Swarm intelligence: novel tools for optimization, feature extraction, and multi-agent system modeling

Abstract Animal swarms in nature are able to adapt to dynamic changes in their envi-ronment, and through cooperation they can solve problems that are crucial for their survival. Only by means of local interactions with other members of the swarm and with the environment, they can achieve a common goal more efficiently than it would be done by a single individual. This problem-solving behavior that results from the multiplicity of such interactions is referred to as Swarm Intelligence. The mathematical models of swarming behavior in nature were initially proposed to solve optimization problems. Nevertheless, this decentralized approach can be a valuable tool for a variety of applications, where emerging global patterns represent a solution to the task at hand. Methods for the solution of difficult computational problems based on Swarm Intelligence have been experimentally demonstrated and reported in the literature. However, a general framework that would facilitate their design does not exist yet. In this dissertation, a new general design methodology for Swarm Intelligence tools is proposed. By defining a discrete space in which the members of the swarm can move, and by modifying the rules of local interactions and setting the adequate objective function for solutions evaluation, the proposed methodology is tested in various domains. The dissertation presents a set of case studies, and focuses on two general approaches. One approach is to apply Swarm Intelligence as a tool for optimization and feature extraction, and the other approach is to model multi-agent systems such that they resemble swarms of animals in nature providing them with the ability to autonomously perform a task at hand. Artificial swarms are designed to be autonomous, scalable, robust, and adaptive to the changes in their environment. In this work, the methods that exploit one or more of these features are presented. First, the proposed methodology is validated in a real-world scenario seen as a combinatorial optimization problem. Then a set of novel tools for feature extraction, more precisely the adaptive edge detection and the broken-edge linking in digital images is proposed. A novel data clustering algorithm is also proposed and applied to image segmentation. Finally, a scalable algorithm based on the proposed methodology is developed for distributed task allocation in multi-agent systems, and applied to a swarm of robots. The newly proposed general methodology provides a guideline for future developers of the Swarm Intelligence tools. Los enjambres de animales en la naturaleza son capaces de adaptarse a cambios dinamicos en su entorno y, por medio de la cooperación, pueden resolver problemas ´ cruciales para su supervivencia. Unicamente por medio de interacciones locales con otros miembros del enjambre y con el entorno, pueden lograr un objetivo común de forma más eficiente que lo haría un solo individuo. Este comportamiento problema-resolutivo que es resultado de la multiplicidad de interacciones se denomina Inteligencia de Enjambre. Los modelos matemáticos de comportamiento de enjambres en entornos naturales fueron propuestos inicialmente para resolver problemas de optimización. Sin embargo, esta aproximación descentralizada puede ser una herramienta valiosa en una variedad de aplicaciones donde patrones globales emergentes representan una solución de las tareas actuales. Aunque en la literatura se muestra la utilidad de los métodos de Inteligencia de Enjambre, no existe un entorno de trabajo que facilite su diseño. En esta memoria de tesis proponemos una nueva metodologia general de diseño para herramientas de Inteligencia de Enjambre. Desarrollamos herramientas noveles que representan ejem-plos ilustrativos de su implementación. Probamos la metodología propuesta en varios dominios definiendo un espacio discreto en el que los miembros del enjambre pueden moverse, modificando las reglas de las interacciones locales y fijando la función objetivo adecuada para evaluar las soluciones. La memoria de tesis presenta un conjunto de casos de estudio y se centra en dos aproximaciones generales. Una aproximación es aplicar Inteligencia de Enjambre como herramienta de optimización y extracción de características mientras que la otra es modelar sistemas multi-agente de tal manera que se asemejen a enjambres de animales en la naturaleza a los que se les confiere la habilidad de ejecutar autónomamente la tarea. Los enjambres artificiales están diseñados para ser autónomos, escalables, robustos y adaptables a los cambios en su entorno. En este trabajo, presentamos métodos que explotan una o más de estas características. Primero, validamos la metodología propuesta en un escenario del mundo real visto como un problema de optimización combinatoria. Después, proponemos un conjunto de herramientas noveles para ex-tracción de características, en concreto la detección adaptativa de bordes y el enlazado de bordes rotos en imágenes digitales, y el agrupamiento de datos para segmentación de imágenes. Finalmente, proponemos un algoritmo escalable para la asignación distribuida de tareas en sistemas multi-agente aplicada a enjambres de robots. La metodología general recién propuesta ofrece una guía para futuros desarrolladores deherramientas de Inteligencia de Enjambre

