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Self-Awareness for Autonomous Systems

PROCEEDINGS OF THE IEEE 2020年第7期108卷 971-975页

作者： Dutt, Nikil Regazzoni, Carlo S. Rinner, Bernhard Yao, Xin Nikil Dutt (Fellow IEEE) received the Ph.D. degree from the University of Illinois at Urbana–Champaign Champaign IL USA in 1989.""He is currently a Distinguished Professor of computer science (CS) cognitive sciences and electrical engineering and computer sciences (EECS) with the University of California at Irvine Irvine CA USA. He is a coauthor of seven books. His research interests include embedded systems electronic design automation (EDA) computer architecture distributed systems healthcare Internet of Things (IoT) and brain-inspired architectures and computing.""Dr. Dutt is a Fellow of ACM. He was a recipient of the IFIP Silver Core Award. He has received numerous best paper awards. He serves as the Steering Committee Chair of the IEEE/ACM Embedded Systems Week (ESWEEK). He is also on the steering organizing and program committees of several premier EDA and embedded system design conferences and workshops. He has served on the Editorial Boards for the IEEE Transactions on Very Large Scale Integration (VLSI) Systems and the ACM Transactions on Embedded Computing Systems and also previously served as the Editor-in-Chief (EiC) for the ACM Transactions on Design Automation of Electronic Systems. He served on the Advisory Boards of the IEEE Embedded Systems Letters the ACM Special Interest Group on Embedded Systems the ACM Special Interest Group on Design Automationt and the ACM Transactions on Embedded Computing Systems. Carlo S. Regazzoni (Senior Member IEEE) received the M.S. and Ph.D. degrees in electronic and telecommunications engineering from the University of Genoa Genoa Italy in 1987 and 1992 respectively.""He is currently a Full Professor of cognitive telecommunications systems with the Department of Electrical Electronics and Telecommunication Engineering and Naval Architecture (DITEN) University of Genoa and a Co-Ordinator of the Joint Doctorate on Interactive and Cognitive Environments (JDICE) international Ph.D. course started initially as EU Erasmus Mundus Project and

Autonomous systems are able to make decisions and potentially take actions without direct human intervention, which requires some knowledge about the system and its environment as well as goal-oriented reasoning. In computer systems, one can derive such behavior from the concept of a rational agent with autonomy (“control over its own actions”), reactivity (“react to events from the environment”), proactivity (“act on its own initiative”), and sociality (“interact with other agents”) as fundamental properties \n[1]\n. Autonomous systems will undoubtedly pervade into our everyday lives, and we will find them in a variety of domains and applications including robotics, transportation, health care, communications, and entertainment to name a few. \nThe articles in this month’s special issue cover concepts and fundamentals, architectures and techniques, and applications and case studies in the exciting area of self-awareness in autonomous systems.

关键词： Special issues and sections Autonomous systems Self-aware Robot sensing systems Computational modeling

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A Robust Ensemble Algorithm for Ischemic Stroke Lesion Segmentation: Generalizability and Clinical Utility Beyond the ISLES Challenge

