A model for measuring and predicting stress for software developers using vital signs and activities
- Authors: Hibbers, Ilze
- Date: 2024-04
- Subjects: Machine learning , Neural networks (Computer science) , Computer software developers
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/63799 , vital:73614
- Description: Occupational stress is a well-recognised issue that affects individuals in various professions and industries. Reducing occupational stress has multiple benefits, such as improving employee's health and performance. This study proposes a model to measure and predict occupational stress using data collected in a real IT office environment. Different data sources, such as questionnaires, application software (RescueTime) and Fitbit smartwatches were used for collecting heart rate (HR), facial emotions, computer interactions, and application usage. The results of the Demand Control Support and Effort and Reward questionnaires indicated that the participants experienced high social support and an average level of workload. Participants also reported their daily perceived stress and workload level using a 5- point score. The perceived stress of the participants was overall neutral. There was no correlation found between HR, interactions, fear, and meetings. K-means and Bernoulli algorithms were applied to the dataset and two well-separated clusters were formed. The centroids indicated that higher heart rates were grouped either with meetings or had a higher difference in the center point values for interactions. Silhouette scores and 5-fold-validation were used to measure the accuracy of the clusters. However, these clusters were unable to predict the daily reported stress levels. Calculations were done on the computer usage data to measure interaction speeds and time spent working, in meetings, or away from the computer. These calculations were used as input into a decision tree with the reported daily stress levels. The results of the tree helped to identify which patterns lead to stressful days. The results indicated that days with high time pressure led to more reported stress. A new, more general tree was developed, which was able to predict 82 per cent of the daily stress reported. The main discovery of the research was that stress does not have a straightforward connection with computer interactions, facial emotions, or meetings. High interactions sometimes lead to stress and other times do not. So, predicting stress involves finding patterns and how data from different data sources interact with each other. Future work will revolve around validating the model in more office environments around South Africa. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2024
- Full Text:
- Date Issued: 2024-04
A model for measuring and predicting stress for software developers using vital signs and activities
- Authors: Hibbers, Ilze
- Date: 2024-04
- Subjects: Machine learning , Neural networks (Computer science) , Computer software developers
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/63799 , vital:73614
- Description: Occupational stress is a well-recognised issue that affects individuals in various professions and industries. Reducing occupational stress has multiple benefits, such as improving employee's health and performance. This study proposes a model to measure and predict occupational stress using data collected in a real IT office environment. Different data sources, such as questionnaires, application software (RescueTime) and Fitbit smartwatches were used for collecting heart rate (HR), facial emotions, computer interactions, and application usage. The results of the Demand Control Support and Effort and Reward questionnaires indicated that the participants experienced high social support and an average level of workload. Participants also reported their daily perceived stress and workload level using a 5- point score. The perceived stress of the participants was overall neutral. There was no correlation found between HR, interactions, fear, and meetings. K-means and Bernoulli algorithms were applied to the dataset and two well-separated clusters were formed. The centroids indicated that higher heart rates were grouped either with meetings or had a higher difference in the center point values for interactions. Silhouette scores and 5-fold-validation were used to measure the accuracy of the clusters. However, these clusters were unable to predict the daily reported stress levels. Calculations were done on the computer usage data to measure interaction speeds and time spent working, in meetings, or away from the computer. These calculations were used as input into a decision tree with the reported daily stress levels. The results of the tree helped to identify which patterns lead to stressful days. The results indicated that days with high time pressure led to more reported stress. A new, more general tree was developed, which was able to predict 82 per cent of the daily stress reported. The main discovery of the research was that stress does not have a straightforward connection with computer interactions, facial emotions, or meetings. High interactions sometimes lead to stress and other times do not. So, predicting stress involves finding patterns and how data from different data sources interact with each other. Future work will revolve around validating the model in more office environments around South Africa. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2024
- Full Text:
- Date Issued: 2024-04
Augmenting the Moore-Penrose generalised Inverse to train neural networks
- Authors: Fang, Bobby
- Date: 2024-04
- Subjects: Neural networks (Computer science) , Machine learning , Mathematical optimization -- Computer programs
