ORESTEIA -MODULAR HYBRID ARTEFACTS WITH ADAPTIVE FUNCTIONALITYhttp://www.image.ntua.gr/oresteia/

PARTNERSProject Technical Committee

Technical Manager: John Taylor (KCL) ALTEC SA Sotiris Pavlopoulos, George Malinescos IVML-NTUA Stefanos Kollias, Nicolas Tsapatsoulis University of Milan Bruno Apolloni, Dario Malchiodi Kings College of London Stathis Kasderidis Imperial College Eric Yeatman, Tim Green

Contents

Executive SummaryProblems to be SolvedAttentionData FusionEmergenceArchitecture and partners' tasksDiagramModule ExplanationFeature Extraction through Signal ModellingMethods for State mappingsCAM/SPMPAC Meditation / Fuzzy Relaxation Demo 1Demo 2Data CollectionLaboratory StudiesCar Driving SimulatorLinguistic RulesMicroPower Generation Wireless Communication

Executive Summary

Scope/Aims Create a guidance system for humans, for more efficient and less hazardous living and interacting with their environment, through a set of decision-making facilities embedded in the environment and suitably adapted to the particular userInvestigate enabling technologies for DC in the form of energy harvesting and low power wireless communications

Inputs Low level sensorial dataPhysiological class of sensorsEnvironmental class of sensors OtherSymbolic knowledge, a priori available (linguistic rules)Subsymbolic knowledge, constructed based on numerical data (Input/Output pairs)Attention-based functionality, inspired from brain operation

OutputsDecisionsActions on behalf of the user for:Managing repetitive and trivial jobs,Providing indication of abnormal user activity and state,Providing planning facilities,Providing information filtering facilities,Maintaining good user state (physiological, psychological, etc)

Key PropertiesAutonomy

Responsiveness

Robustness

ApproachDevelop a multi-level attention-based agent architecture adapted to solve decision /guidance problems arising from sensors of various types, some worn by humans, others in devices (such as cars) being used by the humans. The decision/ guidance response of an agent is as to what is the state of the human, given the sensor data, or what is optimal continued use of the device on the basis of joint sensor data arriving at the agent for a given user from all sourcesDevelop multi-agent systems that handle data available, also, from a set of agents (from interacting users), providing for decision/guidance as to overall optimal (best) use, and ranking of the users as to which needs further analysis

Problems to be solved

AttentionData FusionEmergence

Problems to be solved:Attention

OUTPUTSArtefactINPUTSAttention ControllerThe input signals have irregular patternsData HistoryMy battery is low!Self EvaluatorAttention SignalI shouldnt produce these outputs, with these inputs Irregular inputs Hardware failure Self-evaluation error

Problems to be solved:Data Fusion

Which of these data shall I need?You can make use of the two bottom ArtefactsAGENT

Problems to be solved:Emergence

I need to use these!And I need to use these!Ill take these!HEY,I SAW THEM FIRST!

WHY NOT BE MINE?THESE ARE MINE!How much are you willing to pay for the services?

Architecture of a single Agent

Overall View

Level 1: SensorsData Content: Classes of signals used by higher levels (Level 2-4)Data collection (KCL-QUB, ALTEC) Synthetic data generators (NTUA, UM, KCL)Sensor autonomy Efficient energy harvesting (ICSTM)Communication linksLow power consumption (ICSTM)

Level 2: PreprocessingSignal preprocessing (NTUA, KCL)Noise ReductionBufferingTransformsFeature extractionWhich features? (ALTEC, KCL-QUB)How? (NTUA, KCL)Modeling signalsExtraction of hidden parameters (UM)

Architecture of a single Agent Level 3: Domain Experts State Representation

State MappingsANN Hourglass Subsymbolic state representation (UM, NTUA)Neurofuzzy Symbolic state representation (NTUA, UM)

Action ModuleStores the response of the system. Three levels of sophistication: No real action. Simple suggestive actions/messages. Simple action sequences.Responsible Partners: KCL, NTUA, UM