Histopathological image analysis : a review

Over the past decade, dramatic increases in computational power and improvement in image analysis algorithms have allowed the development of powerful computer-assisted analytical approaches to radiological data. With the recent advent of whole slide digital scanners, tissue histopathology slides can now be digitized and stored in digital image form. Consequently, digitized tissue histopathology has now become amenable to the application of computerized image analysis and machine learning techniques. Analogous to the role of computer-assisted diagnosis (CAD) algorithms in medical imaging to complement the opinion of a radiologist, CAD algorithms have begun to be developed for disease detection, diagnosis, and prognosis prediction to complement the opinion of the pathologist. In this paper, we review the recent state of the art CAD technology for digitized histopathology. This paper also briefly describes the development and application of novel image analysis technology for a few specific histopathology related problems being pursued in the United States and Europe

Human-Centric Machine Vision

Recently, the algorithms for the processing of the visual information have greatly evolved, providing efficient and effective solutions to cope with the variability and the complexity of real-world environments. These achievements yield to the development of Machine Vision systems that overcome the typical industrial applications, where the environments are controlled and the tasks are very specific, towards the use of innovative solutions to face with everyday needs of people. The Human-Centric Machine Vision can help to solve the problems raised by the needs of our society, e.g. security and safety, health care, medical imaging, and human machine interface. In such applications it is necessary to handle changing, unpredictable and complex situations, and to take care of the presence of humans

A multi-technique hierarchical X-ray phase-based approach for the characterization and quantification of the effects of novel radiotherapies

