A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3D virtual reality environment to determine the position of objects based on motion discontinuities, and computes heading direction, or the direction of self-motion, from global optic flow. The cortical representation of heading interacts with the representations of a goal and obstacles such that the goal acts as an attractor of heading, while obstacles act as repellers. In addition the model maintains fixation on the goal object by generating smooth pursuit eye movements. Eye rotations can distort the optic flow field, complicating heading perception, and the model uses extraretinal signals to correct for this distortion and accurately represent heading. The model explains how motion processing mechanisms in cortical areas MT, MST, and posterior parietal cortex can be used to guide steering. The model quantitatively simulates human psychophysical data about visually-guided steering, obstacle avoidance, and route selection.Air Force Office of Scientific Research (F4960-01-1-0397); National Geospatial-Intelligence Agency (NMA201-01-1-2016); National Science Foundation (SBE-0354378); Office of Naval Research (N00014-01-1-0624

A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3D virtual reality environment to determine the position of objects based on motion discotinuities, and computes heading direction, or the direction of self-motion, from global optic flow. The cortical representation of heading interacts with the representations of a goal and obstacles such that the goal acts as an attractor of heading, while obstacles act as repellers. In addition the model maintains fixation on the goal object by generating smooth pursuit eye movements. Eye rotations can distort the optic flow field, complicating heading perception, and the model uses extraretinal signals to correct for this distortion and accurately represent heading. The model explains how motion processing mechanisms in cortical areas MT, MST, and VIP can be used to guide steering. The model quantitatively simulates human psychophysical data about visually-guided steering, obstacle avoidance, and route selection.Air Force Office of Scientific Research (F4960-01-1-0397); National Geospatial-Intelligence Agency (NMA201-01-1-2016); National Science Foundation (NSF SBE-0354378); Office of Naval Research (N00014-01-1-0624

A Computer Aided Detection system for mammographic images implemented on a GRID infrastructure

The use of an automatic system for the analysis of mammographic images has proven to be very useful to radiologists in the investigation of breast cancer, especially in the framework of mammographic-screening programs. A breast neoplasia is often marked by the presence of microcalcification clusters and massive lesions in the mammogram: hence the need for tools able to recognize such lesions at an early stage. In the framework of the GPCALMA (GRID Platform for Computer Assisted Library for MAmmography) project, the co-working of italian physicists and radiologists built a large distributed database of digitized mammographic images (about 5500 images corresponding to 1650 patients) and developed a CAD (Computer Aided Detection) system, able to make an automatic search of massive lesions and microcalcification clusters. The CAD is implemented in the GPCALMA integrated station, which can be used also for digitization, as archive and to perform statistical analyses. Some GPCALMA integrated stations have already been implemented and are currently on clinical trial in some italian hospitals. The emerging GRID technology can been used to connect the GPCALMA integrated stations operating in different medical centers. The GRID approach will support an effective tele- and co-working between radiologists, cancer specialists and epidemiology experts by allowing remote image analysis and interactive online diagnosis.Comment: 5 pages, 5 figures, to appear in the Proceedings of the 13th IEEE-NPSS Real Time Conference 2003, Montreal, Canada, May 18-23 200

Principal manifolds and graphs in practice: from molecular biology to dynamical systems

We present several applications of non-linear data modeling, using principal manifolds and principal graphs constructed using the metaphor of elasticity (elastic principal graph approach). These approaches are generalizations of the Kohonen's self-organizing maps, a class of artificial neural networks. On several examples we show advantages of using non-linear objects for data approximation in comparison to the linear ones. We propose four numerical criteria for comparing linear and non-linear mappings of datasets into the spaces of lower dimension. The examples are taken from comparative political science, from analysis of high-throughput data in molecular biology, from analysis of dynamical systems.Comment: 12 pages, 9 figure

Heuristic 3d Reconstruction Of Irregular Spaced Lidar

As more data sources have become abundantly available, an increased interest in 3D reconstruction has emerged in the image processing academic community. Applications for 3D reconstruction of urban and residential buildings consist of urban planning, network planning for mobile communication, tourism information systems, spatial analysis of air pollution and noise nuisance, microclimate investigations, and Geographical Information Systems (GISs). Previous, classical, 3D reconstruction algorithms solely utilized aerial photography. With the advent of LIDAR systems, current algorithms explore using captured LIDAR data as an additional feasible source of information for 3D reconstruction. Preprocessing techniques are proposed for the development of an autonomous 3D Reconstruction algorithm. The algorithm is designed for autonomously deriving three dimensional models of urban and residential buildings from raw LIDAR data. First, a greedy insertion triangulation algorithm, modified with a proposed noise filtering technique, triangulates the raw LIDAR data. The normal vectors of those triangles are then passed to an unsupervised clustering algorithm – Fuzzy Simplified Adaptive Resonance Theory (Fuzzy SART). Fuzzy SART returns a rough grouping of coplanar triangles. A proposed multiple regression algorithm then further refines the coplanar grouping by further removing outliers and deriving an improved planar segmentation of the raw LIDAR data. Finally, further refinement is achieved by calculating the intersection of the best fit roof planes and moving nearby points close to that intersection to exist at the intersection, resulting in straight roof ridges. The end result of the aforementioned techniques culminates in a well defined model approximating the considered building depicted by the LIDAR data

StreamLearner: Distributed Incremental Machine Learning on Event Streams: Grand Challenge

Today, massive amounts of streaming data from smart devices need to be analyzed automatically to realize the Internet of Things. The Complex Event Processing (CEP) paradigm promises low-latency pattern detection on event streams. However, CEP systems need to be extended with Machine Learning (ML) capabilities such as online training and inference in order to be able to detect fuzzy patterns (e.g., outliers) and to improve pattern recognition accuracy during runtime using incremental model training. In this paper, we propose a distributed CEP system denoted as StreamLearner for ML-enabled complex event detection. The proposed programming model and data-parallel system architecture enable a wide range of real-world applications and allow for dynamically scaling up and out system resources for low-latency, high-throughput event processing. We show that the DEBS Grand Challenge 2017 case study (i.e., anomaly detection in smart factories) integrates seamlessly into the StreamLearner API. Our experiments verify scalability and high event throughput of StreamLearner.Comment: Christian Mayer, Ruben Mayer, and Majd Abdo. 2017. StreamLearner: Distributed Incremental Machine Learning on Event Streams: Grand Challenge. In Proceedings of the 11th ACM International Conference on Distributed and Event-based Systems (DEBS '17), 298-30

The role of the Golgi apparatus in neuronal polarity

ABSTRACT The Golgi apparatus has always been an interesting organelle of study because of its unique morphology as well as the critical roles it plays in cell biology. It is situated next to the endoplasmic reticulum and secreted proteins must pass through the Golgi vesicular pathway for modifications and targeting. In addition, the Golgi apparatus plays an essential role in establishing cellular polarity. Cell polarity refers to difference in orientation of cell structures spatially, and is involved in establishing functionality. The Golgi apparatus establishes cell polarity in various ways including orienting itself spatially, biasing vesicular trafficking within the cell, and most importantly through its role as a microtubule organizing center. The cytoskeleton provides the structural framework for cells. Microtubules nucleated from the Golgi-dependent microtubule organizing center result in an asymmetric cytoskeleton. An asymmetric cytoskeleton is essential to establishing cell polarity. Neurons require cell polarity to establish the essential structures such as the axon and dendrites. The Golgi apparatus establishes neuronal polarity through its extensive network of associated proteins. In this review, we will discuss the growing evidence supporting the role of the Golgi apparatus in establishing neuronal polarity