arXiv

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arXiv 2024年

作者： de la Rosa, Ezequiel Reyes, Mauricio Liew, Sook-Lei Hutton, Alexandre Wiest, Roland Kaesmacher, Johannes Hanning, Uta Hakim, Arsany Zubal, Richard Valenzuela, Waldo Robben, David Sima, Diana M. Anania, Vincenzo Brys, Arne Meakin, James A. Mickan, Anne Broocks, Gabriel Heitkamp, Christian Gao, Shengbo Liang, Kongming Zhang, Ziji Siddiquee, Md Mahfuzur Rahman Myronenko, Andriy Ashtari, Pooya Van Huffel, Sabine Jeong, Hyun-Su Yoon, Chi-Ho Kim, Chulhong Huo, Jiayu Ourselin, Sebastien Sparks, Rachel Clèrigues, Albert Oliver, Arnau Lladó, Xavier Chalcroft, Liam Pappas, Ioannis Bertels, Jeroen Heylen, Ewout Moreau, Juliette Hatami, Nima Frindel, Carole Qayyum, Abdul Mazher, Moona Puig, Domenec Lin, Shao-Chieh Juan, Chun-Jung Hu, Tianxi Boone, Lyndon Goubran, Maged Liu, Yi-Jui Wegener, Susanne Kofler, Florian Ezhov, Ivan Shit, Suprosanna Hernandez Petzsche, Moritz R. Menze, Bjoern Kirschke, Jan S. Wiestler, Benedikt Department of Quantitative Biomedicine University of Zurich Zurich Switzerland Department of Informatics Technical University Munich Germany Icometrix Leuven Belgium ARTORG Center for Biomedical Research University of Bern Bern Switzerland Department of Radiation Oncology University Hospital Bern University of Bern Switzerland University of Bern Bern Switzerland Chan Division of Occupational Science and Occupational Therapy University of Southern California Los AngelesCA United States Stevens Neuroimaging and Informatics Institute Department of Neurology Keck School of Medicine University of Southern California United States University Institute of Diagnostic and Interventional Neuroradiology Inselspital Bern Switzerland University Institute of Diagnostic and Interventional Neuroradiology University Hospital Bern Inselspital University of Bern Bern Switzerland Department of Diagnostic and Interventional neuroradiology University Medical Center Hamburg-Eppendorf Hamburg Germany Department of Medical Imaging Radboud University Medical Center Institute for Health Sciences Nijmegen Netherlands Deepwise AI Lab Beijing China Beijing University of Posts and Telecommunications Bejing China School of Computing and Augmented Intelligence Arizona State University TempeAZ United States NVIDIA Santa ClaraCA United States STADIUS Center for Dynamical Systems Signal Processing and Data Analytics KU Leuven Leuven Belgium Pohang Korea Republic of School of Biomedical Engineering & Imaging Sciences King’s College London United Kingdom Institute of Computer Vision and Robotics University of Girona Spain Wellcome Centre for Human Neuroimaging University College London London United Kingdom Laboratory of Neuro Imaging Stevens Institute for Neuroimaging and Informatics Keck School of Medicine University of Southern California Los Angeles United States KU Leuven Leuven Belgium CREATIS Université Lyon1 CNRS UMR5220 INSERM U1206 INSA-Lyon Villeurbanne696

Diffusion-weighted MRI (DWI) is essential for stroke diagnosis, treatment decisions, and prognosis. However, image and disease variability hinder the development of generalizable AI algorithms with clinical value. We address this gap by presenting a novel ensemble algorithm derived from the 2022 Ischemic Stroke Lesion Segmentation (ISLES) challenge. ISLES’22 provided 400 patient scans with ischemic stroke from various medical centers, facilitating the development of a wide range of cutting-edge segmentation algorithms by the research community. By assessing them against a hidden test set, we identified strengths, weaknesses, and potential biases. Through collaboration with leading teams, we combined top-performing algorithms into an ensemble model that overcomes the limitations of individual solutions. Our ensemble model combines the individual algorithms’ strengths and achieved superior ischemic lesion detection and segmentation accuracy (median Dice score: 0.82, median lesion-wise F1 score: 0.86) on our internal test set compared to individual algorithms. This accuracy generalized well across diverse image and disease variables. Furthermore, the model excelled in extracting clinical biomarkers like lesion types and affected vascular territories. Notably, in a Turing-like test, neuroradiologists consistently preferred the algorithm’s segmentations over manual expert efforts, highlighting increased comprehensiveness and precision. Validation using a real-world external dataset (N=1686) confirmed the model’s generalizability (median Dice score: 0.82, median lesion-wise F1 score: 0.86). The algorithm’s outputs also demonstrated strong correlations with clinical scores (admission NIHSS and 90-day mRS) on par with or exceeding expert-derived results, underlining its clinical relevance. This study offers two key findings. First, we present an ensemble algorithm that detects and segments ischemic stroke lesions on DWI across diverse scenarios on par with expert (neuro)rad

关键词： Diagnosis

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Real-Time 2-D FIR Trapezoidal Digital Filters for 2.4 GHz Aperture Receiver Applications

Real-Time 2-D FIR Trapezoidal Digital Filters for 2.4 GHz Ap...