Rules ModuleConsists of three components: World Model. Contains all the information needed for forming useful functionalities and maintaining a set of artefacts. Autonomic. Maintains rules that are necessary for the robust run-time behaviour of the system. Other. Aids the implementation of alternative (to the ones implemented in the State module) decision-making systems.Responsible Partners: KCL, NTUA, UM

Goals ModuleThis module includes three parts:Values. Is closely associated with the World Model (in the Rules module) to provide default (universal) values for the various thresholds and triggers present in the architecture. User Profile. Provides specific user deltas (i.e. deviations from the default values defined in the Values part). Services. Includes a catalogue of services that are offered by the artefact.Responsible Partners: KCL, NTUA, UM

Monitor ModuleCreates an error signal level after comparing the current State with a Historic State. It fulfils two basic requirements:Universal definition of an error function. Independent of the output of State Module (UM, NTUA, KCL)Standard definition of an error function. Context sensitive, seamless knowledge of state representation (UM, NTUA, KCL)

Attention ControllerThis module is inspired from motor control systems in the brain as well as from engineering control ideas. It operates in two modes:Feedforward mode. The controller sends a signal, governed directly by the Goal module, to produce a desired response from the action module (KCL)Feedback mode. Feedback information from the Monitor module is used as a feedback component (KCL)

Level 4: Agent ConstructionCombination of conceptual blocksAgent FormationData FusionOverall system trainingReinforcement signal production/handlingAttention Control

Responsible partner: KCL

Feature Extraction through Signal Modelling

Integrated by a fourth order Runge-Kutta method DYNAMICSHYBRID TRAININGSymbolichealth diagnosysSIGNALS FROM BODYECG

Grafico1

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0.2377322.645870.8847051.17187