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/63755 , vital:73595
- Description: An Extreme Learning Machine (ELM) is a non-iterative and fast feedforward neural network training algorithm which uses the Moore-Penrose generalised inverse of a matrix to compute the weights of the output layer of the neural network, using a random initialisation for the hidden layer. While ELM has been used to train feedforward neural networks, the effectiveness of the MP generalised to train recurrent neural networks is yet to be investigated. The primary aim of this research was to investigate how biases in the output layer and the MP generalised inverse can be used to train recurrent neural networks. To accomplish this, the Bias Augmented ELM (BA-ELM), which concatenated the hidden layer output matrix with a ones-column vector to simulate the biases in the output layer, was proposed. A variety of datasets generated from optimisation test functions, as well as using real-world regression and classification datasets, were used to validate BA-ELM. The results showed in specific circumstances that BA-ELM was able to perform better than ELM. Following this, Recurrent ELM (R-ELM) was proposed which uses a recurrent hidden layer instead of a feedforward hidden layer. Recurrent neural networks also rely on having functional feedback connections in the recurrent layer. A hybrid training algorithm, Recurrent Hybrid ELM (R-HELM), was proposed, which uses a gradient-based algorithm to optimise the recurrent layer and the MP generalised inverse to compute the output weights. The evaluation of R-ELM and R-HELM algorithms were carried out using three different recurrent architectures on two recurrent tasks derived from the Susceptible- Exposed-Infected-Removed (SEIR) epidemiology model. Various training hyperparameters were evaluated through hyperparameter investigations to investigate their effectiveness on the hybrid training algorithm. With optimal hyperparameters, the hybrid training algorithm was able to achieve better performance than the conventional gradient-based algorithm. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2024
- Full Text:
- Date Issued: 2024-04
- Authors: Fang, Bobby
- Date: 2024-04
- Subjects: Neural networks (Computer science) , Machine learning , Mathematical optimization -- Computer programs
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/63755 , vital:73595
- Description: An Extreme Learning Machine (ELM) is a non-iterative and fast feedforward neural network training algorithm which uses the Moore-Penrose generalised inverse of a matrix to compute the weights of the output layer of the neural network, using a random initialisation for the hidden layer. While ELM has been used to train feedforward neural networks, the effectiveness of the MP generalised to train recurrent neural networks is yet to be investigated. The primary aim of this research was to investigate how biases in the output layer and the MP generalised inverse can be used to train recurrent neural networks. To accomplish this, the Bias Augmented ELM (BA-ELM), which concatenated the hidden layer output matrix with a ones-column vector to simulate the biases in the output layer, was proposed. A variety of datasets generated from optimisation test functions, as well as using real-world regression and classification datasets, were used to validate BA-ELM. The results showed in specific circumstances that BA-ELM was able to perform better than ELM. Following this, Recurrent ELM (R-ELM) was proposed which uses a recurrent hidden layer instead of a feedforward hidden layer. Recurrent neural networks also rely on having functional feedback connections in the recurrent layer. A hybrid training algorithm, Recurrent Hybrid ELM (R-HELM), was proposed, which uses a gradient-based algorithm to optimise the recurrent layer and the MP generalised inverse to compute the output weights. The evaluation of R-ELM and R-HELM algorithms were carried out using three different recurrent architectures on two recurrent tasks derived from the Susceptible- Exposed-Infected-Removed (SEIR) epidemiology model. Various training hyperparameters were evaluated through hyperparameter investigations to investigate their effectiveness on the hybrid training algorithm. With optimal hyperparameters, the hybrid training algorithm was able to achieve better performance than the conventional gradient-based algorithm. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2024
- Full Text:
- Date Issued: 2024-04
Self-attentive vision in evolutionary robotics
- Authors: Botha, Bouwer
- Date: 2024-04
- Subjects: Evolutionary robotics , Robotics , Neural networks (Computer science)
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/63628 , vital:73566
- Description: The autonomy of a robot refers to its ability to achieve a task in an environment with minimal human supervision. This may require autonomous solutions to be able to perceive their environment to inform their decisions. An inexpensive and highly informative way that robots can perceive the environment is through vision. The autonomy of a robot is reliant on the quality of the robotic controller. These controllers are the software interface between the robot and environment that determine the actions of the robot based on the perceived environment. Controllers are typically created using manual programming techniques, which become progressively more challenging with increasing complexity of both the robot and task. An alternative to manual programming is the use of machine learning techniques such as those used by Evolutionary Robotics (ER). ER is an area of research that investigates the automatic creation of controllers. Instead of manually programming a controller, an Evolutionary Algorithms can be used