A prototype for cartographic human body analysis

A cartographic-oriented model uses algebraic map operations to perform spatial analysis of medical data relative to the human body. A prototype system uses 3D visualization techniques to deliver analysis results. A prototype implementation suggests the model might provide the basis for a medical application tool that introduces new information insight.     

Progressive ladder network topology combining interferometric and intensity fiber-optic-based sensors

Progressive ladder topology is studied by consideration of its properties of power budget and coupler tailoring. Optimization criteria are addressed for lossless and real systems, and their basic characteristics are compared with other topologies. Numerical results are presented, and an experiment is described for the case in which the network supports interferometric and intensity (with referentiation) fiber-optic-based sensors.     

Prognostic factors in resectable gastric cancer: results of EORTC study no. 40813 on FAM adjuvant chemotherapy

BACKGROUND: The high incidence of locoregional recurrences and distant metastases after curative surgery for gastric cancer calls for improved locoregional control and systemic adjuvant treatment. METHODS: In a randomized clinical trial on adjuvant FAM2 chemotherapy, quality of surgery was evaluated by comparing surgical and pathology data. Univariate and multivariate analysis was made to evaluate the effect of prognostic factors on survival and time of recurrence in relation to patients, tumor, and therapy. RESULTS: Of 314 patients randomized from 28 European institutions, 159 comprised the control and 155 the FAM2 group. After a median follow-up of 80 months, no statistically significant difference was found between survivals. However, for recurrence time, treated patients had a significant advantage over controls (p = 0.02). At univariate analysis, statistically significant differences in survival and time to progression emerged for T, N, disease stage and "adequacy" of surgery. The multivariate analysis retained preoperative Hb level, T, N, and "adequacy" of surgery for time of survival; and T, N, "adequacy" of surgery and adjuvant chemotherapy for recurrence time. CONCLUSIONS: Disease stage is the most important prognostic factor. "Adequate" surgery has an important effect. Adjuvant FAM2 delayed time of recurrence, but did not influence overall survival.     

Hierarchical classification of data streams: a systematic literature review

The classification task usually works with flat and batch learners, assuming problems as stationary and without relations between class labels. Nevertheless, several real-world problems do not assume these premises, i.e., data have labels organized hierarchically and are made available in streaming fashion, meaning that their behavior can drift over time. Existing studies on hierarchical classification do not consider data streams as input of their process, and thus, data is assumed as stationary and handled through batch learners. The same can be said about works on streaming data, as the hierarchical classification is overlooked. Studies concerning each area individually are promising, yet, do not tackle their intersection. This study analyzes the main characteristics of the state-of-the-art works on hierarchical classification for streaming data concerning five aspects: (i) problems tackled, (ii) datasets, (iii) algorithms, (iv) evaluation metrics, and (v) research gaps in the area. We performed a systematic literature review of primary studies and retrieved 3,722 papers, of which 42 were identified as relevant and used to answer the aforementioned research questions. We found that the problems handled by hierarchical classification of data streams include mainly classification of images, human activities, texts, and audio; the datasets are mostly created or synthetic data; the algorithms and evaluation metrics are well-known techniques or based on those; and research gaps are related to dynamic context, data complexity, and computational resources constraints. We also provide implications for future research and experiments to consider common characteristics shared amongst hierarchical classification and data stream classification.

     

Segmentation of the carotid intima-media region in B-mode ultrasound images

This paper proposes a new approach for the segmentation of both near-end and far-end intima-media regions of the common carotid artery in ultrasound images. The method requires minimal user interaction and is able to segment the near-end wall in arteries with large, hypoechogenic and irregular plaques, issues usually not considered previously due to the increased segmentation difficulty.     

Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.     

Transmission power and data rate aware routing on wireless networks

Wireless networks can vary both the transmission power and modulation of links. Existing routing protocols do not take transmission power control (TPC) and modulation adaptation (also known as rate adaptation – RA) into account at the same time, even though the performance of wireless networks can be significantly improved when routing algorithms use link characteristics to build their routes. This article proposes and evaluates extensions to routing protocols to cope with TPC and RA. The enhancements can be applied to any link state or distance vector routing protocols. An evaluation considering node density, node mobility and link error show that TPC- and RA-aware routing algorithms improve the average latency and the end-to-end throughput, while consuming less energy than traditional protocols.     

Skill Memory in Biped Locomotion

Robots must be able to adapt their motor behavior to unexpected situations in order to safely move among humans. A necessary step is to be able to predict failures, which result in behavior abnormalities and may cause irrecoverable damage to the robot and its surroundings, i.e. humans. In this paper we build a predictive model of sensor traces that enables early failure detection by means of a skill memory. Specifically, we propose an architecture based on a biped locomotion solution with improved robustness due to sensory feedback, and extend the concept of Associative Skill Memories (ASM) to periodic movements by introducing several mechanisms into the training workflow, such as linear interpolation and regression into a Dynamical Motion Primitive (DMP) system such that representation becomes time invariant and easily parameterizable. The failure detection mechanism applies statistical tests to determine the optimal operating conditions. Both training and failure testing were conducted on a DARwIn-OP inside a simulation environment to assess and validate the failure detection system proposed. Results show that the system performance in terms of the compromise between sensitivity and specificity is similar with and without the proposed mechanism, while achieving a significant data size reduction due to the periodic approach taken.     

Adaptive Robot Biped Locomotion with Dynamic Motion Primitives and Coupled Phase Oscillators

In order to properly function in real-world environments, the gait of a humanoid robot must be able to adapt to new situations as well as to deal with unexpected perturbations. A promising research direction is the modular generation of movements that results from the combination of a set of basic primitives. In this paper, we present a robot control framework that provides adaptive biped locomotion by combining the modulation of dynamic movement primitives (DMPs) with rhythm and phase coordination. The first objective is to explore the use of rhythmic movement primitives for generating biped locomotion from human demonstrations. The second objective is to evaluate how the proposed framework can be used to generalize and adapt the human demonstrations by adjusting a few open control parameters of the learned model. This paper contributes with a particular view into the problem of adaptive locomotion by addressing three aspects that, in the specific context of biped robots, have not received much attention. First, the demonstrations examples are extracted from human gaits in which the human stance foot will be constrained to remain in flat contact with the ground, forcing the “bent-knee” at all times in contrast with the typical straight-legged style. Second, this paper addresses the important concept of generalization from a single demonstration. Third, a clear departure is assumed from the classical control that forces the robot’s motion to follow a predefined fixed timing into a more event-based controller. The applicability of the proposed control architecture is demonstrated by numerical simulations, focusing on the adaptation of the robot’s gait pattern to irregularities on the ground surface, stepping over obstacles and, at the same time, on the tolerance to external disturbances.     

Relational Learning with GPUs: Accelerating Rule Coverage

Relational learning algorithms mine complex databases for interesting patterns. Usually, the search space of patterns grows very quickly with the increase in data size, making it impractical to solve important problems. In this work we present the design of a relational learning system, that takes advantage of graphics processing units (GPUs) to perform the most time consuming function of the learner, rule coverage. To evaluate performance, we use four applications: a widely used relational learning benchmark for predicting carcinogenesis in rodents, an application in chemo-informatics, an application in opinion mining, and an application in mining health record data. We compare results using a single and multiple CPUs in a multicore host and using the GPU version. Results show that the GPU version of the learner is up to eight times faster than the best CPU version.