In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to implement these capabilities using an array of microphones, without trying to imitate the human auditory system. The sound source localisation and tracking algorithm uses a steered beamformer to locate sources, which are then tracked using a multi-source particle filter. Separation of simultaneous sound sources is achieved using a variant of the Geometric Source Separation (GSS) algorithm, combined with a multi-source post-filter that further reduces noise, interference and reverberation. Speech recognition is performed on separated sources, either directly or by using Missing Feature Theory (MFT) to estimate the reliability of the speech features. The results obtained show that it is possible to track up to four simultaneous sound sources, even in noisy and reverberant environments. Real-time control of the robot following a sound source is also demonstrated. The sound source separation approach we propose is able to achieve a 13.7 dB improvement in signal-to-noise ratio compared to a single microphone when three speakers are present. In these conditions, the system demonstrates more than 80 accuracy on digit recognition, higher than most human listeners could obtain in our small case study when recognising only one of these sources. All these new capabilities will allow humans to interact more naturally with a mobile robot in real life settings.
Cooke @cite_3 propose to transform Equation to take into consideration the only reliable features from @math and to remove unreliable features. This is equivalent to use the marginalisation probability density functions @math instead of @math by simply implementing a binary mask. Consequently, only reliable features are used in the probability calculation, and the recogniser can avoid undesirable effects due to unreliable features.
@cite_3
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This paper proves that an "old dog", namely -- the classical Johnson-Lindenstrauss transform, "performs new tricks" -- it gives a novel way of preserving differential privacy. We show that if we take two databases, @math and @math , such that (i) @math is a rank-1 matrix of bounded norm and (ii) all singular values of @math and @math are sufficiently large, then multiplying either @math or @math with a vector of iid normal Gaussians yields two statistically close distributions in the sense of differential privacy. Furthermore, a small, deterministic and alteration of the input is enough to assert that all singular values of @math are large. We apply the Johnson-Lindenstrauss transform to the task of approximating cut-queries: the number of edges crossing a @math -cut in a graph. We show that the JL transform allows us to that preserves edge differential privacy (where two graphs are neighbors if they differ on a single edge) while adding only @math random noise to any given query (w.h.p). Comparing the additive noise of our algorithm to existing algorithms for answering cut-queries in a differentially private manner, we outperform all others on small cuts ( @math ). We also apply our technique to the task of estimating the variance of a given matrix in any given direction. The JL transform allows us to that preserves differential privacy w.r.t bounded changes (each row in the matrix can change by at most a norm-1 vector) while adding random noise of magnitude independent of the size of the matrix (w.h.p). In contrast, existing algorithms introduce an error which depends on the matrix dimensions. This paper explores a class of empirical Bayes methods for level-dependent threshold selection in wavelet shrinkage. The prior considered for each wavelet coefficient is a mixture of an atom of probability at zero and a heavy-tailed density. The mixing weight, or sparsity parameter, for each level of the transform is chosen by marginal maximum likelihood. If estimation is carried out using the posterior median, this is a random thresholding procedure; the estimation can also be carried out using other thresholding rules with the same threshold. Details of the calculations needed for implementing the procedure are included. In practice, the estimates are quick to compute and there is software available. Simulations on the standard model functions show excellent performance, and applications to data drawn from various fields of application are used to explore the practical performance of the approach. By using a general result on the risk of the corresponding marginal maximum likelihood approach for a single sequence, overall bounds on the risk of the method are found subject to membership of the unknown function in one of a wide range of Besov classes, covering also the case of f of bounded variation. The rates obtained are optimal for any value of the parameter p in (0, ∞], simultaneously for a wide range of loss functions, each dominating the Lq norm of the σth derivative, with σ ≥ 0 and 0 < q ≤ 2. Attention is paid to the distinction between sampling the unknown function within white noise and sampling at discrete points, and between placing constraints on the function itself and on the discrete wavelet transform of its sequence of values at the observation points. Results for all relevant combinations of these scenarios are obtained. In some cases a key feature of the theory is a particular boundary-corrected wavelet basis, details of which are discussed. Overall, the approach described seems so far unique in combining the properties of fast computation, good theoretical properties and good performance in simulations and in practice. A key feature appears to be that the estimate of sparsity adapts to three different zones of estimation, first where the signal is not sparse enough for thresholding to be of benefit, second where an appropriately chosen threshold results in substantially improved estimation, and third where the signal is so sparse that the zero estimate gives the optimum accuracy rate. These lecture notes highlight the mathematical and computational structure relating to the formulation of, and development of algorithms for, the Bayesian approach to inverse problems in differential equations. This approach is fundamental in the quantification of uncertainty within applications in volving the blending of mathematical models with data. The finite dimensional situation is described first, along with some motivational examples. Then the development of probability measures on separable Banach space is undertaken, using a random series over an infinite set of functions to construct draws; these probability measures are used as priors in the Bayesian approach to inverse problems. Regularity of draws from the priors is studied in the natural Sobolev or Besov spaces implied by the choice of functions in the random series construction, and the Kolmogorov continuity theorem is used to extend regularity considerations to the space of Holder continuous functions. Bayes’ theorem is de rived in this prior setting, and here interpreted as finding conditions under which the posterior is absolutely continuous with respect to the prior, and determining a formula for the Radon-Nikodym derivative in terms of the likelihood of the data. Having established the form of the posterior, we then describe various properties common to it in the infinite dimensional setting. These properties include well-posedness, approximation theory, and the existence of maximum a posteriori estimators. We then describe measure-preserving dynamics, again on the infinite dimensional space, including Markov chain-Monte C arlo and sequential Monte Carlo methods, and measure-preserving reversible stochastic differential equations. By formulating the theory and algorithms on the underlying infinite dimensional space, we obtain a framework suitable for rigorous analysis of the accuracy of reconstructions, of computational complexity, as well as naturally constructing algorithms which perform well under mesh refinement, since they are inherently well-defined in infinite dimensions. Let X denote the feature and Y the target. We consider domain adaptation under three possible scenarios: (1) the marginal PY changes, while the conditional PX Y stays the same (target shift), (2) the marginal PY is fixed, while the conditional PX Y changes with certain constraints (conditional shift), and (3) the marginal PY changes, and the conditional PX Y changes with constraints (generalized target shift). Using background knowledge, causal interpretations allow us to determine the correct situation for a problem at hand. We exploit importance reweighting or sample transformation to find the learning machine that works well on test data, and propose to estimate the weights or transformations by reweighting or transforming training data to reproduce the covariate distribution on the test domain. Thanks to kernel embedding of conditional as well as marginal distributions, the proposed approaches avoid distribution estimation, and are applicable for high-dimensional problems. Numerical evaluations on synthetic and real-world data sets demonstrate the effectiveness of the proposed framework.