to evolve the controller through repeated interactions with the task environment. Employing the ER approach on camera-based controllers, however, has presented problems for conventional ER methods. Firstly, existing architectures that are capable of automatically processing images, have a large number of trained parameters. These architectures over-encumber the evolutionary process due to the large search space of possible configurations. Secondly, the evolution of complex controllers needs to be done in simulation, which requires either: (a) the construction of a photo-realistic virtual environment with accurate lighting, texturing and models or (b) potential reduction of the controller capability by simplifying the problem via image preprocessing. Any controller trained in simulation also raises the inherent concern of not being able to transfer to the real world. This study proposes a new technique for the evolution of camera-based controllers in ER, that aims to address the highlighted problems. The use of self-attention is proposed to facilitate the evolution of compact controllers that are able to evolve specialized sets of task-relevant features in unprocessed images by focussing on important image regions. Furthermore, a new neural network-based simulation approach, Generative Neuro-Augmented Vision (GNAV), is proposed to simplify simulation construction. GNAV makes use of random data collected in a simple virtual environment and the real world. A neural network is trained to overcome the visual discrepancies between these two environments. GNAV enables a controller to be trained in a simple simulated environment that appears similar to the real environment, while requiring minimal human supervision. The capabilities of the new technique were demonstrated using a series of real-world navigation tasks based on camera vision. Controllers utilizing the proposed self-attention mechanism were trained using GNAV and transferred to a real camera-equipped robot. The controllers were shown to be able to perform the same tasks in the real world. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2024
- Full Text:
- Date Issued: 2024-04
- Authors: Botha, Bouwer
- Date: 2024-04
- Subjects: Evolutionary robotics , Robotics , Neural networks (Computer science)
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/63628 , vital:73566
- Description: The autonomy of a robot refers to its ability to achieve a task in an environment with minimal human supervision. This may require autonomous solutions to be able to perceive their environment to inform their decisions. An inexpensive and highly informative way that robots can perceive the environment is through vision. The autonomy of a robot is reliant on the quality of the robotic controller. These controllers are the software interface between the robot and environment that determine the actions of the robot based on the perceived environment. Controllers are typically created using manual programming techniques, which become progressively more challenging with increasing complexity of both the robot and task. An alternative to manual programming is the use of machine learning techniques such as those used by Evolutionary Robotics (ER). ER is an area of research that investigates the automatic creation of controllers. Instead of manually programming a controller, an Evolutionary Algorithms can be used to evolve the controller through repeated interactions with the task environment. Employing the ER approach on camera-based controllers, however, has presented problems for conventional ER methods. Firstly, existing architectures that are capable of automatically processing images, have a large number of trained parameters. These architectures over-encumber the evolutionary process due to the large search space of possible configurations. Secondly, the evolution of complex controllers needs to be done in simulation, which requires either: (a) the construction of a photo-realistic virtual environment with accurate lighting, texturing and models or (b) potential reduction of the controller capability by simplifying the problem via image preprocessing. Any controller trained in simulation also raises the inherent concern of not being able to transfer to the real world. This study proposes a new technique for the evolution of camera-based controllers in ER, that aims to address the highlighted problems. The use of self-attention is proposed to facilitate the evolution of compact controllers that are able to evolve specialized sets of task-relevant features in unprocessed images by focussing on important image regions. Furthermore, a new neural network-based simulation approach, Generative Neuro-Augmented Vision (GNAV), is proposed to simplify simulation construction. GNAV makes use of random data collected in a simple virtual environment and the real world. A neural network is trained to overcome the visual discrepancies between these two environments. GNAV enables a controller to be trained in a simple simulated environment that appears similar to the real environment, while requiring minimal human supervision. The capabilities of the new technique were demonstrated using a series of real-world navigation tasks based on camera vision. Controllers utilizing the proposed self-attention mechanism were trained using GNAV and transferred to a real camera-equipped robot. The controllers were shown to be able to perform the same tasks in the real world. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2024
- Full Text:
- Date Issued: 2024-04
Deep neural networks for robot vision in evolutionary robotics
- Authors: Watt, Nathan
- Date: 2021-04
- Subjects: Gqeberha (South Africa) , Eastern Cape (South Africa) , Neural networks (Computer science)
