Map generation by means of autonomous robots and possibility propagation techniques

1999 ◽  
Author(s):  
Maite López-Sánchez ◽  
Ramon López de Mántaras ◽  
Carles Sierra
Keyword(s):  
Autonomous Robots ◽  
Map Generation

Pathology image-based lung cancer subtyping using deeplearning features and cell-density maps

2020 ◽  
Vol 2020 (10) ◽  
pp. 64-1-64-5
Author(s):  
Mustafa I. Jaber ◽  
Christopher W. Szeto ◽  
Bing Song ◽  
Liudmila Beziaeva ◽  
Stephen C. Benz ◽  
...  
Keyword(s):  
Lung Cancer ◽  
Cell Density ◽  
Majority Voting ◽  
Training Set ◽  
Density Maps ◽  
Color Deconvolution ◽  
Map Generation ◽  
Density Map ◽  
Pathology Image ◽  
Whole Slide Images

In this paper, we propose a patch-based system to classify non-small cell lung cancer (NSCLC) diagnostic whole slide images (WSIs) into two major histopathological subtypes: adenocarcinoma (LUAD) and squamous cell carcinoma (LUSC). Classifying patients accurately is important for prognosis and therapy decisions. The proposed system was trained and tested on 876 subtyped NSCLC gigapixel-resolution diagnostic WSIs from 805 patients – 664 in the training set and 141 in the test set. The algorithm has modules for: 1) auto-generated tumor/non-tumor masking using a trained residual neural network (ResNet34), 2) cell-density map generation (based on color deconvolution, local drain segmentation, and watershed transformation), 3) patch-level feature extraction using a pre-trained ResNet34, 4) a tower of linear SVMs for different cell ranges, and 5) a majority voting module for aggregating subtype predictions in unseen testing WSIs. The proposed system was trained and tested on several WSI magnifications ranging from x4 to x40 with a best ROC AUC of 0.95 and an accuracy of 0.86 in test samples. This fully-automated histopathology subtyping method outperforms similar published state-of-the-art methods for diagnostic WSIs.

LEARNING NAIVE PHYSICS BY VISUAL OBSERVATION: USING QUALITATIVE SPATIAL REPRESENTATIONS AND PROBABILISTIC REASONING

2001 ◽  
Vol 01 (03) ◽  
pp. 273-285 ◽  
Author(s):  
PAUL A. BOXER
Keyword(s):  
Bayesian Network ◽  
Probabilistic Reasoning ◽  
Autonomous Robots ◽  
Visual Observation ◽  
Spatial Representations ◽  
Physical Behavior ◽  
Naive Physics ◽  
Action At A Distance ◽  
General Physical ◽  
Test Scenarios

Autonomous robots are unsuccessful at operating in complex, unconstrained environments. They lack the ability to learn about the physical behavior of different objects through the use of vision. We combine Bayesian networks and qualitative spatial representation to learn general physical behavior by visual observation. We input training scenarios that allow the system to observe and learn normal physical behavior. The position and velocity of the visible objects are represented as qualitative states. Transitions between these states over time are entered as evidence into a Bayesian network. The network provides probabilities of future transitions to produce predictions of future physical behavior. We use test scenarios to determine how well the approach discriminates between normal and abnormal physical behavior and actively predicts future behavior. We examine the ability of the system to learn three naive physical concepts, "no action at a distance", "solidity" and "movement on continuous paths". We conclude that the combination of qualitative spatial representations and Bayesian network techniques is capable of learning these three rules of naive physics.

scholarly journals COVID-19 infection map generation and detection from chest X-ray images

2021 ◽  
Vol 9 (1) ◽  
Author(s):  
Aysen Degerli ◽  
Mete Ahishali ◽  
Mehmet Yamac ◽  
Serkan Kiranyaz ◽  
Muhammad E. H. Chowdhury ◽  
...  
Keyword(s):  
State Of The Art ◽  
Ground Truth ◽  
Clinical Use ◽  
X Ray ◽  
Learning Techniques ◽  
Map Generation ◽  
Severity Grading ◽  
Chest X Ray ◽  
Novel Method ◽  
Aided Diagnosis

