Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

A multispeaker dataset of raw and reconstructed speech production real-time MRI video and 3D volumetric images

Real-time magnetic resonance imaging (RT-MRI) of human speech production is enabling significant advances in speech science, linguistics, bio-inspired speech technology development, and clinical applications. Easy access to RT-MRI is however limited, and comprehensive datasets with broad access are needed to catalyze research across numerous domains. The imaging of the rapidly moving articulators and dynamic airway shaping during speech demands high spatio-temporal resolution and robust reconstruction methods. Further, while reconstructed images have been published, to-date there is no open dataset providing raw multi-coil RT-MRI data from an optimized speech production experimental setup. Such datasets could enable new and improved methods for dynamic image reconstruction, artifact correction, feature extraction, and direct extraction of linguistically-relevant biomarkers. The present dataset offers a unique corpus of 2D sagittal-view RT-MRI videos along with synchronized audio for 75 subjects performing linguistically motivated speech tasks, alongside the corresponding first-ever public domain raw RT-MRI data. The dataset also includes 3D volumetric vocal tract MRI during sustained speech sounds and high-resolution static anatomical T2-weighted upper airway MRI for each subject.Comment: 27 pages, 6 figures, 5 tables, submitted to Nature Scientific Dat

Diver Interest via Pointing in Three Dimensions: 3D Pointing Reconstruction for Diver-AUV Communication

This paper presents Diver Interest via Pointing in Three Dimensions (DIP-3D), a method to relay an object of interest from a diver to an autonomous underwater vehicle (AUV) by pointing that includes three-dimensional distance information to discriminate between multiple objects in the AUV's camera image. Traditional dense stereo vision for distance estimation underwater is challenging because of the relative lack of saliency of scene features and degraded lighting conditions. Yet, including distance information is necessary for robotic perception of diver pointing when multiple objects appear within the robot's image plane. We subvert the challenges of underwater distance estimation by using sparse reconstruction of keypoints to perform pose estimation on both the left and right images from the robot's stereo camera. Triangulated pose keypoints, along with a classical object detection method, enable DIP-3D to infer the location of an object of interest when multiple objects are in the AUV's field of view. By allowing the scuba diver to point at an arbitrary object of interest and enabling the AUV to autonomously decide which object the diver is pointing to, this method will permit more natural interaction between AUVs and human scuba divers in underwater-human robot collaborative tasks.Comment: Under Review International Conference of Robotics and Automation 202

BSL-1K: Scaling up co-articulated sign language recognition using mouthing cues

Recent progress in fine-grained gesture and action classification, and machine translation, point to the possibility of automated sign language recognition becoming a reality. A key stumbling block in making progress towards this goal is a lack of appropriate training data, stemming from the high complexity of sign annotation and a limited supply of qualified annotators. In this work, we introduce a new scalable approach to data collection for sign recognition in continuous videos. We make use of weakly-aligned subtitles for broadcast footage together with a keyword spotting method to automatically localise sign-instances for a vocabulary of 1,000 signs in 1,000 hours of video. We make the following contributions: (1) We show how to use mouthing cues from signers to obtain high-quality annotations from video data - the result is the BSL-1K dataset, a collection of British Sign Language (BSL) signs of unprecedented scale; (2) We show that we can use BSL-1K to train strong sign recognition models for co-articulated signs in BSL and that these models additionally form excellent pretraining for other sign languages and benchmarks - we exceed the state of the art on both the MSASL and WLASL benchmarks. Finally, (3) we propose new large-scale evaluation sets for the tasks of sign recognition and sign spotting and provide baselines which we hope will serve to stimulate research in this area.Comment: Appears in: European Conference on Computer Vision 2020 (ECCV 2020). 28 page

The UNC/UMN Baby Connectome Project (BCP): An overview of the study design and protocol development