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Moratuwa Engineering Research Conference (MERCon)

作者： Viduneth Ariyarathna Vítor A. Coutinho Sravan Pulipati Arjuna Madanayake Ravi T. Wijesekara Chamira U. S. Edussooriya‡ Len T. Bruton§ Thushara K. Gunaratne Renato J. Cintra Dept. of Electrical and Computer Engineering University of Akron USA Grad. Program in Electrical Engineering and Signal Processing Group Statistics UFPE Brazil Dept. of Electronic and Telecommunication Engineering University of Moratuwa Sri Lanka University of Moratuwa Moratuwa LK University of Calgary Calgary AB CA Herzberg Astronomy and Astrophysics National Research Council Canada

This paper presents the implementation of a two-dimensional (2-D) finite-impulse-response (FIR) trapezoidal filter based beamforming array receiver. A 2.4 GHz 16-element receive-mode IQ array is designed and used for physically measuring the beam patterns corresponding to 2-D FIR trapezoidal filters. The 16-element beamformer is implemented using the reconfigurable open architecture computing hardware version-2 (ROACH-2) field programmable gate array (FPGA) platform to perform analog to digital conversion and digital signal processing. The 2-D FIR trapezoidal filter is designed as a 16-spatial input 32-tap filter and is implemented targeting the ROACH-2's Xilinx Virtex 6 (sx475t) FPGA chip as a filter-and-sum architecture. The receiver array is precisely rotated (keeping the transmitter fixed) to digitally measure the received energy by integrating the instantaneous power of the output of the 2-D FIR trapezoidal filter for each angle of reception. The main lobe of the measured beam pattern is well aligned with the simulated beam pattern, and the highest measured side-lobe level is -17.8 dB.

关键词： Finite impulse response filters Array signal processing Antenna arrays Receivers Extraterrestrial measurements Computer architecture Field programmable gate arrays

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Harmonized-Multinational qEEG norms (HarMNqEEG)

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NEUROIMAGE 2022年 256卷 119190-119190页

