Deep neural networks for grape bunch segmentation in natural images from a consumer-grade camera

AbstractPrecision agriculture relies on the availability of accurate knowledge of crop phenotypic traits at the sub-field level. While visual inspection by human experts has been traditionally adopted for phenotyping estimations, sensors mounted on field vehicles are becoming valuable tools to increase accuracy on a narrower scale and reduce execution time and labor costs, as well. In this respect, automated processing of sensor data for accurate and reliable fruit detection and characterization is a major research challenge, especially when data consist of low-quality natural images. This paper investigates the use of deep learning frameworks for automated segmentation of grape bunches in color images from a consumer-grade RGB-D camera, placed on-board an agricultural vehicle. A comparative study, based on the estimation of two image segmentation metrics, i.e. the segmentation accuracy and the well-known Intersection over Union (IoU), is presented to estimate the performance of four pre-trained network architectures, namely the AlexNet, the GoogLeNet, the VGG16, and the VGG19. Furthermore, a novel strategy aimed at improving the segmentation of bunch pixels is proposed. It is based on an optimal threshold selection of the bunch probability maps, as an alternative to the conventional minimization of cross-entropy loss of mutually exclusive classes. Results obtained in field tests show that the proposed strategy improves the mean segmentation accuracy of the four deep neural networks in a range between 2.10 and 8.04%. Besides, the comparative study of the four networks demonstrates that the best performance is achieved by the VGG19, which reaches a mean segmentation accuracy on the bunch class of 80.58%, with IoU values for the bunch class of 45.64%

Towards Intelligent Retail: Automated on-Shelf Availability Estimation Using a Depth Camera

Efficient management of on-shelf availability and inventory is a key issue to achieve customer satisfaction and reduce the risk of profit loss for both retailers and manufacturers. Conventional store audits based on physical inspection of shelves are labor-intensive and do not provide reliable assessment. This paper describes a novel framework for automated shelf monitoring, using a consumer-grade depth sensor. The aim is to develop a low-cost embedded system for early detection of out-of-stock situations with particular regard to perishable goods stored in countertop shelves, refrigerated counters, baskets or crates. The proposed solution exploits 3D point cloud reconstruction and modelling techniques, including surface fitting and occupancy grids, to estimate product availability, based on the comparison between a reference model of the shelf and its current status. No a priori knowledge about the product type is required, while the shelf reference model is automatically learnt based on an initial training stage. The output of the system can be used to generate alerts for store managers, as well as to continuously update product availability estimates for automated stock ordering and replenishment and for e-commerce apps. Experimental tests performed in a real retail environment show that the proposed system is able to estimate the on-shelf availability percentage of different fresh products with a maximum average discrepancy with respect to the actual one of about 5.0%

Methodological issues in the observational studies conducted in older population: a narrative review

Introduction Well-conducted observational studies may represent valuable tools for getting insight to disease etiology, detecting the effect of age-related changes, and providing an important perspective on health risk factors and disabilities in an aging population. Nevertheless, this kind of research poses several challenges for researchers. The main aim of this narrative review was to address the potential methodological issues in performing the observational studies in the elderly, the factors that influence their participation, and the possible solutions for overcoming the barriers to research in this population. Methods Comprehensive search for the papers published in the period from January 1st 1980 until 31st July 2016 in English or Italian was conducted through MEDLINE, Scopus and Web of Science electronic databases. Findings from the included papers were finally summarized. Results In cohort studies, the following barriers were addressed: sample size calculation, ascertainment of the target population, frequency of data collection, exposure determination, multifactorial loss to follow-up (drop-outs), cognitive impairment, definition of confounders, and ethical aspects. Case-control studies were reported to be prone to the issues like ascertainment of cases and controls, willingness to participate, data accuracy, recall bias, issues related to patients’ multimorbidity, and cognitive impairment. Conclusions Important factors to consider in research in elderly people include: precise definition of the study population, well conducted recruitment process, engagement with family and home care staff, cognitive impairment assessment and the consequent relevant ethical and legal issues, relief of participant burden in order to minimize withdrawal, and engagement with the media

From COVID-19 Pandemic to Patient Safety: A New "Spring" for Telemedicine or a Boomerang Effect?

During the Covid-19 health emergency, telemedicine was an essential asset through which health systems strengthened their response during the critical phase of the pandemic. According to the post-pandemic economic reform plans of many countries, telemedicine will not be limited to a tool for responding to an emergency condition but it will become a structural resource that will contribute to the reorganization of Healthcare Systems and enable the transfer of part of health care from the hospital to the home-based care. However, scientific evidences have shown that health care delivered through telemedicine can be burdened by numerous ethical and legal issues. Although there is an emerging discussion on patient safety issues related to the use of telemedicine, there is a lack of reseraches specifically designed to investigate patient safety. On the contrary, it would be necessary to determine standards and specific application rules in order to ensure safety. This paper examines the telemedicine-risk profiles and proposes a position statement for clinical risk management to support continuous improvement in the safety of health care delivered through telemedicine

Cost-effectiveness analysis of PCR for the rapid diagnosis of pulmonary tuberculosis