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/52100 , vital:43448
- Description: Advances in electronics manufacturing have made robots and their sensors cheaper and more accessible. Robots can have a variety of sensors, such as touch sensors, distance sensors and cameras. A robot’s controller is the software which interprets its sensors and determines how the robot will behave. The difficulty in programming robot controllers increases with complex robots and complicated tasks, forming a barrier to deploying robots for real-world applications. Robot controllers can be automatically created with Evolutionary Robotics (ER). ER makes use of an Evolutionary Algorithm (EA) to evolve controllers to complete a particular task. Instead of manually programming controllers, an EA can evolve controllers when provided with the robot’s task. ER has been used to evolve controllers for many different kinds of robots with a variety of sensors, however the use of robots with on-board camera sensors has been limited. The nature of EAs makes evolving a controller for a camera-equipped robot particularly difficult. There are two main challenges which complicate the evolution of vision-based controllers. First, every image from a camera contains a large amount of information, and a controller needs many parameters to receive that information, however it is difficult to evolve controllers with such a large number of parameters using EAs. Second, during the process of evolution, it is necessary to evaluate the fitness of many candidate controllers. This is typically done in simulation, however creating a simulator for a camera sensor is a tedious and timeconsuming task, as building a photo-realistic simulated environment requires handcrafted 3-dimensional models, textures and lighting. Two techniques have been used in previous experiments to overcome the challenges associated with evolving vision-based controllers. Either the controller was provided with extremely low-resolution images, or a task-specific algorithm was used to preprocess the images, only providing the necessary information to the controller. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2021
- Full Text: false
- Authors: Watt, Nathan
- Date: 2021-04
- Subjects: Gqeberha (South Africa) , Eastern Cape (South Africa) , Neural networks (Computer science)
- Language: English
- Type: Master's theses , text
- Identifier: http://hdl.handle.net/10948/52100 , vital:43448
- Description: Advances in electronics manufacturing have made robots and their sensors cheaper and more accessible. Robots can have a variety of sensors, such as touch sensors, distance sensors and cameras. A robot’s controller is the software which interprets its sensors and determines how the robot will behave. The difficulty in programming robot controllers increases with complex robots and complicated tasks, forming a barrier to deploying robots for real-world applications. Robot controllers can be automatically created with Evolutionary Robotics (ER). ER makes use of an Evolutionary Algorithm (EA) to evolve controllers to complete a particular task. Instead of manually programming controllers, an EA can evolve controllers when provided with the robot’s task. ER has been used to evolve controllers for many different kinds of robots with a variety of sensors, however the use of robots with on-board camera sensors has been limited. The nature of EAs makes evolving a controller for a camera-equipped robot particularly difficult. There are two main challenges which complicate the evolution of vision-based controllers. First, every image from a camera contains a large amount of information, and a controller needs many parameters to receive that information, however it is difficult to evolve controllers with such a large number of parameters using EAs. Second, during the process of evolution, it is necessary to evaluate the fitness of many candidate controllers. This is typically done in simulation, however creating a simulator for a camera sensor is a tedious and timeconsuming task, as building a photo-realistic simulated environment requires handcrafted 3-dimensional models, textures and lighting. Two techniques have been used in previous experiments to overcome the challenges associated with evolving vision-based controllers. Either the controller was provided with extremely low-resolution images, or a task-specific algorithm was used to preprocess the images, only providing the necessary information to the controller. , Thesis (MSc) -- Faculty of Science, School of Computer Science, Mathematics, Physics and Statistics, 2021
- Full Text: false
A comparative study of artificial neural networks and physics models as simulators in evolutionary robotics
- Pretorius, Christiaan Johannes
- Authors: Pretorius, Christiaan Johannes
- Date: 2019
- Subjects: Neural networks (Computer science)
- Language: English
- Type: Thesis , Doctoral , PhD
- Identifier: http://hdl.handle.net/10948/30789 , vital:31131
