46 research outputs found

    Reconnaissance des actions humaines : méthode basée sur la réduction de dimensionnalité par MDS spatio-temporelle

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    L’action humaine dans une séquence vidéo peut être considérée comme un volume spatio- temporel induit par la concaténation de silhouettes dans le temps. Nous présentons une approche spatio-temporelle pour la reconnaissance d’actions humaines qui exploite des caractéristiques globales générées par la technique de réduction de dimensionnalité MDS et un découpage en sous-blocs afin de modéliser la dynamique des actions. L’objectif est de fournir une méthode à la fois simple, peu dispendieuse et robuste permettant la reconnaissance d’actions simples. Le procédé est rapide, ne nécessite aucun alignement de vidéo, et est applicable à de nombreux scénarios. En outre, nous démontrons la robustesse de notre méthode face aux occultations partielles, aux déformations de formes, aux changements d’échelle et d’angles de vue, aux irrégularités dans l’exécution d’une action, et à une faible résolution.Human action in a video sequence can be seen as a space-time volume induced by the concatenation of silhouettes in time. We present a space-time approach for human action recognition, which exploits global characteristics generated by the technique of dimensionality reduction MDS and a cube division into sub-blocks to model the dynamics of the actions. The objective is to provide a method that is simple, inexpensive and robust allowing simple action recognition. The process is fast, does not require video alignment, and is applicable in many scenarios. Moreover, we demonstrate the robustness of our method to partial occlusion, deformation of shapes, significant changes in scale and viewpoint, irregularities in the performance of an action, and low-quality video

    Extensions and Applications of Ensemble-of-trees Methods in Machine Learning

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    Ensemble-of-trees algorithms have emerged to the forefront of machine learning due to their ability to generate high forecasting accuracy for a wide array of regression and classification problems. Classic ensemble methodologies such as random forests (RF) and stochastic gradient boosting (SGB) rely on algorithmic procedures to generate fits to data. In contrast, more recent ensemble techniques such as Bayesian Additive Regression Trees (BART) and Dynamic Trees (DT) focus on an underlying Bayesian probability model to generate the fits. These new probability model-based approaches show much promise versus their algorithmic counterparts, but also offer substantial room for improvement. The first part of this thesis focuses on methodological advances for ensemble-of-trees techniques with an emphasis on the more recent Bayesian approaches. In particular, we focus on extensions of BART in four distinct ways. First, we develop a more robust implementation of BART for both research and application. We then develop a principled approach to variable selection for BART as well as the ability to naturally incorporate prior information on important covariates into the algorithm. Next, we propose a method for handling missing data that relies on the recursive structure of decision trees and does not require imputation. Last, we relax the assumption of homoskedasticity in the BART model to allow for parametric modeling of heteroskedasticity. The second part of this thesis returns to the classic algorithmic approaches in the context of classification problems with asymmetric costs of forecasting errors. First we consider the performance of RF and SGB more broadly and demonstrate its superiority to logistic regression for applications in criminology with asymmetric costs. Next, we use RF to forecast unplanned hospital readmissions upon patient discharge with asymmetric costs taken into account. Finally, we explore the construction of stable decision trees for forecasts of violence during probation hearings in court systems

    The Habitable Exoplanet Observatory (HabEx) Mission Concept Study Final Report

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    The Habitable Exoplanet Observatory, or HabEx, has been designed to be the Great Observatory of the 2030s. For the first time in human history, technologies have matured sufficiently to enable an affordable space-based telescope mission capable of discovering and characterizing Earthlike planets orbiting nearby bright sunlike stars in order to search for signs of habitability and biosignatures. Such a mission can also be equipped with instrumentation that will enable broad and exciting general astrophysics and planetary science not possible from current or planned facilities. HabEx is a space telescope with unique imaging and multi-object spectroscopic capabilities at wavelengths ranging from ultraviolet (UV) to near-IR. These capabilities allow for a broad suite of compelling science that cuts across the entire NASA astrophysics portfolio. HabEx has three primary science goals: (1) Seek out nearby worlds and explore their habitability; (2) Map out nearby planetary systems and understand the diversity of the worlds they contain; (3) Enable new explorations of astrophysical systems from our own solar system to external galaxies by extending our reach in the UV through near-IR. This Great Observatory science will be selected through a competed GO program, and will account for about 50% of the HabEx primary mission. The preferred HabEx architecture is a 4m, monolithic, off-axis telescope that is diffraction-limited at 0.4 microns and is in an L2 orbit. HabEx employs two starlight suppression systems: a coronagraph and a starshade, each with their own dedicated instrument

