REBA: A Refinement-Based Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture for robots that combines the complementary strengths of probabilistic graphical models and declarative programming to represent and reason with logic-based and probabilistic descriptions of uncertainty and domain knowledge. An action language is extended to support non-boolean fluents and non-deterministic causal laws. This action language is used to describe tightly-coupled transition diagrams at two levels of granularity, with a fine-resolution transition diagram defined as a refinement of a coarse-resolution transition diagram of the domain. The coarse-resolution system description, and a history that includes (prioritized) defaults, are translated into an Answer Set Prolog (ASP) program. For any given goal, inference in the ASP program provides a plan of abstract actions. To implement each such abstract action, the robot automatically zooms to the part of the fine-resolution transition diagram relevant to this action. A probabilistic representation of the uncertainty in sensing and actuation is then included in this zoomed fine-resolution system description, and used to construct a partially observable Markov decision process (POMDP). The policy obtained by solving the POMDP is invoked repeatedly to implement the abstract action as a sequence of concrete actions, with the corresponding observations being recorded in the coarse-resolution history and used for subsequent reasoning. The architecture is evaluated in simulation and on a mobile robot moving objects in an indoor domain, to show that it supports reasoning with violation of defaults, noisy observations and unreliable actions, in complex domains.Comment: 72 pages, 14 figure

Automatic quantification of the microvascular density on whole slide images, applied to paediatric brain tumours

Angiogenesis is a key phenomenon for tumour progression, diagnosis and treatment in brain tumours and more generally in oncology. Presently, its precise, direct quantitative assessment can only be done on whole tissue sections immunostained to reveal vascular endothelial cells. But this is a tremendous task for the pathologist and a challenge for the computer since digitised whole tissue sections, whole slide images (WSI), contain typically around ten gigapixels. We define and implement an algorithm that determines automatically, on a WSI at objective magnification $40\times$, the regions of tissue, the regions without blur and the regions of large puddles of red blood cells, and constructs the mask of blur-free, significant tissue on the WSI. Then it calibrates automatically the optical density ratios of the immunostaining of the vessel walls and of the counterstaining, performs a colour deconvolution inside the regions of blur-free tissue, and finds the vessel walls inside these regions by selecting, on the image resulting from the colour deconvolution, zones which satisfy a double-threshold criterion. A mask of vessel wall regions on the WSI is produced. The density of microvessels is finally computed as the fraction of the area of significant tissue which is occupied by vessel walls. We apply this algorithm to a set of 186 WSI of paediatric brain tumours from World Health Organisation grades I to IV. The segmentations are of very good quality although the set of slides is very heterogeneous. The computation time is of the order of a fraction of an hour for each WSI on a modest computer. The computed microvascular density is found to be robust and strongly correlates with the tumour grade. This method requires no training and can easily be applied to other tumour types and other stainings

GEANT4 : a simulation toolkit

Abstract Geant4 is a toolkit for simulating the passage of particles through matter. It includes a complete range of functionality including tracking, geometry, physics models and hits. The physics processes offered cover a comprehensive range, including electromagnetic, hadronic and optical processes, a large set of long-lived particles, materials and elements, over a wide energy range starting, in some cases, from 250 eV and extending in others to the TeV energy range. It has been designed and constructed to expose the physics models utilised, to handle complex geometries, and to enable its easy adaptation for optimal use in different sets of applications. The toolkit is the result of a worldwide collaboration of physicists and software engineers. It has been created exploiting software engineering and object-oriented technology and implemented in the C++ programming language. It has been used in applications in particle physics, nuclear physics, accelerator design, space engineering and medical physics. PACS: 07.05.Tp; 13; 2

Assessing Visualization Techniques for the Search Process in Digital Libraries

In this paper we present an overview of several visualization techniques to support the search process in Digital Libraries (DLs). The search process typically can be separated into three major phases: query formulation and refinement, browsing through result lists and viewing and interacting with documents and their properties. We discuss a selection of popular visualization techniques that have been developed for the different phases to support the user during the search process. Along prototypes based on the different techniques we show how the approaches have been implemented. Although various visualizations have been developed in prototypical systems very few of these approaches have been adapted into today's DLs. We conclude that this is most likely due to the fact that most systems are not evaluated intensely in real-life scenarios with real information seekers and that results of the interesting visualization techniques are often not comparable. We can say that many of the assessed systems did not properly address the information need of cur-rent users.Comment: 23 pages, 14 figures, pre-print to appear in "Wissensorganisation mit digitalen Technologien" (deGruyter

Telecommunications media for the delivery of educational programming

The technical characteristics of various telecommunications media are examined for incorporation into educational networks. FM radio, AM radio, and VHF and UHF television are considered along with computer-aided instruction. The application of iteration networks to library systems, and microform technology are discussed. The basic principles of the communications theory are outlined, and the operation of the PLATO 4 random access system is described