0.2078252.655030.8575441.17185

0.191042.673340.8294681.17184

0.1513672.69470.8035281.17187

0.2795412.700810.7821661.17188

0.4742432.709960.7666021.17188

0.3167722.725220.7583621.17187

0.6112672.737430.7568361.17187

2.107542.743530.7620241.17188

2.371522.743530.7757571.17191

1.463012.740480.8032231.17191

1.019592.746580.8407591.1719

0.6842042.752690.8834841.1719

0.4971312.737430.9283451.17191

0.5920412.737430.972291.1719

0.5395512.728271.017151.17191

0.5197142.728271.064451.17194

0.3103642.722171.115721.17194

0.2239992.709961.174621.17197

0.1306152.703861.248171.17194

0.1251222.697751.35041.17196

0.4312132.68251.494451.17194

0.4962162.673341.67451.17197

0.3759772.655031.8751.17197

0.7949832.642822.077641.17194

2.238462.642822.26991.17196

1.676942.618412.448121.17197

0.9402472.618412.6121.172

0.5795292.603152.764591.17197

0.3485112.593992.904971.172

0.1995852.584843.034061.17197

0.1995852.584843.149111.172

0.1937872.584843.24891.17199

0.2041632.584843.335881.172

0.31252.584843.412481.17202

0.2902222.60013.478391.172

0.1464842.597053.533021.17202

0.2795412.60013.576351.17202

0.2920532.60623.605041.17203

0.2206422.621463.616031.17202

0.6262212.627563.599851.17203

2.231752.639773.551331.17205

1.860052.636723.475041.17205

1.239322.633673.373411.17203

0.6716922.630623.245541.17205

0.3781132.624513.07771.17206

0.2816772.618412.867131.17205

0.3305052.61232.627261.17205

0.1705932.609252.371831.17205

0.208132.60012.119751.17206

0.1446532.590941.882931.17206

0.676272.569581.669011.17206

0.8306882.557371.484991.17206

0.4028322.551271.331791.17208

0.4736332.529911.20851.17208

0.3875732.508541.115111.17208

0.3884892.484131.048281.17209

1.500852.481081.00221.17211

2.170412.444460.9719851.17211

1.43892.42310.95521.17211

0.841372.389530.9475711.17211

0.5590822.365110.9420781.17209

0.3698732.331540.9341431.17211

0.3106692.294920.9255981.17209

0.2828982.26440.9155271.17209

0.1959232.218630.9039311.17211

0.2267462.17590.8905031.17213

0.1547242.130130.8734131.17213

0.1351932.093510.8538821.17213

0.1452642.050780.8349611.17213

0.4678341.99890.8193971.17211

0.6036381.956180.8090211.17214

0.3839111.91650.8026121.17214

0.4818731.867680.8004761.17213

2.067261.831050.8013921.17213

1.785281.788330.8050541.17216

1.138311.748660.8120731.17214

0.7672121.705930.8200071.17214

0.442811.660160.8261111.17217

0.2545171.632690.8294681.17214

0.268861.589970.8312991.17217

0.155641.553340.8309941.17214

0.2059941.516720.8291631.17216

0.2194211.486210.8245851.17216

0.1617431.443480.815431.17216

0.1440431.416020.8056641.17219

0.1666261.376340.7968141.17217

0.1800541.354980.7913211.17219

0.1943971.315310.7882691.17217

0.3005981.290890.7879641.17219

0.7501221.260380.79011.17219

1.62721.226810.7934571.1722

1.192931.202390.798341.17219

0.659181.168820.8047491.1722

0.3411871.138310.8114621.17219

0.130921.104740.8178711.1722

0.182191.086430.8233641.17222

0.1647951.058960.8261111.1722

0.1440431.025390.8264161.17219

0.2679441.000980.824281.17219

0.3350830.9674070.8178711.1722

0.1721190.9338380.8056641.17219

0.1123050.9094240.7925421.1722

0.1443480.8728030.781251.17219

0.2420040.851440.7733151.1722

0.5676270.8300780.7693481.17223

0.4049680.7995610.7693481.1722

0.4034420.7751460.7733151.17222

1.814580.7446290.7797241.17222

2.070310.7232670.790711.17223

1.130980.6988530.8114621.17223

0.5072020.6835940.8398441.17222

0.2026370.6561280.8715821.17223

0.1422120.6347660.9054571.17222

0.2642820.6225590.9399411.17223

0.2020260.5981450.9762571.17222

0.120850.5889891.01441.17223

0.1239010.5767821.05531.17225

0.1129150.5615231.09681.17225

0.16510.5401611.142581.17223

0.1458740.5340581.200871.17222