The human brain undergoes extensive and dynamic growth during the first years of life. The UNC/UMN Baby Connectome Project (BCP), one of the Lifespan Connectome Projects funded by NIH, is an ongoing study jointly conducted by investigators at the University of North Carolina at Chapel Hill and the University of Minnesota. The primary objective of the BCP is to characterize brain and behavioral development in typically developing infants across the first 5 years of life. The ultimate goals are to chart emerging patterns of structural and functional connectivity during this period, map brain-behavior associations, and establish a foundation from which to further explore trajectories of health and disease. To accomplish these goals, we are combining state of the art MRI acquisition and analysis techniques, including high-resolution structural MRI (T1-and T2-weighted images), diffusion imaging (dMRI), and resting state functional connectivity MRI (rfMRI). While the overall design of the BCP largely is built on the protocol developed by the Lifespan Human Connectome Project (HCP), given the unique age range of the BCP cohort, additional optimization of imaging parameters and consideration of an age appropriate battery of behavioral assessments were needed. Here we provide the overall study protocol, including approaches for subject recruitment, strategies for imaging typically developing children 0–5 years of age without sedation, imaging protocol and optimization, a description of the battery of behavioral assessments, and QA/QC procedures. Combining HCP inspired neuroimaging data with well-established behavioral assessments during this time period will yield an invaluable resource for the scientific community

Functional Magnetic Resonance Imaging

"Functional Magnetic Resonance Imaging - Advanced Neuroimaging Applications" is a concise book on applied methods of fMRI used in assessment of cognitive functions in brain and neuropsychological evaluation using motor-sensory activities, language, orthographic disabilities in children. The book will serve the purpose of applied neuropsychological evaluation methods in neuropsychological research projects, as well as relatively experienced psychologists and neuroscientists. Chapters are arranged in the order of basic concepts of fMRI and physiological basis of fMRI after event-related stimulus in first two chapters followed by new concepts of fMRI applied in constraint-induced movement therapy; reliability analysis; refractory SMA epilepsy; consciousness states; rule-guided behavioral analysis; orthographic frequency neighbor analysis for phonological activation; and quantitative multimodal spectroscopic fMRI to evaluate different neuropsychological states

Playing Charades in the fMRI: Are Mirror and/or Mentalizing Areas Involved in Gestural Communication?

Communication is an important aspect of human life, allowing us to powerfully coordinate our behaviour with that of others. Boiled down to its mere essentials, communication entails transferring a mental content from one brain to another. Spoken language obviously plays an important role in communication between human individuals. Manual gestures however often aid the semantic interpretation of the spoken message, and gestures may have played a central role in the earlier evolution of communication. Here we used the social game of charades to investigate the neural basis of gestural communication by having participants produce and interpret meaningful gestures while their brain activity was measured using functional magnetic resonance imaging. While participants decoded observed gestures, the putative mirror neuron system (pMNS: premotor, parietal and posterior mid-temporal cortex), associated with motor simulation, and the temporo-parietal junction (TPJ), associated with mentalizing and agency attribution, were significantly recruited. Of these areas only the pMNS was recruited during the production of gestures. This suggests that gestural communication relies on a combination of simulation and, during decoding, mentalizing/agency attribution brain areas. Comparing the decoding of gestures with a condition in which participants viewed the same gestures with an instruction not to interpret the gestures showed that although parts of the pMNS responded more strongly during active decoding, most of the pMNS and the TPJ did not show such significant task effects. This suggests that the mere observation of gestures recruits most of the system involved in voluntary interpretation

Novel Hybrid-Learning Algorithms for Improved Millimeter-Wave Imaging Systems

Increasing attention is being paid to millimeter-wave (mmWave), 30 GHz to 300 GHz, and terahertz (THz), 300 GHz to 10 THz, sensing applications including security sensing, industrial packaging, medical imaging, and non-destructive testing. Traditional methods for perception and imaging are challenged by novel data-driven algorithms that offer improved resolution, localization, and detection rates. Over the past decade, deep learning technology has garnered substantial popularity, particularly in perception and computer vision applications. Whereas conventional signal processing techniques are more easily generalized to various applications, hybrid approaches where signal processing and learning-based algorithms are interleaved pose a promising compromise between performance and generalizability. Furthermore, such hybrid algorithms improve model training by leveraging the known characteristics of radio frequency (RF) waveforms, thus yielding more efficiently trained deep learning algorithms and offering higher performance than conventional methods. This dissertation introduces novel hybrid-learning algorithms for improved mmWave imaging systems applicable to a host of problems in perception and sensing. Various problem spaces are explored, including static and dynamic gesture classification; precise hand localization for human computer interaction; high-resolution near-field mmWave imaging using forward synthetic aperture radar (SAR); SAR under irregular scanning geometries; mmWave image super-resolution using deep neural network (DNN) and Vision Transformer (ViT) architectures; and data-level multiband radar fusion using a novel hybrid-learning architecture. Furthermore, we introduce several novel approaches for deep learning model training and dataset synthesis.Comment: PhD Dissertation Submitted to UTD ECE Departmen