- Description: The Evolutionary Robotics (ER) process is a technique that applies evolutionary optimization algorithms to the task of automatically developing, or evolving, robotic control programs. These control programs, or simply controllers, are evolved in order to allow a robot to perform a required task. During the ER process, use is often made of robotic simulators to evaluate the performance of candidate controllers that are produced in the course of the controller evolution process. Such simulators accelerate and otherwise simplify the controller evolution process, as opposed to the more arduous process of evaluating controllers in the real world without use of simulation. To date, the vast majority of simulators that have been applied in ER are physics- based models which are constructed by taking into account the underlying physics governing the operation of the robotic system in question. An alternative approach to simulator implementation in ER is the usage of Artificial Neural Networks (ANNs) as simulators in the ER process. Such simulators are referred to as Simulator Neural Networks (SNNs). Previous studies have indicated that SNNs can successfully be used as an alter- native to physics-based simulators in the ER process on various robotic platforms. At the commencement of the current study it was not, however, known how this relatively new method of simulation would compare to traditional physics-based simulation approaches in ER. The study presented in this thesis thus endeavoured to quantitatively compare SNNs and physics-based models as simulators in the ER process. In order to con- duct this comparative study, both SNNs and physics simulators were constructed for the modelling of three different robotic platforms: a differentially-steered robot, a wheeled inverted pendulum robot and a hexapod robot. Each of these two types of simulation was then used in simulation-based evolution processes to evolve con- trollers for each robotic platform. During these controller evolution processes, the SNNs and physics models were compared in terms of their accuracy in making pre- dictions of robotic behaviour, their computational efficiency in arriving at these predictions, the human effort required to construct each simulator and, most im- portantly, the real-world performance of controllers evolved by making use of each simulator. The results obtained in this study illustrated experimentally that SNNs were, in the majority of cases, able to make more accurate predictions than the physics- based models and these SNNs were arguably simpler to construct than the physics simulators. Additionally, SNNs were also shown to be a computationally efficient alternative to physics-based simulators in ER and, again in the majority of cases, these SNNs were able to produce controllers which outperformed those evolved in the physics-based simulators, when these controllers were uploaded to the real-world robots. The results of this thesis thus suggest that SNNs are a viable alternative to more commonly-used physics simulators in ER and further investigation of the potential of this simulation technique appears warranted.
- Full Text:
- Date Issued: 2019
- Authors: Pretorius, Christiaan Johannes
- Date: 2019
- Subjects: Neural networks (Computer science)
- Language: English
- Type: Thesis , Doctoral , PhD
- Identifier: http://hdl.handle.net/10948/30789 , vital:31131
- Description: The Evolutionary Robotics (ER) process is a technique that applies evolutionary optimization algorithms to the task of automatically developing, or evolving, robotic control programs. These control programs, or simply controllers, are evolved in order to allow a robot to perform a required task. During the ER process, use is often made of robotic simulators to evaluate the performance of candidate controllers that are produced in the course of the controller evolution process. Such simulators accelerate and otherwise simplify the controller evolution process, as opposed to the more arduous process of evaluating controllers in the real world without use of simulation. To date, the vast majority of simulators that have been applied in ER are physics- based models which are constructed by taking into account the underlying physics governing the operation of the robotic system in question. An alternative approach to simulator implementation in ER is the usage of Artificial Neural Networks (ANNs) as simulators in the ER process. Such simulators are referred to as Simulator Neural Networks (SNNs). Previous studies have indicated that SNNs can successfully be used as an alter- native to physics-based simulators in the ER process on various robotic platforms. At the commencement of the current study it was not, however, known how this relatively new method of simulation would compare to traditional physics-based simulation approaches in ER. The study presented in this thesis thus endeavoured to quantitatively compare SNNs and physics-based models as simulators in the ER process. In order to con- duct this comparative study, both SNNs and physics simulators were constructed for the modelling of three different robotic platforms: a differentially-steered robot, a wheeled inverted pendulum robot and a hexapod robot. Each of these two types of simulation was then used in simulation-based evolution processes to evolve con- trollers for each robotic platform. During these controller evolution processes, the SNNs and physics models were compared in terms of their accuracy in making pre- dictions of robotic behaviour, their computational efficiency in arriving at these predictions, the human effort required to construct each simulator and, most im- portantly, the real-world performance of controllers evolved by making use of each simulator. The results obtained in this study illustrated experimentally that SNNs were, in the majority of cases, able to make more accurate predictions than the physics- based models and these SNNs were arguably simpler to construct than the physics simulators. Additionally, SNNs were also shown to be a computationally efficient alternative to physics-based simulators in ER and, again in the majority of cases, these SNNs were able to produce controllers which outperformed those evolved in the physics-based simulators, when these controllers were uploaded to the real-world robots. The results of this thesis thus suggest that SNNs are a viable alternative to more commonly-used physics simulators in ER and further investigation of the potential of this simulation technique appears warranted.