Cancer is the first or second leading cause of premature deaths worldwide with an overall rapidly growing burden. Standard cancer therapies include surgery, chemotherapy and radiotherapy (RT) and often a combination of the three is applied to improve the probability of tumour control. Standard therapy protocols have been established for many types of cancers and new approaches are under study especially for treating radio-resistant tumours associated to an overall poor prognosis, as for brain and lung cancers. Follow up techniques able to monitor and investigate the effects of therapies are important for surveying the efficacy of conventionally applied treatments and are key for accessing the curing capabilities and the onset of acute and late adverse effects of new therapies. In this framework, this doctoral Thesis proposes the X-ray Phase Contrast Im-aging - Computed Tomography (XPCI-CT) technique as an imaging-based tool to study and quantify the effects of novel RTs, namely Microbeam and Minibeam Radiation therapy (MRT and MB), and to compare them to the standard Broad Beam (BB) induced effects on brain and lungs. MRT and MB are novel radiotherapies that deliver an array of spatially fractionated X-ray beamlets issued from a synchrotron radiation source, with widths of tens or hundreds of micrometres, respectively. MRT and MB exploit the so-called dose-volume effect: hundreds of Grays are well tolerated by healthy tissues and show a preferential effect on tumour cells and vasculature when delivered in a micrometric sized micro-plane, while induce lethal effects if applied over larger uniform irradiation fields. Such highly collimated X-ray beams need a high-resolution and a full-organ approach that can visualize, with high sensitivity, the effects of the treatment along and outside the beamlets path. XPCI-CT is here suggested and proven as a powerful imaging technique able to determine and quantify the effects of the radiation on normal and tumour-bearing tissues. Moreover, it is shown as an effective technique to complement, with 3D information, the histology findings in the follow-up of the RT treatments. Using a multi-scale and multi-technique X-ray-based approach, I have visualized and analysed the effects of RT delivery on healthy and glioblastoma multiforme (GBM)-bearing rat brains as well as on healthy rat lungs. Ex-vivo XPCI-CT datasets acquired with isotropic voxel sizes in the range 3.253 – 0.653 μm3 could distinguish, with high sensitivity, the idiopathic effects of MRT, MB and BB therapies. Histology, immunohistochemistry, Small- and Wide-Angle X-ray Scattering and X-ray Fluorescence experiments were also carried out to accurately interpret and complement the XPCI-CT findings as well as to obtain a detailed structural and chemical characterization of the detected pathological features. Overall, this multi-technique approach could detect: i) a different radio-sensitivity for the MRT-treated brain areas; ii) Ca and Fe deposits, hydroxyapatite crystals formation; iii) extended and isolated fibrotic contents. Full-organ XPCI-CT datasets allowed for the quantification of tumour and mi-crocalcifications’ volumes in treated brains and the amount of scarring tissue in irradiated lungs. Herein, the role of XPCI-CT as a 3D virtual histology technique for the follow-up of ex-vivo RT effects has been assessed as a complementary method for an accurate volumetric investigation of normal and pathological states in brains and lungs, in a small animal model. Moreover, the technique is proposed as a guidance and auxiliary tool for conventional histology, which is the gold standard for pathological evaluations, owing to its 3D capabilities and the possibility of virtually navigating within samples. This puts a landmark for XPCI-CT inclusion in the pre-clinical studies pipeline and for advancing towards in-vivo XPCI-CT imaging of treated organs.Weltweit gilt Krebs als häufigste bzw. zweithäufigste Ursache eines zu früh erfolgenden Todes, wobei die Zahlen rasch ansteigen. Standardmäßige Krebstherapien umfassen chirurgische Eingriffe, Chemotherapie und Strahlentherapie (radiotherapy, RT); oft kommt eine Kombination daraus zur Anwendung, um die Wahrscheinlichkeit der Tumorkontrolle zu erhöhen. Es wurden Standardtherapieprotokolle für zahlreiche Krebsarten eingerichtet und es wird vor allem in der Behandlung von strahlenresistenten Tumoren mit allgemein schlechter Prognose wie bei Hirn- und Lungentumoren an neuen Ansätzen geforscht. Nachverfolgungstechniken, welche die Auswirkungen von Therapien überwachen und ermitteln, sind zur Überwachung der Wirksamkeit herkömmlich angewandter Behandlungen wichtig und auch maßgeblich am Zugang zu den Fähigkeiten zur Heilung sowie zum Auftreten akuter und verzögerter Nebenwirkungen neuer Therapien beteiligt. In diesem Rahmenwerk unterbreitet diese Doktorarbeit die Technik der Röntgen-Phasenkontrast-Bildgebung über Computertomographie (X-ray Phase Contrast Imaging - Computed Tomography, XPCI‑CT) als bildverarbeitungs-basiertes Tool zur Untersuchung und Quantifizierung der Auswirkungen neuartiger Strahlentherapien, nämlich der Mikrobeam- und Minibeam-Strahlentherapie (MRT und MB), sowie zum Vergleich derselben mit den herkömmlichen durch Breitstrahlen (Broad Beam, BB) erzielten Auswirkungen auf Gehirn und Lunge. MRT und MB sind neuartige Strahlentherapien, die ein Array räumlich aufgeteilter Röntgenstrahlenbeamlets aus einer synchrotronen Strahlenquelle mit einer Breite von Zehnteln bzw. Hundersteln Mikrometern abgeben. MRT und MB nutzen den sogenannten Dosis-Volumen-Effekt: Hunderte Gray werden von gesundem Gewebe gut vertragen und wirken bei der Abgabe in einer Mikroebene im Mikrometerbereich vorrangig auf Tumorzellen und Blutgefäße, während sie bei einer Anwendung über größere gleichförmige Strahlungsfelder letale Auswirkungen aufweisen. Solche hoch kollimierten Röntgenstrahlen erfordern eine hohe Auflösung und einen Zugang zum gesamten Organ, bei dem die Auswirkungen der Behandlung entlang und außerhalb der Beamletpfade mit hoher Empfindlichkeit visualisiert werden können. Hier empfiehlt und bewährt sich die XPCI‑CT als leistungsstarke Bildverarbeitungstechnik, welche die Auswirkungen der Strahlung auf normale und tumortragende Gewebe feststellen und quantifizieren kann. Außerdem hat sich gezeigt, dass sie durch 3‑D-Informationen eine effektive Technik zur Ergänzung der histologischen Erkenntnisse in der Nachverfolgung der Strahlenbehandlung ist. Anhand eines mehrstufigen und multitechnischen röntgenbasierten Ansatzes habe ich die Auswirkungen der Strahlentherapie auf gesunde und von Glioblastomen (GBM) befallene Rattenhirne sowie auf gesunde Rattenlungen visualisiert und analysiert. Mit isotropen Voxelgrößen im Bereich von 3,53 bis 0,653 μm3 erfasste Ex-vivo-XPCI-CT-Datensätze konnten die idiopathischen Auswirkungen der MRT-, MB- und BB‑Behandlung mit hoher Empfindlichkeit unterscheiden. Es wurden auch Experimente zu Histologie, Immunhistochemie, Röntgenklein- und ‑weitwinkelstreuung und Röntgenfluoreszenz durchgeführt, um die XPCI‑CT-Erkenntnisse präzise zu interpretieren und zu ergänzen sowie eine detaillierte strukturelle und chemische Charakterisierung der nachgewiesenen pathologischen Merkmale zu erhalten. Im Allgemeinen wurde durch diesen multitechnischen Ansatz Folgendes ermittelt: i) eine un-terschiedliche Strahlenempfindlichkeit der mit MRT behandelten Gehirnbereiche; ii) Ca- und Fe-Ablagerungen und die Bildung von Hydroxylapatitkristallen; iii) ein ausgedehnter und isolierter Fibrosegehalt. XPCI‑CT-Datensätze des gesamten Organs ermöglichten die Quantifizierung der Volume von Tumoren und Mikroverkalkungen in den behandelten Gehirnen und der Menge des Narbengewebes in bestrahlten Lungen. Dabei wurde die Rolle der XPCI‑CT als virtuelle 3‑D-Histologietechnik für die Nachverfolgung von Ex-vivo-RT‑Auswirkungen als ergänzende Methode für eine präzise volumetrische Untersuchung des normalen und pathologischen Zustands von Gehirnen und Lungen im Kleintiermodell untersucht. Darüber hinaus wird die Technik aufgrund ihrer 3‑D-Fähigkeiten und der Möglichkeit zur virtuellen Navigation in den Proben als Leitfaden und Hilfstool für die herkömmliche Histologie vorgeschlagen, die der Goldstandard für die pathologische Evaluierung ist. Dies markiert einen Meilenstein für die Übernahme der XPCI‑CT in die Pipeline präklinischer Studien und für den Übergang zur In-vivo-XPCI‑CT von behandelten Organen