作者： Li, Min Wang, Ying Lopez-Naranjo, Carlos Hu, Shiang Reyes, Ronaldo Cesar Garcia Paz-Linares, Deirel Areces-Gonzalez, Ariosky Hamid, Aini Ismafairus Abd Evans, Alan C. Savostyanov, Alexander N. Calzada-Reyes, Ana Villringer, Arno Tobon-Quintero, Carlos A. Garcia-Agustin, Daysi Yao, Dezhong Dong, Li Aubert-Vazquez, Eduardo Reza, Faruque Razzaq, Fuleah Abdul Omar, Hazim Abdullah, Jafri Malin Galler, Janina R. Ochoa-Gomez, John F. Prichep, Leslie S. Galan-Garcia, Lidice Morales-Chacon, Lilia Valdes-Sosa, Mitchell J. Trondle, Marius Zulkifly, Mohd Faizal Mohd Rahman, Muhammad Riddha Bin Abdul Milakhina, Natalya S. Langer, Nicolas Rudych, Pavel Koenig, Thomas Virues-Alba, Trinidad A. Lei, Xu Bringas-Vega, Maria L. Bosch-Bayard, Jorge F. Valdes-Sosa, Pedro Antonio [a]The Clinical Hospital of Chengdu Brain Science Institute MOE Key Lab for Neuroinformation School of Life Science and Technology University of Electronic Science and Technology of China Chengdu China [b]Cuban Center for Neurocience La Habana Cuba [c]McGill Centre for Integrative Neuroscience Ludmer Centre for Neuroinformatics and Mental Health Montreal Neurological Institute Canada [d]Department of Neurosciences School of Medical Sciences Universiti Sains Malaysia Universiti Sains Malaysia Health Campus Kota Bharu Kelantan 16150 Malaysia [e]Brain and Behaviour Cluster School of Medical Sciences Universiti Sains Malaysia Health Campus Kota Bharu Kelantan 16150 Malaysia [f]Hospital Universiti Sains Malaysia Universiti Sains Malaysia Health Campus Kota Bharu Kelantan 16150 Malaysia [g]Humanitarian Institute Novosibirsk State University Novosibirsk 630090 Russia [h]Laboratory of Psychophysiology of Individual Differences Federal State Budgetary Scientific Institution Scientific Research Institute of Neurosciences and Medicine Novosibirsk 630117 Russia [i]Laboratory of Psychological Genetics at the Institute of Cytology and Genetics Siberian Branch of the Russian Academy of Sciences Novosibirsk 630090 Russia [j]University of Pinar del Río “Hermanos Saiz Montes de Oca” Pinar del Río Cuba [k]Department of Neurology Max Planck Institute for Human Cognitive and Brain Sciences Leipzig Germany [l]Department of Cognitive Neurology University Hospital Leipzig Leipzig Germany [m]Center for Stroke Research Charité-Universitätsmedizin Berlin Berlin Germany [n]Grupo Neuropsicología y Conducta - GRUNECO Faculty of Medicine Universidad de Antioquia Colombia [o]Research Department Institución Prestadora de Servicios de Salud IPS Universitaria Colombia [p]The Cuban center aging longevity and health Havana Cuba [q]Research Unit of NeuroInformation Chinese Academy of Medical Sciences Chengdu 2019RU035 China [r]School of Electrical Engineering Zhengzhou University Zhengzhou 4500

This paper extends frequency domain quantitative electroencephalography (qEEG) methods pursuing higher sensitivity to detect Brain Developmental Disorders. Prior qEEG work lacked integration of cross-spectral information omitting important functional connectivity descriptors. Lack of geographical diversity precluded accounting for site-specific variance, increasing qEEG nuisance variance. We ameliorate these weaknesses. (i) Create lifespan Riemannian multinational qEEG norms for cross-spectral tensors. These norms result from the HarMNqEEG project fostered by the Global Brain Consortium. We calculate the norms with data from 9 countries, 12 devices, and 14 studies, including 1564 subjects. Instead of raw data, only anonymized metadata and EEG cross spectral tensors were shared. After visual and automatic quality control, developmental equations for the mean and standard deviation of qEEG traditional and Riemannian DPs were calculated using additive mixed-effects models. We demonstrate qEEG "batch effects " and provide methods to calculate harmonized z-scores. (ii) We also show that harmonized Riemannian norms produce z-scores with increased diagnostic accuracy predicting brain dysfunction produced by malnutrition in the first year of life and detecting COVID induced brain dysfunction. (iii) We offer open code and data to calculate different individual z-scores from the HarMNqEEG dataset. These results contribute to developing bias-free, low-cost neuroimaging technologies applicable in various health settings.

关键词： Quantitative EEG EEG cross-spectrum Riemannian geometry Batch effects Z-score Harmonization Malnutrition Covid induced brain dysfunction Developmental Brain Chart

