Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Numerical Fitting-based Likelihood Calculation to Speed up the Particle Filter

The likelihood calculation of a vast number of particles is the computational bottleneck for the particle filter in applications where the observation information is rich. For fast computing the likelihood of particles, a numerical fitting approach is proposed to construct the Likelihood Probability Density Function (Li-PDF) by using a comparably small number of so-called fulcrums. The likelihood of particles is thereby analytically inferred, explicitly or implicitly, based on the Li-PDF instead of directly computed by utilizing the observation, which can significantly reduce the computation and enables real time filtering. The proposed approach guarantees the estimation quality when an appropriate fitting function and properly distributed fulcrums are used. The details for construction of the fitting function and fulcrums are addressed respectively in detail. In particular, to deal with multivariate fitting, the nonparametric kernel density estimator is presented which is flexible and convenient for implicit Li-PDF implementation. Simulation comparison with a variety of existing approaches on a benchmark 1-dimensional model and multi-dimensional robot localization and visual tracking demonstrate the validity of our approach.Comment: 42 pages, 17 figures, 4 tables and 1 appendix. This paper is a draft/preprint of one paper submitted to the IEEE Transaction

REGISTRATION AND SEGMENTATION OF BRAIN MR IMAGES FROM ELDERLY INDIVIDUALS

Quantitative analysis of the MRI structural and functional images is a fundamental component in the assessment of brain anatomical abnormalities, in mapping functional activation onto human anatomy, in longitudinal evaluation of disease progression, and in computer-assisted neurosurgery or surgical planning. Image registration and segmentation is central in analyzing structural and functional MR brain images. However, due to increased variability in brain morphology and age-related atrophy, traditional methods for image registration and segmentation are not suitable for analyzing MR brain images from elderly individuals. The overall goal of this dissertation is to develop algorithms to improve the registration and segmentation accuracy in the geriatric population. The specific aims of this work includes 1) to implement a fully deformable registration pipeline to allow a higher degree of spatial deformation and produce more accurate deformation field, 2) to propose and validate an optimum template selection method for atlas-based segmentation, 3) to propose and validate a multi-template strategy for image normalization, which characterizes brain structural variations in the elderly, 4) to develop an automated segmentation and localization method to access white matter integrity (WMH) in the elderly population, and finally 5) to study the default-mode network (DMN) connectivity and white matter hyperintensity in late-life depression (LLD) with the developed registration and segmentation methods. Through a series of experiments, we have shown that the deformable registration pipeline and the template selection strategies lead to improved accuracy in the brain MR image registration and segmentation, and the automated WMH segmentation and localization method provides more specific and more accurate information about volume and spatial distribution of WMH than traditional visual grading methods. Using the developed methods, our clinical study provides evidence for altered DMN connectivity in LLD. The correlation between WMH volume and DMN connectivity emphasizes the role of vascular changes in LLD's etiopathogenesis

Eddy current defect response analysis using sum of Gaussian methods

This dissertation is a study of methods to automatedly detect and produce approximations of eddy current differential coil defect signatures in terms of a summed collection of Gaussian functions (SoG). Datasets consisting of varying material, defect size, inspection frequency, and coil diameter were investigated. Dimensionally reduced representations of the defect responses were obtained utilizing common existing reduction methods and novel enhancements to them utilizing SoG Representations. Efficacy of the SoG enhanced representations were studied utilizing common Machine Learning (ML) interpretable classifier designs with the SoG representations indicating significant improvement of common analysis metrics

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

BEMDEC: An Adaptive and Robust Methodology for Digital Image Feature Extraction

The intriguing study of feature extraction, and edge detection in particular, has, as a result of the increased use of imagery, drawn even more attention not just from the field of computer science but also from a variety of scientific fields. However, various challenges surrounding the formulation of feature extraction operator, particularly of edges, which is capable of satisfying the necessary properties of low probability of error (i.e., failure of marking true edges), accuracy, and consistent response to a single edge, continue to persist. Moreover, it should be pointed out that most of the work in the area of feature extraction has been focused on improving many of the existing approaches rather than devising or adopting new ones. In the image processing subfield, where the needs constantly change, we must equally change the way we think. In this digital world where the use of images, for variety of purposes, continues to increase, researchers, if they are serious about addressing the aforementioned limitations, must be able to think outside the box and step away from the usual in order to overcome these challenges. In this dissertation, we propose an adaptive and robust, yet simple, digital image features detection methodology using bidimensional empirical mode decomposition (BEMD), a sifting process that decomposes a signal into its two-dimensional (2D) bidimensional intrinsic mode functions (BIMFs). The method is further extended to detect corners and curves, and as such, dubbed as BEMDEC, indicating its ability to detect edges, corners and curves. In addition to the application of BEMD, a unique combination of a flexible envelope estimation algorithm, stopping criteria and boundary adjustment made the realization of this multi-feature detector possible. Further application of two morphological operators of binarization and thinning adds to the quality of the operator