Learning Context on a Humanoid Robot using Incremental Latent Dirichlet Allocation

In this article, we formalize and model context in terms of a set of concepts grounded in the sensorimotor interactions of a robot. The concepts are modeled as a web using Markov Random Field, inspired from the concept web hypothesis for representing concepts in humans. On this concept web, we treat context as a latent variable of Latent Dirichlet Allocation (LDA), which is a widely-used method in computational linguistics for modeling topics in texts. We extend the standard LDA method in order to make it incremental so that (i) it does not re-learn everything from scratch given new interactions (i.e., it is online) and (ii) it can discover and add a new context into its model when necessary. We demonstrate on the iCub platform that, partly owing to modeling context on top of the concept web, our approach is adaptive, online and robust: It is adaptive and online since it can learn and discover a new context from new interactions. It is robust since it is not affected by irrelevant stimuli and it can discover contexts after a few interactions only. Moreover, we show how to use the context learned in such a model for two important tasks: object recognition and planning.Scientific and Technological Research Council of TurkeyMarie Curie International Outgoing Fellowship titled “Towards Better Robot Manipulation: Improvement through Interaction

Learning and Using Context on a Humanoid Robot Using Latent Dirichlet Allocation

2014 Joint IEEE International Conferences on Development and Learning and Epigenetic Robotics (ICDL-Epirob), Genoa, Italy, 13-16 October 2014In this work, we model context in terms of a set of concepts grounded in a robot's sensorimotor interactions with the environment. For this end, we treat context as a latent variable in Latent Dirichlet Allocation, which is widely used in computational linguistics for modeling topics in texts. The flexibility of our approach allows many-to-many relationships between objects and contexts, as well as between scenes and contexts. We use a concept web representation of the perceptions of the robot as a basis for context analysis. The detected contexts of the scene can be used for several cognitive problems. Our results demonstrate that the robot can use learned contexts to improve object recognition and planning.Scientific and Technological Research Council of Turkey (TUBiTAK

Nuclear medicine procedures and the evaluation of male sexual organs: a short review

Sexuality consists of three aspects that are interrelated and inseparable, biological, physiological and social. The biological aspect considers the individual's capability to give and to receive pleasure. In consequence, it covers the functionality of the sexual organs and the physiology of human sexual response cycle. Diagnostic imaging modalities, such as single photon emission computed tomography (SPECT) and positron emission tomography (PET) have been used to evaluate clinical disorders of the male reproductive system. PET and SPECT procedures basically involve the administration of a radiopharmaceutical that has a higher uptake in a specific tumor or tissue. The aim of this brief review is to present some radiopharmaceuticals that have been used in the clinical evaluation of the male sexual organs (testes, prostate, seminal vesicles, penis) related with male sexuality. This information could be useful in better understanding the male sexual response cycle, as well as the sexual disorders, when considering the male sexual organs and the pelvic floor. Moreover, the findings obtained with PET and SPECT imaging could help to evaluate the efficacy of clinical results of therapeutic procedures. In conclusion, the knowledge from these images could aid in better understanding the physiology of the different organs related with sexuality. Furthermore, they could be important tools to evaluate the physiological integrity of the involved organs, to improve clinical strategies and to accompany the patients under treatment

Erratum to: 36th International Symposium on Intensive Care and Emergency Medicine: Brussels, Belgium. 15-18 March 2016.

[This corrects the article DOI: 10.1186/s13054-016-1208-6.]

TESS asteroseismology of the known red-giant host stars HD 212771 and HD 203949

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