Automation and robotics considerations for a lunar base

An envisioned lunar outpost shares with other NASA missions many of the same criteria that have prompted the development of intelligent automation techniques with NASA. Because of increased radiation hazards, crew surface activities will probably be even more restricted than current extravehicular activity in low Earth orbit. Crew availability for routine and repetitive tasks will be at least as limited as that envisioned for the space station, particularly in the early phases of lunar development. Certain tasks are better suited to the untiring watchfulness of computers, such as the monitoring and diagnosis of multiple complex systems, and the perception and analysis of slowly developing faults in such systems. In addition, mounting costs and constrained budgets require that human resource requirements for ground control be minimized. This paper provides a glimpse of certain lunar base tasks as seen through the lens of automation and robotic (A&R) considerations. This can allow a more efficient focusing of research and development not only in A&R, but also in those technologies that will depend on A&R in the lunar environment

Auto-Grading OCT Images Diagnostic Tool for Retinal Disease Classification

Retinal eye disease is the most common reason for visual deterioration. Long-term management and follow-up are critical to detect the changes in symptoms. Optical Coherence Tomography (OCT) is a non-invasive diagnostic tool for diagnosing and managing various retinal eye diseases. With the increasing desire for OCT image, the clinicians are suffered from the burden of time on diagnoses and treatment. This thesis proposes an auto-grading diagnostic tool to divide the OCT image for retinal disease classification. In the tool, the classification model implements convolutional neural networks (CNNs), and the model training is based on denoised OCT images. The tool can detect the uploaded OCT image and automatically generate a result of classification in the categories of Choroidal neovascularization (CNV), Diabetic macular edema (DME), Multiple drusen, and Normal. The system will definitely improve the performance of retinal eye disease diagnosis and alleviate the burden on the medical system

AutoMorph: Automated Retinal Vascular Morphology Quantification Via a Deep Learning Pipeline

Purpose: To externally validate a deep learning pipeline (AutoMorph) for automated analysis of retinal vascular morphology on fundus photographs. AutoMorph has been made publicly available, facilitating widespread research in ophthalmic and systemic diseases. Methods: AutoMorph consists of four functional modules: image preprocessing, image quality grading, anatomical segmentation (including binary vessel, artery/vein, and optic disc/cup segmentation), and vascular morphology feature measurement. Image quality grading and anatomical segmentation use the most recent deep learning techniques. We employ a model ensemble strategy to achieve robust results and analyze the prediction confidence to rectify false gradable cases in image quality grading. We externally validate the performance of each module on several independent publicly available datasets. Results: The EfficientNet-b4 architecture used in the image grading module achieves performance comparable to that of the state of the art for EyePACS-Q, with an F1-score of 0.86. The confidence analysis reduces the number of images incorrectly assessed as gradable by 76%. Binary vessel segmentation achieves an F1-score of 0.73 on AV-WIDE and 0.78 on DR HAGIS. Artery/vein scores are 0.66 on IOSTAR-AV, and disc segmentation achieves 0.94 in IDRID. Vascular morphology features measured from the AutoMorph segmentation map and expert annotation show good to excellent agreement. Conclusions: AutoMorph modules perform well even when external validation data show domain differences from training data (e.g., with different imaging devices). This fully automated pipeline can thus allow detailed, efficient, and comprehensive analysis of retinal vascular morphology on color fundus photographs. Translational Relevance: By making AutoMorph publicly available and open source, we hope to facilitate ophthalmic and systemic disease research, particularly in the emerging field of oculomics

Robot Composite Learning and the Nunchaku Flipping Challenge

Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this paper, we present a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation. The method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. We also introduce the "nunchaku flipping challenge", an extreme test that puts hard requirements to all these three aspects. Continued from our previous presentations, this paper introduces the latest update of the composite learning scheme and the physical success of the nunchaku flipping challenge