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Unsupervised extraction of phenotypes from cancer clinical notes for association studies

arXiv

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arXiv 2019年

作者： Stark, Stefan G. Hyland, Stephanie L. Pradier, Melanie F. Lehmann, Kjong-Van Wicki, Andreas Perez-Cruz, Fernando Vogt, Julia E. Rätsch, Gunnar Computational Biology Program Memorial Sloan Kettering Cancer Center New York United States Tri-Institutional Ph.D. Program in Computational Biology and Medicine Weill Cornell Medicine New York United States Department of Computer Science ETH Zürich Zürich Switzerland Medical Informatics Group University Hospital Zürich Zürich Switzerland Swiss Institute for Bioinformatics Zurich Switzerland Department of Biology ETH Zürich Zürich Switzerland Department of Signal Processing and Information Theory University Carlos III in Madrid Leganés Spain School of Engineering and Applied Sciences Harvard University CambridgeMA United States Department of Biomedicine University of Basel Basel Switzerland Tumorzentrum University Hospital Basel Basel Switzerland Swiss Data Science Center ETH Zürich and EPFL Lausanne Switzerland Department of Mathematics and Computer Science University of Basel Basel Switzerland

The recent adoption of Electronic Health Records (EHRs) by healthcare providers has introduced an important source of data that provides detailed and highly specific insights into patient phenotypes over large cohorts. These datasets, in combination with machine learning and statistical approaches, generate new opportunities for research and clinical care. However, many methods require the patient representations to be in structured formats, while the information in the EHR is often locked in unstructured text designed for human readability. In this work, we develop the methodology to automatically extract clinical features from clinical narratives from large EHR corpora without the need for prior knowledge. We consider medical terms and sentences appearing in clinical narratives as atomic information units. We propose an efficient clustering strategy suitable for the analysis of large text corpora and utilize the clusters to represent information about the patient compactly. Additionally, we define the sentences on ontologic and natural language vocabularies to automatically detect pertinent combinations of concepts present in the corpus, even when an ontology is not available. To demonstrate the utility of our approach, we perform an association study of clinical features with somatic mutation profiles from 4,007 cancer patients and their tumors. We apply the proposed algorithm to a dataset consisting of .65 thousand documents with a total of .3.2 million sentences. After correcting for cancer type and other confounding factors, we identify a total of 340 significant statistical associations between the presence of somatic mutations and clinical features. We annotated these associations according to their novelty and we report several known associations. We also propose 37 plausible, testable hypothesis for associations where the underlying biological mechanism does not appear to be known. These results illustrate that the automated discovery of clinical features

关键词： Diseases

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Fast matrix inversion and determinant computation for polarimetric synthetic aperture radar

arXiv

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arXiv 2018年

作者： Coelho, D.F.G. Cintra, R.J. Frery, A.C. Dimitrov, V.S. Graduate Program of Electrical and Computer Engineering Department University of Calgary Canada Signal Processing Group Departamento de Es-tatística Universidade Federal de Pernambuco Department of Electrical and Computer Engineering University of Calgary CalgaryAB Canada Laboratório de Computação Científica e Análise Numérica Universidade Federal de Alagoas Brazil Department of Electrical and Computer Engineering University of Calgary CalgaryAB Canada

This paper introduces a fast algorithm for simultaneous inversion and determinant computation of small sized matrices in the context of fully Polarimetric Synthetic Aperture Radar (PolSAR) image processing and analysis. The proposed fast algorithm is based on the computation of the adjoint matrix and the symmetry of the input matrix. The algorithm is implemented in a general purpose graphical processing unit (GPGPU) and compared to the usual approach based on Cholesky factorization. The assessment with simulated observations and data from an actual PolSAR sensor show a speedup factor of about two when compared to the usual Cholesky factorization. Moreover, the expressions provided here can be implemented in any platform. Copyright © 2018, The Authors. All rights reserved.