0.1708980.5187991.275331.17223

0.1947020.4974371.370241.17225

0.3506470.4913331.483761.17225

0.2621460.4730221.619261.17223

0.6481930.451661.776431.17223

1.983640.4455571.942441.17223

1.887210.433352.109381.17223

1.230470.4180912.268681.17225

0.7577510.3906252.412411.17225

0.287170.3784182.538151.17225

0.2084350.3601072.642821.17225

0.3488160.3570562.723691.17225

0.2221680.3356932.781371.17225

0.1873780.3143312.805181.17226

0.2609250.2990722.772831.17225

0.2246090.277712.680661.17225

0.2154540.2624512.542421.17226

0.2420040.2441412.374881.17226

0.2130130.2319342.197271.17225

0.3112790.2227782.020871.17226

0.5749510.2014161.856081.17226

0.3585820.1831051.707461.17226

0.3967290.1708981.57991.17225

1.679080.1647951.471561.17226

1.958010.1495361.383361.17225

1.134030.1312261.314091.17226

0.8270260.1251221.261291.17225

0.598450.1159671.217961.17228

0.4171750.1007081.182251.17225

0.3781130.09460451.153261.17228

0.2398680.09765631.130071.17228

0.191040.0885011.110531.17226

0.1705930.08544921.09071.17229

0.1873780.09765631.067811.17225

0.1806640.1098631.04371.17229

0.2203370.122071.018681.17226

0.1324460.1312260.9957891.17228

0.2401730.1586910.9774781.17226

0.3448490.1892090.964051.17226

0.260620.2319340.9564211.17226

0.3570560.2655030.9548951.17228

1.501160.3204350.9567261.17228

2.025450.3845210.9609991.17226

1.325380.4364010.9695431.17226

0.8285520.5065920.9808351.17226

0.3967290.5615230.9927371.17228

0.4403690.6317141.004941.17228

0.4309080.7019041.015321.17228

0.3332520.7781981.022951.17228

0.4214480.8483891.032411.17225

0.416260.9124761.047971.17228

0.1913450.9613041.066891.17226

0.4306031.022341.087951.17229

0.4083251.074221.104431.17229

0.3421021.116941.107481.17226

0.3274541.171881.095891.17228

0.5422971.20851.072081.17228

0.3558351.232911.039121.17228

0.4711911.272581.002811.17228

1.554261.300050.9661871.17229

1.852111.306150.9323121.17228

1.153871.321410.9014891.17226

1.066891.336670.8712771.17229

0.9930421.336670.8309941.17228

0.6478881.345830.7702641.17228

0.4898071.351930.6881711.17228

0.3417971.339720.6002811.17229

0.3634641.339720.5142211.17228

0.4171751.333620.4006961.17226

0.2288821.324460.1858521.17228

0.1559451.3031-0.1837161.17228

0.1895141.29395-0.7371.17229

0.3326421.27869-1.44471.17226

0.4855351.25122-2.250671.17226

0.5612181.22375-3.11891.17226

0.5477911.20544-3.999021.17225

1.746521.18408-4.848941.17223

2.666631.16577-51.17226

2.082211.15356-51.17225

1.401981.1322-51.17225

0.764161.10168-51.17225

0.4376221.08948-51.17225

0.3091431.07422-51.17225

0.3796391.06201-51.17225

0.3811651.03455-51.17222

0.3817751.03149-51.17226

0.5120851.00403-51.17226

0.3311160.997925-51.17225

0.252380.994873-51.17223

0.1959230.982666-4.091191.17226

CH1

CH4

CH5

CH6

Foglio1

secCH1CH4CH5CH6CH5

00.1705930.2502442.306821.16888116.8882.30682

0.050.2285770.2380372.297971.16889116.8892.29797

0.10.4071040.2349852.290651.16891116.8912.29065

0.150.4495240.225832.285161.16892116.8922.28516

0.20.3500370.2227782.284241.16894116.8942.28424

0.250.529480.225832.28791.16892116.8922.2879

0.31.913450.2197272.295531.16895116.8952.29553

0.351.478270.2166752.30531.16897116.8972.3053

0.40.8239750.2044682.31751.16895116.8952.3175

0.450.4806520.2014162.32911.16898116.8982.3291

0.50.2761840.1861572.338261.169116.92.33826

0.550.1962280.1861572.344061.169116.92.34406

0.60.2011110.1831052.345891.16901116.9012.34589

0.650.1007080.1861572.344061.16901116.9012.34406

0.70.08758540.1831052.339171.16903116.9032.33917

0.750.1074220.1800542.331241.16906116.9062.33124

0.80.08789060.173952.3231.16906116.9062.323

0.850.1306150.1647952.315981.16907116.9072.31598

