scholarly journals A Latent State-Based Multimodal Execution Monitor with Anomaly Detection and Classification for Robot Introspection

2019 ◽  
Vol 9 (6) ◽  
pp. 1072 ◽  
Author(s):  
Hongmin Wu ◽  
Yisheng Guan ◽  
Juan Rojas
Keyword(s):  
Anomaly Detection ◽  
Multivariate Time Series ◽  
Sensory Data ◽  
Shared Workspaces ◽  
Autonomous Manipulation ◽  
Log Likelihood ◽  
Anomaly Detector ◽  
Anomaly Classification ◽  
Robot Cooperation ◽  
Multiclass Classifier

Robot introspection is expected to greatly aid longer-term autonomy of autonomous manipulation systems. By equipping robots with abilities that allow them to assess the quality of their sensory data, robots can detect and classify anomalies and recover appropriately from common anomalies. This work builds on our previous Sense-Plan-Act-Introspect-Recover (SPAIR) system. We introduce an improved anomaly detector that exploits latent states to monitor anomaly occurrence when robots collaborate with humans in shared workspaces, but also present a multiclass classifier that is activated with anomaly detection. Both implementations are derived from Bayesian non-parametric methods with strong modeling capabilities for learning and inference of multivariate time series with complex and uncertain behavior patterns. In particular, we explore the use of a hierarchical Dirichlet stochastic process prior to learning a Hidden Markov Model (HMM) with a switching vector auto-regressive observation model (sHDP-VAR-HMM). The detector uses a dynamic log-likelihood threshold that varies by latent state for anomaly detection and the anomaly classifier is implemented by calculating the cumulative log-likelihood of testing observation based on trained models. The purpose of our work is to equip the robot with anomaly detection and anomaly classification for the full set of skills associated with a given manipulation task. We consider a human–robot cooperation task to verify our work and measure the robustness and accuracy of each skill. Our improved detector succeeded in detecting 136 common anomalies and 368 nominal executions with a total accuracy of 91.0%. An overall anomaly classification accuracy of 97.1% is derived by performing the anomaly classification on an anomaly dataset that consists of 7 kinds of detected anomalies from a total of 136 anomalies samples.

Monotone Split and Conquer for Anomaly Detection in IoT Sensory Data

2021 ◽  
pp. 1-1
Author(s):  
Thien-Binh Dang ◽  
Duc-Tai Le ◽  
Tien-Dung Nguyen ◽  
Moonseong Kim ◽  
Hyunseung Choo
Keyword(s):  
Anomaly Detection ◽  
Sensory Data

scholarly journals AURORA: A Unified fRamework fOR Anomaly detection on multivariate time series

2021 ◽  
Author(s):  
Lin Zhang ◽  
Wenyu Zhang ◽  
Maxwell J. McNeil ◽  
Nachuan Chengwang ◽  
David S. Matteson ◽  
...  
Keyword(s):  
Time Series ◽  
Anomaly Detection ◽  
Multivariate Time Series ◽  
Aurora A ◽  
Unified Framework

scholarly journals Change Point Enhanced Anomaly Detection for IoT Time Series Data

Water ◽  
2021 ◽  
Vol 13 (12) ◽  
pp. 1633
Author(s):  
Elena-Simona Apostol ◽  
Ciprian-Octavian Truică ◽  
Florin Pop ◽  
Christian Esposito
Keyword(s):  
Time Series ◽  
Anomaly Detection ◽  
Change Point ◽  
Time Series Data ◽  
Multivariate Time Series ◽  
Change Point Detection ◽  
Change Points ◽  
Series Data ◽  
Prediction And Forecasting ◽  
Point Detection

Due to the exponential growth of the Internet of Things networks and the massive amount of time series data collected from these networks, it is essential to apply efficient methods for Big Data analysis in order to extract meaningful information and statistics. Anomaly detection is an important part of time series analysis, improving the quality of further analysis, such as prediction and forecasting. Thus, detecting sudden change points with normal behavior and using them to discriminate between abnormal behavior, i.e., outliers, is a crucial step used to minimize the false positive rate and to build accurate machine learning models for prediction and forecasting. In this paper, we propose a rule-based decision system that enhances anomaly detection in multivariate time series using change point detection. Our architecture uses a pipeline that automatically manages to detect real anomalies and remove the false positives introduced by change points. We employ both traditional and deep learning unsupervised algorithms, in total, five anomaly detection and five change point detection algorithms. Additionally, we propose a new confidence metric based on the support for a time series point to be an anomaly and the support for the same point to be a change point. In our experiments, we use a large real-world dataset containing multivariate time series about water consumption collected from smart meters. As an evaluation metric, we use Mean Absolute Error (MAE). The low MAE values show that the algorithms accurately determine anomalies and change points. The experimental results strengthen our assumption that anomaly detection can be improved by determining and removing change points as well as validates the correctness of our proposed rules in real-world scenarios. Furthermore, the proposed rule-based decision support systems enable users to make informed decisions regarding the status of the water distribution network and perform effectively predictive and proactive maintenance.

scholarly journals Multi-task learning based Encoder-Decoder: A comprehensive detection and diagnosis system for multi-sensor data

2021 ◽  
Vol 13 (5) ◽  
pp. 168781402110131
Author(s):  
Junfeng Wu ◽  
Li Yao ◽  
Bin Liu ◽  
Zheyuan Ding ◽  
Lei Zhang
Keyword(s):  
Anomaly Detection ◽  
Event Detection ◽  
Large Scale ◽  
Multivariate Time Series ◽  
Sensor Data ◽  
Unified Framework ◽  
Diagnosis System ◽  
Learning Framework ◽  
Task Learning ◽  
Detection And Diagnosis

As more and more sensor data have been collected, automated detection, and diagnosis systems are urgently needed to lessen the increasing monitoring burden and reduce the risk of system faults. A plethora of researches have been done on anomaly detection, event detection, anomaly diagnosis respectively. However, none of current approaches can explore all these respects in one unified framework. In this work, a Multi-Task Learning based Encoder-Decoder (MTLED) which can simultaneously detect anomalies, diagnose anomalies, and detect events is proposed. In MTLED, feature matrix is introduced so that features are extracted for each time point and point-wise anomaly detection can be realized in an end-to-end way. Anomaly diagnosis and event detection share the same feature matrix with anomaly detection in the multi-task learning framework and also provide important information for system monitoring. To train such a comprehensive detection and diagnosis system, a large-scale multivariate time series dataset which contains anomalies of multiple types is generated with simulation tools. Extensive experiments on the synthetic dataset verify the effectiveness of MTLED and its multi-task learning framework, and the evaluation on a real-world dataset demonstrates that MTLED can be used in other application scenarios through transfer learning.

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