关键词： Graphics processing unit

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BigNeuron: a resource to benchmark and predict performance of algorithms for automated tracing of neurons in light microscopy datasets

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Nature methods 2023年第6期20卷 824-835页

作者： Linus Manubens-Gil Zhi Zhou Hanbo Chen Arvind Ramanathan Xiaoxiao Liu Yufeng Liu Alessandro Bria Todd Gillette Zongcai Ruan Jian Yang Miroslav Radojević Ting Zhao Li Cheng Lei Qu Siqi Liu Kristofer E Bouchard Lin Gu Weidong Cai Shuiwang Ji Badrinath Roysam Ching-Wei Wang Hongchuan Yu Amos Sironi Daniel Maxim Iascone Jie Zhou Erhan Bas Eduardo Conde-Sousa Paulo Aguiar Xiang Li Yujie Li Sumit Nanda Yuan Wang Leila Muresan Pascal Fua Bing Ye Hai-Yan He Jochen F Staiger Manuel Peter Daniel N Cox Michel Simonneau Marcel Oberlaender Gregory Jefferis Kei Ito Paloma Gonzalez-Bellido Jinhyun Kim Edwin Rubel Hollis T Cline Hongkui Zeng Aljoscha Nern Ann-Shyn Chiang Jianhua Yao Jane Roskams Rick Livesey Janine Stevens Tianming Liu Chinh Dang Yike Guo Ning Zhong Georgia Tourassi Sean Hill Michael Hawrylycz Christof Koch Erik Meijering Giorgio A Ascoli Hanchuan Peng Institute for Brain and Intelligence Southeast University Nanjing China. Microsoft Corporation Redmond WA USA. Tencent AI Lab Bellevue WA USA. Computing Environment and Life Sciences Directorate Argonne National Laboratory Lemont IL USA. Kaya Medical Seattle WA USA. University of Cassino and Southern Lazio Cassino Italy. Center for Neural Informatics Structures and Plasticity Krasnow Institute for Advanced Study George Mason University Fairfax VA USA. Faculty of Information Technology Beijing University of Technology Beijing China. Beijing International Collaboration Base on Brain Informatics and Wisdom Services Beijing China. Nuctech Netherlands Rotterdam the Netherlands. Janelia Research Campus Howard Hughes Medical Institute Ashburn VA USA. Department of Electrical and Computer Engineering University of Alberta Edmonton Alberta Canada. Ministry of Education Key Laboratory of Intelligent Computation and Signal Processing Anhui University Hefei China. Paige AI New York NY USA. Scientific Data Division and Biological Systems and Engineering Division Lawrence Berkeley National Lab Berkeley CA USA. Helen Wills Neuroscience Institute and Redwood Center for Theoretical Neuroscience UC Berkeley Berkeley CA USA. RIKEN AIP Tokyo Japan. Research Center for Advanced Science and Technology (RCAST) The University of Tokyo Tokyo Japan. School of Computer Science University of Sydney Sydney New South Wales Australia. Texas A&M University College Station TX USA. Cullen College of Engineering University of Houston Houston TX USA. Graduate Institute of Biomedical Engineering National Taiwan University of Science and Technology Taipei Taiwan. National Centre for Computer Animation Bournemouth University Poole UK. PROPHESEE Paris France. Department of Neuroscience Columbia University New York NY USA. Mortimer B. Zuckerman Mind Brain Behavior Institute Columbia University New York NY USA. Department of Computer Science Northern Illinois Universit

BigNeuron is an open community bench-testing platform with the goal of setting open standards for accurate and fast automatic neuron tracing. We gathered a diverse set of image volumes across several species that is representative of the data obtained in many neuroscience laboratories interested in neuron tracing. Here, we report generated gold standard manual annotations for a subset of the available imaging datasets and quantified tracing quality for 35 automatic tracing algorithms. The goal of generating such a hand-curated diverse dataset is to advance the development of tracing algorithms and enable generalizable benchmarking. Together with image quality features, we pooled the data in an interactive web application that enables users and developers to perform principal component analysis, t-distributed stochastic neighbor embedding, correlation and clustering, visualization of imaging and tracing data, and benchmarking of automatic tracing algorithms in user-defined data subsets. The image quality metrics explain most of the variance in the data, followed by neuromorphological features related to neuron size. We observed that diverse algorithms can provide complementary information to obtain accurate results and developed a method to iteratively combine methods and generate consensus reconstructions. The consensus trees obtained provide estimates of the neuron structure ground truth that typically outperform single algorithms in noisy datasets. However, specific algorithms may outperform the consensus tree strategy in specific imaging conditions. Finally, to aid users in predicting the most accurate automatic tracing results without manual annotations for comparison, we used support vector machine regression to predict reconstruction quality given an image volume and a set of automatic tracings.

