Αναστασία Ηροδότου

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    11-Jan-2017
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Transcript of Αναστασία Ηροδότου

  • . 2013

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  • SVM GMM

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  • (1/2)

    (machine learning)

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  • (2/2)

    (fault/anomaly detection) .

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  • Robot Operating System * peer-to-peer :ServicesMessages

    Parameter ServerB actionlibPackage management

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  • /Classifiers (classification): /

    :SVM (Support Vector Machines)GMM (Gaussian Mixture Models)

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  • SVMSVM- .

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  • SVM(2/2) : .

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  • GMM(1/2)GMM- Gaussian. :

    Gaussian () :

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  • GMM(2/2) :

    : log-

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  • Abalone - E-coli

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  • t- e- - F-

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    (dining philosophers), . t e . , k . .*

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  • (1/5)*

    1 2 3 4 5t12.821.901.082.131.99

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  • (2/5)*

    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78

    *

  • (3/5)*

    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78t32.971.521.632.481.59

  • (4/5)*

    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78t32.971.521.632.481.59t42.661.361.872.221.66

  • (5/5)

    Classifier (training)

    Trained Classifier Model*

    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78t32.971.521.632.481.59t42.661.361.872.221.66..............................

  • *

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  • (1/4) *

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  • (2/4) *

    : *

  • (3/4) *

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  • (4/4)*

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  • (1/5) *

    1 2 3 4 5t12.821.901.082.131.99

    1 2 3 4 5t111111

  • (2/5) *

    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78

    1 2 3 4 5t111111t211111

    *

  • (3/5)*

    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78t32.971.521.632.482341

    1 2 3 4 5t111111t211111t31111-1

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  • (4/5)

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    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78t32.971.521.632.482341t42.661.361.872.226666

    1 2 3 4 5t111111t211111t31111-1t41111-1

  • (5/5)

    Trained Classifier Model

    *

    1 2 3 4 5t12.821.901.082.131.99t22.711.701.132.221.78t32.971.521.632.482341t42.661.361.872.226666..............................

    11-1-111-11.....

  • (1/2)

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    11-1-1.....

  • (2/2)

    Anomaly RecallAccuracyAnomaly Precision*

    11-1-1.....

    11-1-111-11

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  • collective . .

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    1 30 *

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  • *

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  • -*

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  • Pandora Robot ???

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  • ..*

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    * (dining philosophers), . t e . , k . .*

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    * : * * *

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    * .*

    * 1 30 *

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