0.90.4833980.1617432.31111.16909116.9092.3111

0.950.4309080.1617432.310181.16909116.9092.31018

10.3240970.1525882.312321.1691116.912.31232

1.051.248170.1586912.318421.1691116.912.31842

1.11.930850.1525882.325741.16912116.9122.32574

1.151.200870.1586912.334591.16913116.9132.33459

1.20.7180790.1495362.343441.16913116.9132.34344

1.250.5010990.1464842.349551.16917116.9172.34955

1.30.2746580.1434332.350161.16918116.9182.35016

1.350.3079220.1434332.34681.16917116.9172.3468

1.40.1416020.1342772.339171.16918116.9182.33917

1.450.1074220.1403812.32881.16918116.9182.3288

1.50.09521480.1434332.31751.16918116.9182.3175

1.550.1098630.1403812.30531.1692116.922.3053

1.60.08605960.1373292.29371.16921116.9212.2937

1.650.1580810.1312262.28761.16923116.9232.2876

1.70.3659060.1312262.288211.16923116.9232.28821

1.750.2108760.1312262.296141.16926116.9262.29614

1.80.2569580.1281742.313231.16926116.9262.31323

1.851.394960.1251222.342831.16927116.9272.34283

1.91.990660.1251222.390141.16926116.9262.39014

1.951.258850.122072.469481.16927116.9272.46948

20.9066770.122072.58821.16927116.9272.5882

2.050.5111690.1159672.744141.16929116.9292.74414

2.10.3833010.1251222.920231.16932116.9322.92023

2.150.4901120.1190193.099371.16932116.9323.09937

2.20.4153440.122073.27241.16932116.9323.2724

2.250.3332520.1159673.437811.16935116.9353.43781

2.30.2651980.1159673.591921.16933116.9333.59192

2.350.1605220.1190193.729251.16936116.9363.72925

2.40.1788330.1190193.848881.16936116.9363.84888

2.450.1809690.1129153.95051.16938116.9383.9505

2.50.3750610.1190194.035951.16938116.9384.03595

2.550.3405760.1129154.10981.16939116.9394.1098

2.60.3588870.1159674.173891.16938116.9384.17389

2.651.535950.1068124.229131.16941116.9414.22913

2.72.277530.1159674.277341.16944116.9444.27734

2.751.447140.1098634.320371.16944116.9444.32037

2.80.8090210.1068124.353641.16942116.9424.35364

2.850.4281620.103764.372251.16945116.9454.37225

2.90.3073120.1159674.371641.16945116.9454.37164

2.950.2951050.1129154.353941.16945116.9454.35394

30.1605220.103764.323431.1695116.954.32343

3.050.1293950.103764.284361.16949116.9494.28436

3.10.2056880.103764.237671.1695116.954.23767

3.150.1745610.1129154.184571.1695116.954.18457

3.20.1632690.1007084.126591.1695116.954.12659

3.250.1876830.1098634.066471.16949116.9494.06647

3.30.4022220.1007084.002381.16953116.9534.00238

3.350.4049680.103763.935851.16952116.9523.93585

3.40.2191160.1068123.872681.16953116.9533.87268

3.450.9539790.09765633.81471.16955116.9553.8147

3.52.025150.1068123.761291.16956116.9563.76129

3.551.450810.09460453.702091.16956116.9563.70209

3.60.8529660.09765633.632811.16956116.9563.63281

3.650.4104610.09765633.554081.16958116.9583.55408

3.70.2621460.09155273.468931.16959116.9593.46893

3.750.207520.09155273.375851.16961116.9613.37585

3.80.2407840.09765633.268431.16959116.9593.26843

3.850.1412960.09765633.14881.16961116.9613.1488

3.90.1464840.09155273.018191.16961116.9613.01819

3.950.1284790.0885012.876891.16961116.9612.87689

40.1098630.08544922.728581.16961116.9612.72858

4.050.1312260.09155272.575381.16964116.9642.57538

4.10.3039550.1007082.415161.16964116.9642.41516

4.150.4177860.0885012.250061.16964116.9642.25006

4.20.3222660.07934572.080691.16965116.9652.08069

4.250.7238770.09460451.904911.16967116.9671.90491

4.32.207640.0885011.73341.16967116.9671.7334

4.351.602170.08544921.575931.16968116.9681.57593

4.40.9439090.08239751.441041.16968116.9681.44104

4.450.5831910.09460451.340941.1697116.971.34094

4.50.3631590.09155271.286321.16968116.9681.28632

4.550.3082280.0885011.276551.1697116.971.27655

4.60.2664180.09155271.300961.16968116.9681.30096

4.650.2325440.09460451.357121.16971116.9711.35712