    The Habitable Exoplanet Observatory (HabEx) Mission Concept Study Final Report

    Get PDF
    The Habitable Exoplanet Observatory, or HabEx, has been designed to be the Great Observatory of the 2030s. For the first time in human history, technologies have matured sufficiently to enable an affordable space-based telescope mission capable of discovering and characterizing Earthlike planets orbiting nearby bright sunlike stars in order to search for signs of habitability and biosignatures. Such a mission can also be equipped with instrumentation that will enable broad and exciting general astrophysics and planetary science not possible from current or planned facilities. HabEx is a space telescope with unique imaging and multi-object spectroscopic capabilities at wavelengths ranging from ultraviolet (UV) to near-IR. These capabilities allow for a broad suite of compelling science that cuts across the entire NASA astrophysics portfolio. HabEx has three primary science goals: (1) Seek out nearby worlds and explore their habitability; (2) Map out nearby planetary systems and understand the diversity of the worlds they contain; (3) Enable new explorations of astrophysical systems from our own solar system to external galaxies by extending our reach in the UV through near-IR. This Great Observatory science will be selected through a competed GO program, and will account for about 50% of the HabEx primary mission. The preferred HabEx architecture is a 4m, monolithic, off-axis telescope that is diffraction-limited at 0.4 microns and is in an L2 orbit. HabEx employs two starlight suppression systems: a coronagraph and a starshade, each with their own dedicated instrument.Comment: Full report: 498 pages. Executive Summary: 14 pages. More information about HabEx can be found here: https://www.jpl.nasa.gov/habex

    Investigating Ultrasound-Guided Autonomous Assistance during Robotic Minimally Invasive Surgery

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    Despite it being over twenty years since the first introduction of robotic surgical systems in common surgical practice, they are still far from widespread across all healthcare systems, surgical disciplines and procedures. At the same time, the systems that are used act as mere tele-manipulators with motion scaling and have yet to make use of the immense potential of their sensory data in providing autonomous assistance during surgery or perform tasks themselves in a semi-autonomous fashion. Equivalently, the potential of using intracorporeal imaging, particularly Ultrasound (US) during surgery for improved tumour localisation remains largely unused. Aside from the cost factors, this also has to do with the necessity of adequate training for scan interpretation and the difficulty of handling an US probe near the surgical sight. Additionally, the potential for automation that is being explored in extracorporeal US using serial manipulators does not yet translate into ultrasound-enabled autonomous assistance in a surgical robotic setting. Motivated by this research gap, this work explores means to enable autonomous intracorporeal ultrasound in a surgical robotic setting. Based around the the da Vinci Research Kit (dVRK), it first develops a surgical robotics platform that allows for precise evaluation of the robot’s performance using Infrared (IR) tracking technology. Based on this initial work, it then explores the possibility to provide autonomous ultrasound guidance during surgery. Therefore, it develops and assesses means to improve kinematic accuracy despite manipulator backlash as well as enabling adequate probe position with respect to the tissue surface and anatomy. Founded on the acquired anatomical information, this thesis explores the integration of a second robotic arm and its usage for autonomous assistance. Starting with an autonomously acquired tumor scan, the setup is extended and methods devised to enable the autonomous marking of margined tumor boundaries on the tissue surface both in a phantom as well as in an ex-vivo experiment on porcine liver. Moving towards increased autonomy, a novel minimally invasive High Intensity Focused Ultrasound (HIFUS) transducer is integrated into the robotic setup including a sensorised, water-filled membrane for sensing interaction forces with the tissue surface. For this purpose an extensive material characterisation is caried out, exploring different surface material pairings. Finally, the proposed system, including trajectory planning and a hybrid-force position control scheme are evaluated in a benchtop ultrasound phantom trial