- Full Text:
- Date Issued: 2019
Deep learning applied to the semantic segmentation of tyre stockpiles
- Barfknecht, Nicholas Christopher
- Authors: Barfknecht, Nicholas Christopher
- Date: 2018
- Subjects: Neural networks (Computer science)
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: http://hdl.handle.net/10948/23947 , vital:30647
- Description: The global push for manufacturing which is environmentally sustainable has disrupted standard methods of waste tyre disposal. This push is further intensified by the health and safety risks discarded tyres pose to the surrounding population. Waste tyre recycling initiatives in South Africa are on the increase; however, there is still a growing number of undocumented tyre stockpiles developing throughout the country. The plans put in place to eradicate these tyre stockpiles have been met with collection, transport and storage logistical issues caused by the remoteness and distant locales. Eastwood (2016) aimed at optimising the logistics associated with collection, by estimating the number of visible tyres from images of tyre stockpiles. This research was limited by the need for manual segmentation of each tyre stockpile located within each image. This research proposes the use of semantic segmentation to automatically segment images of tyre stockpiles. An initial review of neural network, convolutional network and semantic segmentation literature resulted in the selection of Dilated Net as the semantic segmentation architecture for this research. Dilated Net builds upon the VGG-16 classification architecture to perform semantic segmentation. This resulted in classification experiments which were evaluated using precision, recall and f1-score. The results indicated that regardless of tyre stockpile image dimension, fairly accurate levels of classification accuracy can be attained. This was followed by semantic segmentation experiments which made use of intersection over union (IoU) and pixel accuracy to evaluate the effectiveness of Dilated Net on images of tyre stockpiles. The results indicated that accurate tyre stockpile segmentation regions can be obtained and that the trained model generalises well to unseen images.
- Full Text:
- Date Issued: 2018
- Authors: Barfknecht, Nicholas Christopher
- Date: 2018
- Subjects: Neural networks (Computer science)
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: http://hdl.handle.net/10948/23947 , vital:30647
- Description: The global push for manufacturing which is environmentally sustainable has disrupted standard methods of waste tyre disposal. This push is further intensified by the health and safety risks discarded tyres pose to the surrounding population. Waste tyre recycling initiatives in South Africa are on the increase; however, there is still a growing number of undocumented tyre stockpiles developing throughout the country. The plans put in place to eradicate these tyre stockpiles have been met with collection, transport and storage logistical issues caused by the remoteness and distant locales. Eastwood (2016) aimed at optimising the logistics associated with collection, by estimating the number of visible tyres from images of tyre stockpiles. This research was limited by the need for manual segmentation of each tyre stockpile located within each image. This research proposes the use of semantic segmentation to automatically segment images of tyre stockpiles. An initial review of neural network, convolutional network and semantic segmentation literature resulted in the selection of Dilated Net as the semantic segmentation architecture for this research. Dilated Net builds upon the VGG-16 classification architecture to perform semantic segmentation. This resulted in classification experiments which were evaluated using precision, recall and f1-score. The results indicated that regardless of tyre stockpile image dimension, fairly accurate levels of classification accuracy can be attained. This was followed by semantic segmentation experiments which made use of intersection over union (IoU) and pixel accuracy to evaluate the effectiveness of Dilated Net on images of tyre stockpiles. The results indicated that accurate tyre stockpile segmentation regions can be obtained and that the trained model generalises well to unseen images.
- Full Text:
- Date Issued: 2018
A hybridisation technique for game playing using the upper confidence for trees algorithm with artificial neural networks
- Authors: Burger, Clayton
- Date: 2014
- Subjects: Neural networks (Computer science) , Computer algorithms
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: http://hdl.handle.net/10948/3957 , vital:20495
- Description: In the domain of strategic game playing, the use of statistical techniques such as the Upper Confidence for Trees (UCT) algorithm, has become the norm as they offer many benefits over classical algorithms. These benefits include requiring no game-specific strategic knowledge and time-scalable performance. UCT does not incorporate any strategic information specific to the game considered, but instead uses repeated sampling to effectively brute-force search through the game tree or search space. The lack of game-specific knowledge in UCT is thus both a benefit but also a strategic disadvantage. Pattern recognition techniques, specifically Neural Networks (NN), were identified as a means of addressing the lack of game-specific knowledge in UCT. Through a novel hybridisation technique which combines UCT and trained NNs for pruning, the UCTNN algorithm was derived. The NN component of UCT-NN was trained using a UCT self-play scheme to generate game-specific knowledge without the need to construct and manage game databases for training purposes. The UCT-NN algorithm is outlined for pruning in the game of Go-Moku as a candidate case-study for this research. The UCT-NN algorithm contained three major parameters which emerged from the UCT algorithm, the use of NNs and the pruning schemes considered. Suitable methods for finding candidate values for these three parameters were outlined and applied to the game of Go-Moku on a 5 by 5 board. An empirical investigation of the playing performance of UCT-NN was conducted in comparison to UCT through three benchmarks. The benchmarks comprise a common randomly moving opponent, a common UCTmax player which is given a large amount of playing time, and a pair-wise tournament between UCT-NN and UCT. The results of the performance evaluation for 5 by 5 Go-Moku were promising, which prompted an evaluation of a larger 9 by 9 Go-Moku board. The results of both evaluations indicate that the time allocated to the UCT-NN algorithm directly affects its performance when compared to UCT. The UCT-NN algorithm generally performs better than UCT in games with very limited time-constraints in all benchmarks considered except when playing against a randomly moving player in 9 by 9 Go-Moku. In real-time and near-real-time Go-Moku games, UCT-NN provides statistically significant improvements compared to UCT. The findings of this research contribute to the realisation of applying game-specific knowledge to the UCT algorithm.