Computerized cancer malignancy grading of fine needle aspirates

According to the World Health Organization, breast cancer is a leading cause of death among middle-aged women. Precise diagnosis and correct treatment significantly reduces the high number of deaths caused by breast cancer. Being successful in the treatment strictly relies on the diagnosis. Specifically, the accuracy of the diagnosis and the stage at which a cancer was diagnosed. Precise and early diagnosis has a major impact on the survival rate, which indicates how many patients will live after the treatment. For many years researchers in medical and computer science fields have been working together to find the approach for precise diagnosis. For this thesis, precise diagnosis means finding a cancer at as early a stage as possible by developing new computer aided diagnostic tools. These tools differ depending on the type of cancer and the type of the examination that is used for diagnosis. This work concentrates on cytological images of breast cancer that are produced during fine needle aspiration biopsy examination. This kind of examination allows pathologists to estimate the malignancy of the cancer with very high accuracy. Malignancy estimation is very important when assessing a patients survival rate and the type of treatment. To achieve precise malignancy estimation, a classification framework is presented. This framework is able to classify breast cancer malignancy into two malignancy classes and is based on features calculated according to the Bloom-Richardson grading scheme. This scheme is commonly used by pathologists when grading breast cancer tissue. In Bloom-Richardson scheme two types of features are assessed depending on the magnification. Low magnification images are used for examining the dispersion of the cells in the image while the high magnification images are used for precise analysis of the cells' nuclear features. In this thesis, different types of segmentation algorithms were compared to estimate the algorithm that allows for relatively fast and accurate nuclear segmentation. Based on that segmentation a set of 34 features was extracted for further malignancy classification. For classification purposes 6 different classifiers were compared. From all of the tests a set of the best preforming features were chosen. The presented system is able to classify images of fine needle aspiration biopsy slides with high accurac

Digital Image Processing via Combination of Low-Level and High-Level Approaches.