    Open-source virtual bronchoscopy for image guided navigation

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    This thesis describes the development of an open-source system for virtual bronchoscopy used in combination with electromagnetic instrument tracking. The end application is virtual navigation of the lung for biopsy of early stage cancer nodules. The open-source platform 3D Slicer was used for creating freely available algorithms for virtual bronchscopy. Firstly, the development of an open-source semi-automatic algorithm for prediction of solitary pulmonary nodule malignancy is presented. This approach may help the physician decide whether to proceed with biopsy of the nodule. The user-selected nodule is segmented in order to extract radiological characteristics (i.e., size, location, edge smoothness, calcification presence, cavity wall thickness) which are combined with patient information to calculate likelihood of malignancy. The overall accuracy of the algorithm is shown to be high compared to independent experts' assessment of malignancy. The algorithm is also compared with two different predictors, and our approach is shown to provide the best overall prediction accuracy. The development of an airway segmentation algorithm which extracts the airway tree from surrounding structures on chest Computed Tomography (CT) images is then described. This represents the first fundamental step toward the creation of a virtual bronchoscopy system. Clinical and ex-vivo images are used to evaluate performance of the algorithm. Different CT scan parameters are investigated and parameters for successful airway segmentation are optimized. Slice thickness is the most affecting parameter, while variation of reconstruction kernel and radiation dose is shown to be less critical. Airway segmentation is used to create a 3D rendered model of the airway tree for virtual navigation. Finally, the first open-source virtual bronchoscopy system was combined with electromagnetic tracking of the bronchoscope for the development of a GPS-like system for navigating within the lungs. Tools for pre-procedural planning and for helping with navigation are provided. Registration between the lungs of the patient and the virtually reconstructed airway tree is achieved using a landmark-based approach. In an attempt to reduce difficulties with registration errors, we also implemented a landmark-free registration method based on a balanced airway survey. In-vitro and in-vivo testing showed good accuracy for this registration approach. The centreline of the 3D airway model is extracted and used to compensate for possible registration errors. Tools are provided to select a target for biopsy on the patient CT image, and pathways from the trachea towards the selected targets are automatically created. The pathways guide the physician during navigation, while distance to target information is updated in real-time and presented to the user. During navigation, video from the bronchoscope is streamed and presented to the physician next to the 3D rendered image. The electromagnetic tracking is implemented with 5 DOF sensing that does not provide roll rotation information. An intensity-based image registration approach is implemented to rotate the virtual image according to the bronchoscope's rotations. The virtual bronchoscopy system is shown to be easy to use and accurate in replicating the clinical setting, as demonstrated in the pre-clinical environment of a breathing lung method. Animal studies were performed to evaluate the overall system performance

    Brain maturation throughout adolescence : an EEG study

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    Objective: Adolescence is characterised by a genuine interest in new experiences and an increased sense of responsibility. The aim of this study was to investigate changes in brain maturation that underlie task-relevant behaviour and the relation of these changes to novel impressions during the transition from childhood into adolescence and then young adulthood. We hypothesized that, with development, improved target detection abilities and reduced distractibility will be characterised by an increased involvement of frontal brain regions within the fronto-parietal brain network during novel processing and target detection. Methods: In a cross-sectional study, a classical visual oddball task (n = 159) and a novelty visual oddball task (n = 84) were utilized in combination with EEG measurements to investigate brain maturation between late childhood and young adulthood (8 to 30 years of age). Developmental changes of late ERP components and concurrent delta (0.5 - 4 Hz) and theta (4 - 7 Hz) oscillations were analysed using regression models. Pre-stimulus amplitude and post-stimulus amplitude modulation, inter-trial phase coherence of local maxima and inter-electrode spatial phase coherence were assessed. Results and Discussion: A general decline in reaction time and late ERP latency (novelty N2, P3a and P3b) with age was observed and may depend on task performance. The frontal novelty N2 amplitude decreased while the P3a amplitude increased with age. This opposing developmental trend may relate to a compensatory mechanism for immature P3a-related cognitive functions, such as attention control. The pre-stimulus amplitudes of delta and theta oscillations decreased while post-stimulus amplitude enhancements and inter-trial phase coherence increased with age. Both effects seem to underlie maturation of the P3b amplitude, even though this cannot be observed directly in ERP amplitude measurements. Post-stimulus theta inter-electrode spatial phase coherence originating from frontal electrode sites increased with age during novel and target stimulus processing, indicating prolonged maturation of the fronto-parietal network that underlies target detection and novel processing. Conclusion: Functional brain networks involving the frontal cortex, such as the fronto-parietal network, mature until young adulthood, thereby affecting slow-wave oscillations on a local and global scale alongside late frontal ERP components. Brain maturation during adolescence may lead to a reduction of spontaneous slow-wave oscillations and an enhancement of amplitude modulation and regional and inter-regional precision of timing of event-related oscillations within the P3 time-window. Thus, brain maturation underlying task-related behaviour and reduced distractibility is versatile. Significance: Combined analysis of developmental trajectories of late ERPs, concurrent changes in spontaneous and task-modulated brain oscillations and their embedding within functional brain networks (e.g., the fronto-parietal network) is important to estimate how brain maturation relates to abilities of cognitive control during the transition into adolescence and young adulthood. It is critical to extend our understanding of healthy brain maturation as excessive brain plasticity during adolescence raises the sensitivity to the environment and learning experiences, and its outcome may have long-term positive or negative impact on personal opportunities in life and mental health

    Real-Time Object Detection with Adaptive Background Model and Margined Sign Correlation

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