Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to unexpected events. That is not only identifying the sudden anomaly, but also deciding how to handle it. In this work, we contribute a recovery policy that allows a robot to recovery from various anomalous scenarios across different tasks and conditions in a consistent and robust fashion. The system organizes tasks as a sequence of nodes composed of internal modules such as motion generation and introspection. When an introspection module flags an anomaly, the recovery strategy is triggered and reverts the task execution by selecting a target node as a function of a state dependency chart. The new skill allows the robot to overcome the effects of the external disturbance and conclude the task. Our system recovers from accidental human and tool collisions in a number of tasks. Of particular importance is the fact that we test the robustness of the recovery system by triggering anomalies at each node in the task graph showing robust recovery everywhere in the task. We also trigger multiple and repeated anomalies at each of the nodes of the task showing that the recovery system can consistently recover anywhere in the presence of strong and pervasive anomalous conditions. Robust recovery systems will be key enablers for long-term autonomy in robot systems. Supplemental info including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl

Fast, Robust, and Versatile Event Detection through HMM Belief State Gradient Measures

Event detection is a critical feature in data-driven systems as it assists with the identification of nominal and anomalous behavior. Event detection is increasingly relevant in robotics as robots operate with greater autonomy in increasingly unstructured environments. In this work, we present an accurate, robust, fast, and versatile measure for skill and anomaly identification. A theoretical proof establishes the link between the derivative of the log-likelihood of the HMM filtered belief state and the latest emission probabilities. The key insight is the inverse relationship in which gradient analysis is used for skill and anomaly identification. Our measure showed better performance across all metrics than related state-of-the art works. The result is broadly applicable to domains that use HMMs for event detection.Comment: 8 pages, 7 figures, double col, ieee conference forma

Targeting epithelial-mesenchymal transition and cancer stem cells for chemoresistant ovarian cancer

Chemoresistance is the main challenge for the recurrent ovarian cancer therapy and responsible for treatment failure and unfavorable clinical outcome. Understanding mechanisms of chemoresistance in ovarian cancer would help to predict disease progression, develop new therapies and personalize systemic therapy. In the last decade, accumulating evidence demonstrates that epithelial-mesenchymal transition and cancer stem cells play important roles in ovarian cancer chemoresistance and metastasis. Treatment of epithelial-mesenchymal transition and cancer stem cells holds promise for improving current ovarian cancer therapies and prolonging the survival of recurrent ovarian cancer patients in the future. In this review, we focus on the role of epithelial-mesenchymal transition and cancer stem cells in ovarian cancer chemoresistance and explore the therapeutic implications for developing epithelial-mesenchymal transition and cancer stem cells associated therapies for future ovarian cancer treatment

scMGCN: A Multi-View Graph Convolutional Network for Cell Type Identification in scRNA-seq Data

Single-cell RNA sequencing (scRNA-seq) data reveal the complexity and diversity of cellular ecosystems and molecular interactions in various biomedical research. Hence, identifying cell types from large-scale scRNA-seq data using existing annotations is challenging and requires stable and interpretable methods. However, the current cell type identification methods have limited performance, mainly due to the intrinsic heterogeneity among cell populations and extrinsic differences between datasets. Here, we present a robust graph artificial intelligence model, a multi-view graph convolutional network model (scMGCN) that integrates multiple graph structures from raw scRNA-seq data and applies graph convolutional networks with attention mechanisms to learn cell embeddings and predict cell labels. We evaluate our model on single-dataset, cross-species, and cross-platform experiments and compare it with other state-of-the-art methods. Our results show that scMGCN outperforms the other methods regarding stability, accuracy, and robustness to batch effects. Our main contributions are as follows: Firstly, we introduce multi-view learning and multiple graph construction methods to capture comprehensive cellular information from scRNA-seq data. Secondly, we construct a scMGCN that combines graph convolutional networks with attention mechanisms to extract shared, high-order information from cells. Finally, we demonstrate the effectiveness and superiority of the scMGCN on various datasets

High Spatial Resolution Leaf Area Index Estimation for Woodland in Saihanba Forestry Center, China

Owing to advancements in satellite remote sensing technology, the acquisition of global land surface parameters, notably, the leaf area index (LAI), has become increasingly accessible. The Sentinel-2 (S2) satellite plays an important role in the monitoring of ecological environments and resource management. The prevalent use of the 20 m spatial resolution band in S2-based inversion models imposes significant limitations on the applicability of S2 data in applications requiring finer spatial resolution. Furthermore, although a substantial body of research on LAI retrieval using S2 data concentrates on agricultural landscapes, studies dedicated to forest ecosystems, although increasing, remain relatively less prevalent. This study aims to establish a viable methodology for retrieving 10 m resolution LAI data in forested regions. The empirical model of the soil adjusted vegetation index (SAVI), the backpack neural network based on simulated annealing (SA-BP) algorithm, and the variational heteroscedastic Gaussian process regression (VHGPR) model are established in this experiment based on the LAI data measured and the corresponding 10 m spatial resolution S2 satellite surface reflectance data in the Saihanba Forestry Center (SFC). The LAI retrieval performance of the three models is then validated using field data, and the error sources of the best performing VHGPR models (R2 of 0.8696 and RMSE of 0.5078) are further analyzed. Moreover, the VHGPR model stands out for its capacity to quantify the uncertainty in LAI estimation, presenting a notable advantage in assessing the significance of input data, eliminating redundant bands, and being well suited for uncertainty estimation. This feature is particularly valuable in generating accurate LAI products, especially in regions characterized by diverse forest compositions