- Full Text:
- Date Issued: 2014
- Authors: Burger, Clayton
- Date: 2014
- Subjects: Neural networks (Computer science) , Computer algorithms
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: http://hdl.handle.net/10948/3957 , vital:20495
- Description: In the domain of strategic game playing, the use of statistical techniques such as the Upper Confidence for Trees (UCT) algorithm, has become the norm as they offer many benefits over classical algorithms. These benefits include requiring no game-specific strategic knowledge and time-scalable performance. UCT does not incorporate any strategic information specific to the game considered, but instead uses repeated sampling to effectively brute-force search through the game tree or search space. The lack of game-specific knowledge in UCT is thus both a benefit but also a strategic disadvantage. Pattern recognition techniques, specifically Neural Networks (NN), were identified as a means of addressing the lack of game-specific knowledge in UCT. Through a novel hybridisation technique which combines UCT and trained NNs for pruning, the UCTNN algorithm was derived. The NN component of UCT-NN was trained using a UCT self-play scheme to generate game-specific knowledge without the need to construct and manage game databases for training purposes. The UCT-NN algorithm is outlined for pruning in the game of Go-Moku as a candidate case-study for this research. The UCT-NN algorithm contained three major parameters which emerged from the UCT algorithm, the use of NNs and the pruning schemes considered. Suitable methods for finding candidate values for these three parameters were outlined and applied to the game of Go-Moku on a 5 by 5 board. An empirical investigation of the playing performance of UCT-NN was conducted in comparison to UCT through three benchmarks. The benchmarks comprise a common randomly moving opponent, a common UCTmax player which is given a large amount of playing time, and a pair-wise tournament between UCT-NN and UCT. The results of the performance evaluation for 5 by 5 Go-Moku were promising, which prompted an evaluation of a larger 9 by 9 Go-Moku board. The results of both evaluations indicate that the time allocated to the UCT-NN algorithm directly affects its performance when compared to UCT. The UCT-NN algorithm generally performs better than UCT in games with very limited time-constraints in all benchmarks considered except when playing against a randomly moving player in 9 by 9 Go-Moku. In real-time and near-real-time Go-Moku games, UCT-NN provides statistically significant improvements compared to UCT. The findings of this research contribute to the realisation of applying game-specific knowledge to the UCT algorithm.
- Full Text:
- Date Issued: 2014
Artificial neural networks as simulators for behavioural evolution in evolutionary robotics
- Pretorius, Christiaan Johannes
- Authors: Pretorius, Christiaan Johannes
- Date: 2010
- Subjects: Neural networks (Computer science) , Robotics
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:10462 , http://hdl.handle.net/10948/1476 , Neural networks (Computer science) , Robotics
- Description: Robotic simulators for use in Evolutionary Robotics (ER) have certain challenges associated with the complexity of their construction and the accuracy of predictions made by these simulators. Such robotic simulators are often based on physics models, which have been shown to produce accurate results. However, the construction of physics-based simulators can be complex and time-consuming. Alternative simulation schemes construct robotic simulators from empirically-collected data. Such empirical simulators, however, also have associated challenges, such as that some of these simulators do not generalize well on the data from which they are constructed, as these models employ simple interpolation on said data. As a result of the identified challenges in existing robotic simulators for use in ER, this project investigates the potential use of Artificial Neural Networks, henceforth simply referred to as Neural Networks (NNs), as alternative robotic simulators. In contrast to physics models, NN-based simulators can be constructed without needing an explicit mathematical model of the system being modeled, which can simplify simulator development. Furthermore, the generalization capabilities of NNs suggest that NNs could generalize well on data from which these simulators are constructed. These generalization abilities of NNs, along with NNs’ noise tolerance, suggest that NNs could be well-suited to application in robotics simulation. Investigating whether NNs can be effectively used as robotic simulators in ER is thus the endeavour of this work. Since not much research has been done in employing NNs as robotic simulators, many aspects of the experimental framework on which this dissertation reports needed to be carefully decided upon. Two robot morphologies were selected on which the NN simulators created in this work were based, namely a differentially steered robot and an inverted pendulum robot. Motion tracking and robotic sensor logging were used to acquire data from which the NN simulators were constructed. Furthermore, custom code was written for almost all aspects of the