A compressive sensing and swarm

optimization algorithm for 4W1H in the

Intelligent Space

Leon F. Palafox
Hashimoto Laboratory
M2
37-086946
 Outline

• Introduction
– Intelligent Space
– Compressive Sensing
– Swarm Intelligence
• Particle Swarm Optimization
• Motivation
• Algorithm Description
• Hardware Description
• Results
• Conclusions
• Future Work
05/11/09 2
 Introduction
Intelligent Space

• Intelligent Space (ISpace)

is a space that has
ubiquitous distributed
sensory intelligence and
actuators for manipulating
the space and providing
useful services.

• It can be regarded as a
system that is able to
support humans, i.e.
users of the space, in
various ways.

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 Introduction
Compressive Sensing

• In almost all the applications when sampling we must follow

Shannon/Nyquist theorem that requires sampling rate at least twice
the message signal bandwidth in order to achieve exact recovery.

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 Introduction
Compressive Sensing

Straightforward
ORTHO-
PICTURE SORTING CODING decoding
GONALIZITION

N samples K largest Only K coefficients

Full set of projections coefficients selected
(ALL is found are coded
measurements N-K coef. dumped
K<<N
are taken)
EXAUSTIVE SEARCH

Signal Reconstruction
(1) Underdetermined system
PICTURE CODING M<N
(2) Reconstructed signal
must have N components
05/11/09 (3) L1 norm is used to find 5
sparse representation
 Introduction
Compressive Sensing

• Compressed sensing is new method to capture and

represent compressible signals at the rate well below
Nyquist’s rate.

– Employs nonadaptive linear projections (random measurement

matrix)
– Preserves the signal structure (length of the sparse vectors is
conserved)
– Reconstructs the signal from the projections using optimization
process (L1 norm)

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 Introduction
Compressive Sensing

y Φ Ψ S y Θ S

= =

x N
(a) K-sparse (b)

(a) Compressive sensing measurement process with a random Gaussian

measurement matrix and discrete cosine transform (DCT) matrix . The vector of coefficients s
is sparse with K = 4.

Φ (phi, measurement matrix) Ψ (psi, orthonormal basis)

Θ (theta, Compressed Sensing reconstruction matrix)

(b) Measurement process

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 Introduction
Compressive Sensing

• M measurements, y, random measurements matrix, Φ, and basis Ψ,

are used to reconstruct compressible signal x (length) N or
equivalently its sparse coefficient vector s.

• Since M<N there are infinitely many solutions. Since Θ(s+r)= Θ(s)=y
for any vector r in the null space N(Θ). But we have a restriction that
the solution is sparse.

• Signal reconstruction algorithm aims to find signal’s sparse

coefficient vector in the (N-M)-dimensional translated null space
H=N(Θ)+s.
– L1 norm (adding absolute values of all elements) can exactly recover K
sparse signals and closely approximate compressible signals with high
probability

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 Introduction
Swarm Intelligence

• Is a type of artificial intelligence

based on the collective behavior
of decentralized, self-organized
systems.

• The expression was introduced

by Gerardo Beni and Jing Wang
in 1989, in the context of cellular
robotic systems

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 Introduction
Particle Swarm Optimization

• Is a population based stochastic optimization technique

developed in 1995, inspired by social behavior of bird
flocking or fish schooling.
• PSO shares many similarities with evolutionary
computation techniques such as Genetic Algorithms
(GA).
– The system is initialized with a population of random solutions
and searches for optima by updating generations.
• It has no evolution operators such as crossover and
mutation.
– In PSO, the potential solutions, called particles, follow the
current optimum particles.

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 Introduction
Particle Swarm Optimization

• Each particle keeps track of its coordinates in the problem space

which are associated with the best solution (fitness) it has achieved
so far.
– Another "best" value that is tracked by the particle swarm optimizer is
the best value, obtained so far by any particle in the neighbors of the
particle.
– When a particle takes all the population as its topological neighbors, the
best value is a global best.

• The particle swarm optimization concept consists of, at each time

step, changing the velocity of (accelerating) each particle toward its
best locations (local version of PSO).
• Acceleration is weighted by a random term, with separate random
numbers being generated for acceleration toward the best locations.

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 Motivation

• There is currently in the ISpace some

background on people activity detection.
• The most advance work in this topic is
called 4W1H
• Who
• When
• What
• Where
• How
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 Motivation

• These kind of algorithms require 2 things:

– High number of sensors
– High number of measurements
• It poses some problems
– High computational complexity
– Processing RAW data that may be not
necessary
– It has to be done as close as real time as
possible.
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 Motivation

• Compressive Sensing addresses the problem of

having to deal with a large amount of Data.

• Particle Swarm Optimization is a good tool to

match current activities to activities that have
been learned before.

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 Hardware Description

• In order to obtain data a set of

sensors must be used.
• Due to time constraints,
currently only an acceleration-
gyroscopic sensor is going to
be used.
• It must be able to recognize
simple movements from the
arm.

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 Algorithm Description

WHERE
PSO
Sparse
Manifold
Conversion
WHO

WHAT

Random MASTER
Sampler MATRIX
Acceleromete SET
r WHEN

Sampler
HOW

Identification Algorithm

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 Algorithm Description

• The data is sampled from the

sensors using a preset
measurement matrix that proved Sparse
Manifold
to be successful with the control Conversion

data.
– It is one of the objectives to create
a Matrix that can handle all kind of Random
Sampler
data. Acceleromete
r

• In the sampler the data is

redirected to one of the 5 Sampler

income matrices.

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 Algorithm Description

• After the data has been retrieved, WHERE

PSO
we will use PSO to find which of
our current space solution best WHO

matches with the income data.

WHAT

MASTER
MATRIX

• Each Master Matrix will contain WHEN

SET

information on given movements,

people, actions, and any other HOW

available recognition pattern.

Identification Algorithm

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 Preliminary Results

• When capturing the signal, we present two

possibilities.
– Capture the signal without transforming the signal
– Capturing the signal with previous Fourier
transformation.
• Each possibility had some good points and down
points.
– To much noise at the exit.
– Some parts of the signal where not projected in the
output
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 Preliminary Results

Original Signal Reconstruction

N=4001 K=256

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 Preliminary Results

80 60

60
50
40

20
40
0

­20 30

­40
20
­60

­80
10
­100

­120 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500

Original Signal Reconstruction

N=4001 K=256

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 80
300
60

40 200

20
100
0

­20
0
­40

­60 ­100

­80
­200
­100

­120
0 500 1000 1500 2000 2500 3000 3500 4000 4500 ­300
0 500 1000 1500 2000 2500 3000 3500 4000 4500

Original Signal Reconstruction

N=4001 K=1024

05/11/09 22
 Conclusions

• The system presented a good reconstruction in the field

of frequency, yet in the field of time it show to be a noisy
signal.

• According to the results, we proved the algorithm can be

applied to certain signals. But filtering needs to be done.

• The sampling part of the algorithm may not need to be

as complex as compressive sensing since the signals
are not that complex themselves.

05/11/09 23
 Future Work

• Tuning and testing of different source signals for

different mappings.

• Giving a full justification to the CS solution.

• Implementing the Identification part of the

algorithm.

• Implement the recognition matrices and see

which parameters are to be set.
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