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Temporal dynamics of the generator of stimulated otoacoustic emissions

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The Journal of the Acoustical Society of America 2018年第3_SUPPLEMENT期143卷 1811-1811页

作者： Sarah Verhulst Alessandro Altoè Stefan Raufer Karolina Charaziak Christopher Shera Dept. Information Technol. Ghent Univ. Technologiepark 15 Zwijnaarde 9052 Belgium s.verhulst@ugent.be Dept. of Signal Processing and Acoust. Aalto Univ. Aalto Finland Speech and Hearing BioSci. and Technol. Program Harvard Univ. Boston MA Caruso Dept. of Otolaryngol. Univ. of Southern California Los Angeles CA

The early emission work of David Kemp investigated temporal properties of click-evoked otoacoustic emissions (CEOAEs). Suppressor clicks were positioned up to 10 ms before or after the evoking (test) click and reduced the emission amplitude. Intriguingly, suppressors that preceded the test click by 1-2 ms were more effective than simultaneously presented suppressors. This observation seems not to support the hypothesis that emission generation operates on the basis of an instantaneous gain/suppression mechanism, for which simultaneously presented suppressors should be most effective. Kemps’ observations thus left the field with an important OAE generation question that inspired several OAE studies. Kemps’ results can be explained on the basis of (i) a non-instantaneous gain mechanism at the OAE generation site, or (ii), complex temporal interactions of basilar-membrane impulse responses (BM IRs) that operate with an instantaneous nonlinearity, but yield the observed non-instantaneous suppression properties. We investigated these dynamics using a nonlinear transmission-line model of the human cochlea and found that maximal CEOAE suppression can occur for preceding clicks even when the cochlear nonlinearity is kept time-invariant, supporting hypothesis (ii). Additionally, we used the frequency-dependence of CEOAE suppression to quantify human BM IR duration and cochlear filter tuning, yielding QERB estimates of 13.8 F[in kHz]0.22.

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Author Correction: Brain clocks capture diversity and disparities in aging and dementia across geographically diverse populations

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Nature medicine 2024年第12期30卷 3779页