With the growth of computer power, Digital Image Processing plays a more and more important role in the modern world, including the field of industry, medical, communications, spaceflight technology etc. There is no clear definition how to divide the digital image processing, but normally, digital image processing includes three main steps: low-level, mid-level and highlevel processing. Low-level processing involves primitive operations, such as: image preprocessing to reduce the noise, contrast enhancement, and image sharpening. Mid-level processing on images involves tasks such as segmentation (partitioning an image into regions or objects), description of those objects to reduce them to a form suitable for computer processing, and classification (recognition) of individual objects. Finally, higher-level processing involves "making sense" of an ensemble of recognised objects, as in image analysis. Based on the theory just described in the last paragraph, this thesis is organised in three parts: Colour Edge and Face Detection; Hand motion detection; Hand Gesture Detection and Medical Image Processing. II In Colour Edge Detection, two new images G-image and R-image are built through colour space transform, after that, the two edges extracted from G-image and R-image respectively are combined to obtain the final new edge. In Face Detection, a skin model is built first, then the boundary condition of this skin model can be extracted to cover almost all of the skin pixels. After skin detection, the knowledge about size, size ratio, locations of ears and mouth is used to recognise the face in the skin regions. In Hand Motion Detection, frame differe is compared with an automatically chosen threshold in order to identify the moving object. For some special situations, with slow or smooth object motion, the background modelling and frame differencing are combined in order to improve the performance. In Hand Gesture Recognition, 3 features of every testing image are input to Gaussian Mixture Model (GMM), and then the Expectation Maximization algorithm (EM)is used to compare the GMM from testing images and GMM from training images in order to classify the results. In Medical Image Processing (mammograms), the Artificial Neural Network (ANN) and clustering rule are applied to choose the feature. Two classifier, ANN and Support Vector Machine (SVM), have been applied to classify the results, in this processing, the balance learning theory and optimized decision has been developed are applied to improve the performance

Representation learning for breast cancer lesion detection

Breast Cancer (BC) is the second type of cancer with a higher incidence in women, it is responsible for the death of hundreds of thousands of women every year. However, when detected in the early stages of the disease, treatment methods have proven to be very effective in increasing life expectancy and, in many cases, patients fully recover. Several medical image modalities, such as MG – Mammography (X-Rays), US - Ultrasound, CT - Computer Tomography, MRI - Magnetic Resonance Imaging, and Tomosynthesis have been explored to support radiologists/physicians in clinical decision-making work- flows for the detection and diagnosis of BC. MG is the imaging modality more used at the worldwide level, however, recent research results have demonstrated that breast MRI is more sensitive than mam- mography to find pathological lesions, and it is not limited/affected by breast density issues. Therefore, it is currently a trend to introduce MRI-based breast assessment into clinical workflows (screening and diagnosis), but when compared to MG the workload of radiologists/physicians increases, MRI assess- ment is a more time-consuming task, and its effectiveness is affected not only by the variety of morpho- logical characteristics of each specific tumor phenotype and its origin but also by human fatigue. Com- puter-Aided Detection (CADe) methods have been widely explored primarily in mammography screen- ing tasks, but it remains an unsolved problem in breast MRI settings. This work aims to explore and validate BC detection models using Machine (Deep) Learning algorithms. As the main contribution, we have developed and validated an innovative method that improves the “breast MRI preprocessing phase” to select the patient’s image slices and bounding boxes representing pathological lesions. With this, it is possible to build a more robust training dataset to feed the deep learning models, reducing the computation time and the dimension of the dataset, and more importantly, to identify with high accuracy the specific regions (bounding boxes) for each of the patient images, in which a possible pathological lesion (tumor) has been identified. In experimental settings using a fully annotated (released for public domain) dataset comprising a total of 922 MRI-based BC patient cases, we have achieved, as the most accurate trained model, an accuracy rate of 97.83%, and subsequently, applying a ten-fold cross-validation method, a mean accuracy on the trained models of 94.46% and an associated standard deviation of 2.43%.O cancro da mama (CdM) é o segundo tipo de cancro com maior incidência nas mulheres. É respon- sável pela morte de centenas de milhares de mulheres todos os anos. Contudo, quando detetado nas fases iniciais da doença, os métodos de tratamento provaram ser muito eficazes aumentando a espe- rança de vida e, em muitos casos, os pacientes recuperam totalmente. Têm sido exploradas várias modalidades de imagem médica, tais como MG - Mamografia (Raios-X), US - Ultra-som, CT - Tomo- grafia Computadorizada, MRI - Ressonância Magnética e Tomossíntese, para apoiar radiologistas nos fluxos de trabalho clínico para a deteção e diagnóstico do CdM. A MG é a modalidade de imagem mais utilizada a nível mundial, contudo, resultados de pesquisas recentes demonstraram que o MRI é mais sensível do que a mamografia para encontrar lesões patológicas e, também, não é limitada ou afetada por questões de densidade mamária. Consequentemente, atualmente é uma tendência introduzir a avaliação mamográfica baseada em MRI nos fluxos de trabalho clínico - rastreio e diagnóstico -, mas quando comparada com a MG, a carga de trabalho dos radiologistas aumenta. A avaliação por MRI é uma tarefa mais demorada, e a sua eficácia é afetada não só pela variedade de características morfo- lógicas e origem de cada fenótipo tumoral específico, mas, também pela fadiga humana. Os métodos de deteção assistida por computador (CADe) têm sido amplamente explorados principalmente em ta- refas de rastreio mamográfico, mas continua a ser um problema por resolver em ambientes de resso- nância magnética mamária. Este trabalho visa explorar e validar modelos de deteção de CdM usando algoritmos de Machine (Deep) Learning. Como contributo principal, desenvolvemos e validámos um método inovador que me- lhora a "fase de pré-processamento das imagens de ressonância magnética mamária" para selecionar as fatias de imagem do paciente e as respetivas caixas de contorno que representam as lesões pato- lógicas. Com isto, é possível construir um conjunto de dados de treino mais robusto para alimentar os modelos de deep learning, reduzir o tempo de computação, reduzir a dimensão do conjunto de dados e, mais importante, para identificar com alta precisão as regiões específicas para cada uma das ima- gens do paciente nas quais foi identificada uma possível lesão patológica (tumor). Os resultados expe- rimentais, num conjunto de imagens de ressonância magnética de domínio público totalmente anotado com 922 casos de doentes com CdM, mostram no melhor modelo uma taxa de exatidão de 97.83%. Foi aplicado um método de validação cruzada de 10 folds do qual resultou uma exatidão média de 94,46% com um desvio padrão de 2,43% nos modelos treinados

