. Over this period, machine learning researchers have also been very prolific in designing improved algorithms which are capable of finding the hidden structure within these datasets. As consumers of popular Big Data frameworks have sought to apply and benefit from these improved learning algorithms, the problems encountered with the frameworks have motivated a new generation of Big Data tools to address the shortcomings of the previous generation. One important example of this is the improved performance in the newer tools with the large class of machine learning algorithms which are highly iterative in nature. In this thesis project, I set about to implement a low-rank matrix completion algorithm (as an example of a highly iterative algorithm) within a popular Big Data framework, and to evaluate its performance processing the Netflix Prize dataset. I begin by describing several approaches which I attempted, but which did not perform adequately. These include an implementation of the Singular Value Thresholding (SVT) algorithm within the Apache Mahout framework, which runs on top of the Apache Hadoop MapReduce engine. I then describe an approach which uses the Divide-Factor-Combine (DFC) algorithmic framework to parallelize the state-of-the-art low-rank completion algorithm Orthogoal Rank-One Matrix Pursuit (OR1MP) within the Apache Spark engine. I describe the results of a series of tests running this implementation with the Netflix dataset on clusters of various sizes, with various degrees of parallelism. For these experiments, I utilized the Amazon Elastic Compute Cloud (EC2) web service. In the final analysis, I conclude that the Spark DFC + OR1MP implementation does indeed produce competitive results, in both accuracy and performance. In particular, the Spark implementation performs nearly as well as the MATLAB implementation of OR1MP without any parallelism, and improves performance to a significant degree as the parallelism increases. In addition, the experience demonstrates how Spark's flexible programming model makes it straightforward to implement this parallel and iterative machine learning algorithm.
ContributorsKrouse, Brian (Author) / Ye, Jieping (Thesis advisor) / Liu, Huan (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2014
Description
This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs under MATLAB/Simulink to simulate the movements of multiple iRobots and to control, after verification by simulation, multiple physical iRobots accordingly. It adopts the Simulink/Stateflow, which exemplifies an approach to MBD, to program the behaviors of the iRobots. The MBDMIRT toolbox reuses and augments the open-source MATLAB-Based Simulator for the iRobot Create from Cornell University to run the simulation. Regarding the mechanism of iRobot control, the MBDMIRT toolbox applies the MATLAB Toolbox for the iRobot Create (MTIC) from United States Naval Academy to command the physical iRobots. The MBDMIRT toolbox supports a timer in both the simulation and the control, which is based on the local clock of the PC running the toolbox. In addition to the build-in sensors of an iRobot, the toolbox can simulate four user-added sensors, which are overhead localization system (OLS), sonar sensors, a camera, and Light Detection And Ranging (LIDAR). While controlling a physical iRobot, the toolbox supports the StarGazer OLS manufactured by HAGISONIC, Inc.
ContributorsSu, Shih-Kai (Author) / Fainekos, Georgios E (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Artemiadis, Panagiotis K (Committee member) / Arizona State University (Publisher)
Created2012