AbstractComputer-aided diagnosis has become a necessity for accurate and immediate coronavirus disease 2019 (COVID-19) detection to aid treatment and prevent the spread of the virus. Numerous studies have proposed to use Deep Learning techniques for COVID-19 diagnosis. However, they have used very limited chest X-ray (CXR) image repositories for evaluation with a small number, a few hundreds, of COVID-19 samples. Moreover, these methods can neither localize nor grade the severity of COVID-19 infection. For this purpose, recent studies proposed to explore the activation maps of deep networks. However, they remain inaccurate for localizing the actual infestation making them unreliable for clinical use. This study proposes a novel method for the joint localization, severity grading, and detection of COVID-19 from CXR images by generating the so-called infection maps. To accomplish this, we have compiled the largest dataset with 119,316 CXR images including 2951 COVID-19 samples, where the annotation of the ground-truth segmentation masks is performed on CXRs by a novel collaborative human–machine approach. Furthermore, we publicly release the first CXR dataset with the ground-truth segmentation masks of the COVID-19 infected regions. A detailed set of experiments show that state-of-the-art segmentation networks can learn to localize COVID-19 infection with an F1-score of 83.20%, which is significantly superior to the activation maps created by the previous methods. Finally, the proposed approach achieved a COVID-19 detection performance with 94.96% sensitivity and 99.88% specificity.

scholarly journals Symbiosis with artificial intelligence via the prism of law, robots, and society

2021 ◽  
Author(s):  
Stamatis Karnouskos
Keyword(s):  
Artificial Intelligence ◽  
Social Economic ◽  
Autonomous Robots ◽  
Law And Society ◽  
Citizenship Rights ◽  
Legal Entity ◽  
Profound Impact ◽  
The People ◽  
Physical Presence ◽  
And Robotics

AbstractThe rapid advances in Artificial Intelligence and Robotics will have a profound impact on society as they will interfere with the people and their interactions. Intelligent autonomous robots, independent if they are humanoid/anthropomorphic or not, will have a physical presence, make autonomous decisions, and interact with all stakeholders in the society, in yet unforeseen manners. The symbiosis with such sophisticated robots may lead to a fundamental civilizational shift, with far-reaching effects as philosophical, legal, and societal questions on consciousness, citizenship, rights, and legal entity of robots are raised. The aim of this work is to understand the broad scope of potential issues pertaining to law and society through the investigation of the interplay of law, robots, and society via different angles such as law, social, economic, gender, and ethical perspectives. The results make it evident that in an era of symbiosis with intelligent autonomous robots, the law systems, as well as society, are not prepared for their prevalence. Therefore, it is now the time to start a multi-disciplinary stakeholder discussion and derive the necessary policies, frameworks, and roadmaps for the most eminent issues.

scholarly journals Building the Foundation of Robot Explanation Generation Using Behavior Trees

2021 ◽  
Vol 10 (3) ◽  
pp. 1-31
Author(s):  
Zhao Han ◽  
Daniel Giger ◽  
Jordan Allspaw ◽  
Michael S. Lee ◽  
Henny Admoni ◽  
...  
Keyword(s):  
Autonomous Robots ◽  
Free Form ◽  
Static Structure ◽  
Simulation Code ◽  
Causal Information ◽  
Robot Behavior ◽  
Behavior Trees ◽  
Robot Task ◽  
Task Specification ◽  
Explanation Generation

As autonomous robots continue to be deployed near people, robots need to be able to explain their actions. In this article, we focus on organizing and representing complex tasks in a way that makes them readily explainable. Many actions consist of sub-actions, each of which may have several sub-actions of their own, and the robot must be able to represent these complex actions before it can explain them. To generate explanations for robot behavior, we propose using Behavior Trees (BTs), which are a powerful and rich tool for robot task specification and execution. However, for BTs to be used for robot explanations, their free-form, static structure must be adapted. In this work, we add structure to previously free-form BTs by framing them as a set of semantic sets {goal, subgoals, steps, actions} and subsequently build explanation generation algorithms that answer questions seeking causal information about robot behavior. We make BTs less static with an algorithm that inserts a subgoal that satisfies all dependencies. We evaluate our BTs for robot explanation generation in two domains: a kitting task to assemble a gearbox, and a taxi simulation. Code for the behavior trees (in XML) and all the algorithms is available at github.com/uml-robotics/robot-explanation-BTs.

scholarly journals Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

2021 ◽  
Vol 101 (3) ◽  
Author(s):  
Korbinian Nottensteiner ◽  
Arne Sachtler ◽  
Alin Albu-Schäffer
Keyword(s):  
Autonomous Robots ◽  
Vision System ◽  
Dynamic Environments ◽  
Bayesian Framework ◽  
Experimental Results ◽  
Robotic Assembly ◽  
Tactile Sensing ◽  
Task Execution ◽  
Industrial Assembly ◽  
Assembly Tasks

AbstractRobotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

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