Histopathological image analysis: a review,”

Abstract-Over the past decade, dramatic increases in computational power and improvement in image analysis algorithms have allowed the development of powerful computer-assisted analytical approaches to radiological data. With the recent advent of whole slide digital scanners, tissue histopathology slides can now be digitized and stored in digital image form. Consequently, digitized tissue histopathology has now become amenable to the application of computerized image analysis and machine learning techniques. Analogous to the role of computer-assisted diagnosis (CAD) algorithms in medical imaging to complement the opinion of a radiologist, CAD algorithms have begun to be developed for disease detection, diagnosis, and prognosis prediction to complement the opinion of the pathologist. In this paper, we review the recent state of the art CAD technology for digitized histopathology. This paper also briefly describes the development and application of novel image analysis technology for a few specific histopathology related problems being pursued in the United States and Europe

Expert System with an Embedded Imaging Module for Diagnosing Lung Diseases

Lung diseases are one of the major causes of suffering and death in the world. Improved survival rate could be obtained if the diseases can be detected at its early stage. Specialist doctors with the expertise and experience to interpret medical images and diagnose complex lung diseases are scarce. In this work, a rule-based expert system with an embedded imaging module is developed to assist the general physicians in hospitals and clinics to diagnose lung diseases whenever the services of specialist doctors are not available. The rule-based expert system contains a large knowledge base of data from various categories such as patient's personal and medical history, clinical symptoms, clinical test results and radiological information. An imaging module is integrated into the expert system for the enhancement of chest X-Ray images. The goal of this module is to enhance the chest X-Ray images so that it can provide details similar to more expensive methods such as MRl and CT scan. A new algorithm which is a modified morphological grayscale top hat transform is introduced to increase the visibility of lung nodules in chest X-Rays. Fuzzy inference technique is used to predict the probability of malignancy of the nodules. The output generated by the expert system was compared with the diagnosis made by the specialist doctors. The system is able to produce results\ud which are similar to the diagnosis made by the doctors and is acceptable by clinical standards