作者： Sebastian Moguilner Sandra Baez Hernan Hernandez Joaquín Migeot Agustina Legaz Raul Gonzalez-Gomez Francesca R Farina Pavel Prado Jhosmary Cuadros Enzo Tagliazucchi Florencia Altschuler Marcelo Adrián Maito María E Godoy Josephine Cruzat Pedro A Valdes-Sosa Francisco Lopera John Fredy Ochoa-Gómez Alfredis Gonzalez Hernandez Jasmin Bonilla-Santos Rodrigo A Gonzalez-Montealegre Renato Anghinah Luís E d'Almeida Manfrinati Sol Fittipaldi Vicente Medel Daniela Olivares Görsev G Yener Javier Escudero Claudio Babiloni Robert Whelan Bahar Güntekin Harun Yırıkoğulları Hernando Santamaria-Garcia Alberto Fernández Lucas David Huepe Gaetano Di Caterina Marcio Soto-Añari Agustina Birba Agustin Sainz-Ballesteros Carlos Coronel-Oliveros Amanuel Yigezu Eduar Herrera Daniel Abasolo Kerry Kilborn Nicolás Rubido Ruaridh A Clark Ruben Herzog Deniz Yerlikaya Kun Hu Mario A Parra Pablo Reyes Adolfo M García Diana L Matallana José Alberto Avila-Funes Andrea Slachevsky María I Behrens Nilton Custodio Juan F Cardona Pablo Barttfeld Ignacio L Brusco Martín A Bruno Ana L Sosa Ortiz Stefanie D Pina-Escudero Leonel T Takada Elisa Resende Katherine L Possin Maira Okada de Oliveira Alejandro Lopez-Valdes Brian Lawlor Ian H Robertson Kenneth S Kosik Claudia Duran-Aniotz Victor Valcour Jennifer S Yokoyama Bruce Miller Agustin Ibanez Latin American Brain Health Institute Universidad Adolfo Ibañez Santiago de Chile Chile. Cognitive Neuroscience Center Universidad de San Andrés Buenos Aires Argentina. Department of Neurology Massachusetts General Hospital and Harvard Medical School Boston MA USA. Universidad de los Andes Bogota Colombia. Global Brain Health Institute (GBHI) University of California San Francisco CA USA. Global Brain Health Institute (GBHI) Trinity College Dublin Dublin Ireland. The University of California Santa Barbara (UCSB) Santa Barbara CA USA. Escuela de Fonoaudiología Universidad San Sebastián Santiago de Chile Chile. Grupo de Bioingeniería Decanato de Investigación Universidad Nacional Experimental del Táchira San Cristóbal Venezuela. Advanced Center for Electrical and Electronic Engineering Universidad Técnica Federico Santa María Valparaíso Chile. University of Buenos Aires Buenos Aires Argentina. The Clinical Hospital of Chengdu Brain Sciences Institute University of Electronic Sciences and Technology of China Chengdu China. Technology of China Chengdu China. Cuban Neuroscience Center La Habana Cuba. Grupo de Neurociencias de Antioquia (GNA) University of Antioquia Medellín Colombia. Department of Psychology Master Program of Clinical Neuropsychology Universidad Surcolombiana Neiva Neiva Colombia. Department of Psychology Universidad Cooperativa de Colombia Arauca Colombia. Neurocognition and Psychophysiology Laboratory Universidad Surcolombiana Neiva Colombia. Reference Center of Behavioural Disturbances and Dementia School of Medicine University of Sao Paulo Sao Paulo Brazil. Traumatic Brain Injury Cognitive Rehabilitation Out-Patient Center University of Sao Paulo Sao Paulo Brazil. Center for Social and Cognitive Neuroscience School of Psychology Universidad Adolfo Ibáñez Santiago Chile. Neuropsychology and Clinical Neuroscience Laboratory (LANNEC) Physiopathology Program-Institute of Biomedical Sciences (ICBM) Neuroscience and East Neuroscience Dep

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Posterior Elimination Fast Look-Ahead Rao-Blackwellized Particle Filtering for Simultaneous Localization and Mapping

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Procedia Computer Science 2016年 86卷 261-264页

作者： Surasak Nasuriwong Peerapol Yuvapoositanon The Electrical Engineering Graduate Program Faculty of Engineering Mahanakorn University of Technology 140 Cheumsampan Rd. Nong-Chok Bangkok 10530 Thailand Centre of Electronic Systems Design and Signal Processing (CESdSP) Mahanakorn University of Technology 140 Cheumsampan Rd. Nong-Chok Bangkok 10530 Thailand

In this paper, a method for further reducing computation time for Fast Look-Ahead Rao-Blackwellized Particle filtering (Fast la-RBPF) for Simultaneous Localization and Mapping (SLAM) problem is presented. By using the pose posterior probability, states with low posteriors are excluded from the Kalman filtering updates to the computation time can be reduced. In conjunction with Fast la-RBPF, the proposed algorithm is then called the Posterior Elimination Fast la-RBPF SLAM algorithm. Simulation results show that the proposed method is more efficient in terms of computation time than Fast la-RBPF without any sacrifice in both localization and mapping error performances.

关键词： Probalistic Robotics Simultaneous Localization and Mapping Look-Ahead Rao-Blackwellized Particle Filter

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