Online Deep Learning for Improved Trajectory Tracking of Unmanned Aerial Vehicles Using Expert Knowledge

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be controlled, and it is robust against variations in system dynamics as well as operational uncertainties. The learning is divided into two phases: offline (pre-)training and online (post-)training. In the former, a conventional controller performs a set of trajectories and, based on the input-output dataset, the deep neural network (DNN)-based controller is trained. In the latter, the trained DNN, which mimics the conventional controller, controls the system. Unlike the existing papers in the literature, the network is still being trained for different sets of trajectories which are not used in the training phase of DNN. Thanks to the rule-base, which contains the expert knowledge, the proposed framework learns the system dynamics and operational uncertainties in real-time. The experimental results show that the proposed online learning-based approach gives better trajectory tracking performance when compared to the only offline trained network.Comment: corrected version accepted for ICRA 201

Neuronal Distortions of Reward Probability without Choice

Reward probability crucially determines the value of outcomes. A basic phenomenon, defying explanation by traditional decision theories, is that people often overweigh small and underweigh large probabilities in choices under uncertainty. However, the neuronal basis of such reward probability distortions and their position in the decision process are largely unknown. We assessed individual probability distortions with behavioral pleasantness ratings and brain imaging in the absence of choice. Dorsolateral frontal cortex regions showed experience dependent overweighting of small, and underweighting of large, probabilities whereas ventral frontal regions showed the opposite pattern. These results demonstrate distorted neuronal coding of reward probabilities in the absence of choice, stress the importance of experience with probabilistic outcomes and contrast with linear probability coding in the striatum. Input of the distorted probability estimations to decision-making mechanisms are likely to contribute to well known inconsistencies in preferences formalized in theories of behavioral economics

Automated segmentation of tissue images for computerized IHC analysis

This paper presents two automated methods for the segmentation ofimmunohistochemical tissue images that overcome the limitations of themanual approach aswell as of the existing computerized techniques. The first independent method, based on unsupervised color clustering, recognizes automatically the target cancerous areas in the specimen and disregards the stroma; the second method, based on colors separation and morphological processing, exploits automated segmentation of the nuclear membranes of the cancerous cells. Extensive experimental results on real tissue images demonstrate the accuracy of our techniques compared to manual segmentations; additional experiments show that our techniques are more effective in immunohistochemical images than popular approaches based on supervised learning or active contours. The proposed procedure can be exploited for any applications that require tissues and cells exploration and to perform reliable and standardized measures of the activity of specific proteins involved in multi-factorial genetic pathologie

Measuring open innovation practices through topic modelling: Revisiting their impact on firm financial performance

Despite the popularity of open innovation in recent years, studies examining the impact of open innovation upon firm performance have shown mixed results. Previous empirical work on this topic is often based on surveys or archival sources, usually done either in isolation or in aggregate through employing proxy measures. In contrast, we employ an unsupervised learning technique (i.e., topic modelling) utilizing natural language processing to extract information on companies’ open innovation practices, creating an initial keyword basket for future development. We then revisit the relationship between open innovation practices and financial performance of firms. The results show that a firm’s overall openness level is associated with improved financial performance. More granular practices developed from our approach, however, show variations. The inverted U-shaped relationships are observed in specific open innovation practices but not in all, partly supporting the existence of the openness paradox from prior literature. The complementarity between internal R&D and individual open innovation practices also varies by practice. Further, the influence of these open innovation practices also varies by sector. Our findings prompt us to conclude that open innovation’s impact on financial performance is nuanced, and that there is no uniform set of best practices to practice open innovation effectively