4.70.2285770.0885011.446841.16973116.9731.44684

4.750.1370240.08544921.571041.16973116.9731.57104

4.80.1116940.08239751.723631.16973116.9731.72363

4.850.1159670.08239751.91011.16974116.9741.9101

4.90.4043580.09765632.126161.16976116.9762.12616

4.950.5523680.09765632.372741.16979116.9792.37274

50.3948970.09765632.634281.16978116.9782.63428

5.050.4995730.09765632.890931.16979116.9792.89093

5.11.939090.103763.131411.16978116.9783.13141

5.151.738590.122073.350831.16981116.9813.35083

5.21.128230.1190193.543091.16981116.9813.54309

5.250.8047490.1342773.707891.16981116.9813.70789

5.30.4614260.1464843.845831.16982116.9823.84583

5.350.252380.1525883.957521.16984116.9843.95752

5.40.2331540.1586914.043881.16982116.9824.04388

5.450.181580.1770024.107971.16985116.9854.10797

5.50.2374270.1892094.151611.16987116.9874.15161

5.550.1873780.2044684.176331.16987116.9874.17633

5.60.1605220.207524.182131.16988116.9884.18213

5.650.1538090.225834.164731.16987116.9874.16473

5.70.164490.2288824.124451.16988116.9884.12445

5.750.4281620.2471924.059751.16988116.9884.05975

5.80.3109740.2563483.971561.16991116.9913.97156

5.850.390320.2746583.854061.1699116.993.85406

5.91.764220.2868653.708191.16991116.9913.70819

5.951.888120.2990723.544621.16991116.9913.54462

61.080020.2990723.379521.16991116.9913.37952

6.050.5718990.3173833.222351.16991116.9913.22235

6.10.3240970.3143313.068241.16994116.9943.06824

6.150.1361080.3234862.923581.16994116.9942.92358

6.20.1934810.3356932.790831.16996116.9962.79083

6.250.1519780.3326422.672731.16996116.9962.67273

6.30.1239010.34792.572941.16997116.9972.57294

6.350.1663210.34792.485351.16997116.9972.48535

6.40.09338380.3417972.409361.16997116.9972.40936

6.450.09429930.3509522.347721.16999116.9992.34772

6.50.1486210.34792.29981.16997116.9972.2998

6.550.3988650.3387452.265011.16997116.9972.26501

6.60.3521730.34792.243351.16999116.9992.24335

6.650.2261350.3448492.232061.17002117.0022.23206

6.70.911560.3417972.228391.17002117.0022.22839

6.752.096560.3417972.231451.17005117.0052.23145

6.81.461490.3356932.238161.17005117.0052.23816

6.850.8828740.3356932.248541.17007117.0072.24854

6.90.5911250.329592.260441.17007117.0072.26044

6.950.3402710.3265382.269591.17007117.0072.26959

70.3210450.3326422.272341.17008117.0082.27234

7.050.3076170.329592.262881.17005117.0052.26288

7.10.1666260.3265382.244571.17008117.0082.24457

7.150.1046750.3173832.221071.17008117.0082.22107

7.20.1129150.329592.191471.1701117.012.19147

7.250.1382450.3204352.156371.17008117.0082.15637

7.30.09643550.3234862.120671.17011117.0112.12067

7.350.1226810.3265382.088011.1701117.012.08801

7.40.3970340.3326422.061771.17011117.0112.06177

7.450.2410890.3417972.042851.17011117.0112.04285

7.50.2963260.3448492.033081.17011117.0112.03308

7.551.666260.3570562.029421.17014117.0142.02942

7.62.169490.3601072.034611.17013117.0132.03461

7.651.276860.3723142.055661.17014117.0142.05566

7.70.7482910.381472.085571.17016117.0162.08557

7.750.3924560.3936772.109071.17016117.0162.10907

7.80.1272580.3936772.122191.17016117.0162.12219

7.850.2044680.4119872.125241.17017117.0172.12524

7.90.130310.4089362.121281.17017117.0172.12128

7.950.155640.4180912.111821.17017117.0172.11182

80.1776120.4302982.098081.17019117.0192.09808

8.050.1617430.4394532.080081.17019117.0192.08008

8.10.1077270.4455572.061461.17019117.0192.06146

8.150.1263430.4486082.044071.17022117.0222.04407

8.20.1437380.4455572.030941.1702117.022.03094

8.250.3710940.4486082.02241.17022117.0222.0224

8.30.3067020.4608152.019961.17022117.0222.01996

8.350.2352910.4577642.023931.17023117.0232.02393

8.41.412050.4577642.031251.17023117.0232.03125

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