study, namely data acquisition for NN training, the actual NN training process, the evolution of robotic controllers using the created NN simulators, as well as the onboard robotic implementations of evolved controllers. Experimental tests performed in order to determine ideal topologies for each of the NN simulators developed in this study indicated that different NN topologies can lead to large differences in training accuracy. After performing these tests, the training accuracy of the created simulators was analyzed. This analysis showed that the NN simulators generally trained well and could generalize well on data not presented during simulator construction. In order to validate the feasibility of the created NN simulators in the ER process, these simulators were subsequently used to evolve controllers in simulation, similar to controllers developed in related studies. Encouraging results were obtained, with the newly-evolved controllers allowing real-world experimental robots to exhibit obstacle avoidance and light-approaching behaviour with a reasonable degree of success. The created NN simulators furthermore allowed for the successful evolution of a complex inverted pendulum stabilization controller in simulation. It was thus clearly established that NN-based robotic simulators can be successfully employed as alternative simulation schemes in the ER process.
- Full Text:
- Date Issued: 2010
- Authors: Pretorius, Christiaan Johannes
- Date: 2010
- Subjects: Neural networks (Computer science) , Robotics
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:10462 , http://hdl.handle.net/10948/1476 , Neural networks (Computer science) , Robotics
- Description: Robotic simulators for use in Evolutionary Robotics (ER) have certain challenges associated with the complexity of their construction and the accuracy of predictions made by these simulators. Such robotic simulators are often based on physics models, which have been shown to produce accurate results. However, the construction of physics-based simulators can be complex and time-consuming. Alternative simulation schemes construct robotic simulators from empirically-collected data. Such empirical simulators, however, also have associated challenges, such as that some of these simulators do not generalize well on the data from which they are constructed, as these models employ simple interpolation on said data. As a result of the identified challenges in existing robotic simulators for use in ER, this project investigates the potential use of Artificial Neural Networks, henceforth simply referred to as Neural Networks (NNs), as alternative robotic simulators. In contrast to physics models, NN-based simulators can be constructed without needing an explicit mathematical model of the system being modeled, which can simplify simulator development. Furthermore, the generalization capabilities of NNs suggest that NNs could generalize well on data from which these simulators are constructed. These generalization abilities of NNs, along with NNs’ noise tolerance, suggest that NNs could be well-suited to application in robotics simulation. Investigating whether NNs can be effectively used as robotic simulators in ER is thus the endeavour of this work. Since not much research has been done in employing NNs as robotic simulators, many aspects of the experimental framework on which this dissertation reports needed to be carefully decided upon. Two robot morphologies were selected on which the NN simulators created in this work were based, namely a differentially steered robot and an inverted pendulum robot. Motion tracking and robotic sensor logging were used to acquire data from which the NN simulators were constructed. Furthermore, custom code was written for almost all aspects of the study, namely data acquisition for NN training, the actual NN training process, the evolution of robotic controllers using the created NN simulators, as well as the onboard robotic implementations of evolved controllers. Experimental tests performed in order to determine ideal topologies for each of the NN simulators developed in this study indicated that different NN topologies can lead to large differences in training accuracy. After performing these tests, the training accuracy of the created simulators was analyzed. This analysis showed that the NN simulators generally trained well and could generalize well on data not presented during simulator construction. In order to validate the feasibility of the created NN simulators in the ER process, these simulators were subsequently used to evolve controllers in simulation, similar to controllers developed in related studies. Encouraging results were obtained, with the newly-evolved controllers allowing real-world experimental robots to exhibit obstacle avoidance and light-approaching behaviour with a reasonable degree of success. The created NN simulators furthermore allowed for the successful evolution of a complex inverted pendulum stabilization controller in simulation. It was thus clearly established that NN-based robotic simulators can be successfully employed as alternative simulation schemes in the ER process.
- Full Text:
- Date Issued: 2010
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