<p>Abstract</p> <p>Background</p> <p>Tuberculosis is one of the most prominent health problems in the world, causing 1.75 million deaths each year. Rapid clinical diagnosis is important in patients who have co-morbidities such as Human Immunodeficiency Virus (HIV) infection. Direct microscopy has low sensitivity and culture takes 3 to 6 weeks <abbrgrp><abbr bid="B1">1</abbr><abbr bid="B2">2</abbr><abbr bid="B3">3</abbr></abbrgrp>. Therefore, new tools for TB diagnosis are necessary, especially in health settings with a high prevalence of HIV/TB co-infection.</p> <p>Methods</p> <p>In a public reference TB/HIV hospital in Brazil, we compared the cost-effectiveness of diagnostic strategies for diagnosis of pulmonary TB: Acid fast bacilli smear microscopy by Ziehl-Neelsen staining (AFB smear) plus culture and AFB smear plus colorimetric test (PCR dot-blot).</p> <p>From May 2003 to May 2004, sputum was collected consecutively from PTB suspects attending the Parthenon Reference Hospital. Sputum samples were examined by AFB smear, culture, and PCR dot-blot. The gold standard was a positive culture combined with the definition of clinical PTB. Cost analysis included health services and patient costs.</p> <p>Results</p> <p>The AFB smear plus PCR dot-blot require the lowest laboratory investment for equipment (US$20,000). The total screening costs are 3.8 times for AFB smear plus culture versus for AFB smear plus PCR dot blot costs (US$ 5,635,760 versus US$1,498, 660). Costs per correctly diagnosed case were US$ 50,773 and US$13,749 for AFB smear plus culture and AFB smear plus PCR dot-blot, respectively. AFB smear plus PCR dot-blot was more cost-effective than AFB smear plus culture, when the cost of treating all correctly diagnosed cases was considered. The cost of returning patients, which are not treated due to a negative result, to the health service, was higher in AFB smear plus culture than for AFB smear plus PCR dot-blot, US$ 374,778,045 and US$ 110,849,055, respectively.</p> <p>Conclusion</p> <p>AFB smear associated with PCR dot-blot associated has the potential to be a cost-effective tool in the fight against PTB for patients attended in the TB/HIV reference hospital.</p

Migraine in women: the role of hormones and their impact on vascular diseases

Migraine is a predominantly female disorder. Menarche, menstruation, pregnancy, and menopause, and also the use of hormonal contraceptives and hormone replacement treatment may influence migraine occurrence. Migraine usually starts after menarche, occurs more frequently in the days just before or during menstruation, and ameliorates during pregnancy and menopause. Those variations are mediated by fluctuation of estrogen levels through their influence on cellular excitability or cerebral vasculature. Moreover, administration of exogenous hormones may cause worsening of migraine as may expose migrainous women to an increased risk of vascular disease. In fact, migraine with aura represents a risk factor for stroke, cardiac disease, and vascular mortality. Studies have shown that administration of combined oral contraceptives to migraineurs may further increase the risk for ischemic stroke. Consequently, in women suffering from migraine with aura caution should be deserved when prescribing combined oral contraceptives

Distributed Estimation of State and Parameters in Multi-Agent Cooperative Load Manipulation

International audienceWe present two distributed methods for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown planar body manipulated by a decentralized multi-agent system. The proposed approaches rely on the rigid body kinematics and dynamics, on nonlinear observation theory, and on consensus algorithms. The only three requirements are that each agent can exert a 2D wrench on the load, it can measure the velocity of its contact point, and that the communication graph is connected. Both theoretical nonlinear observability analysis and convergence proofs are provided. The first method assumes constant parameters while the second one can deal with time-varying parameters and can be applied in parallel to any task-oriented control law. For the cases in which a control law is not provided, we propose a distributed and safe control strategy satisfying the observability condition. The effectiveness and robustness of the estimation strategy is showcased by means of realistic MonteCarlo simulations

Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements

International audienceIn this paper, a distributed approach for the estimation of kinematic and inertial parameters of an unknown rigid body is presented. The body is manipulated by a pool of ground mobile manipulators. Each robot retrieves a noisy measurement of its velocity and the contact forces applied to the body. Kinematics and dynamics arguments are used to distributively estimate the relative positions of the contact points. Subsequently, distributed estimation filters and nonlin-ear observers are used to estimate the body mass, the relative position between its geometric center and its center of mass, and its moment of inertia. The manipulation strategy is functional to the estimation process, and is suitably designed to satisfy nonlinear observability conditions that are necessary for the success of the estimation. Numerical results corroborate our theoretical findings

Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators

International audienceIn this paper we consider the cooperative control of the manipulation of a load on a plane by a team of mobile robots. We propose two different novel solutions. The first is a controller which ensures exact tracking of the load twist. This controller is partially decentralized since, locally, it does not rely on the state of all the robots but needs only to know the system parameters and load twist. Then we propose a fully decentralized controller that differs from the first one for the use of i) a decentralized estimation of the parameters and twist of the load based only on local measurements of the velocity of the contact points and ii) a discontinuous robustification term in the control law. The second controller ensures a practical stabilization of the twist in presence of estimation errors. The theoretical results are finally corroborated with a simulation campaign evaluating different manipulation settings

Internet of Robotic Things in Smart Domains: Applications and Challenges

With the advent of the Fourth Industrial Revolution, Internet of Things (IoT) and robotic systems are closely cooperating, reshaping their relations and managing to develop new-generation devices. Such disruptive technology corresponds to the backbone of the so-called Industry 4.0. The integration of robotic agents and IoT leads to the concept of the Internet of Robotic Things, in which innovation in digital systems is drawing new possibilities in both industrial and research fields, covering several domains such as manufacturing, agriculture, health, surveillance, and education, to name but a few. In this manuscript, the state-of-the-art of IoRT applications is outlined, aiming to mark their impact on several research fields, and focusing on the main open challenges of the integration of robotic technologies into smart spaces. IoRT technologies and applications are also discussed to underline their influence in everyday life, inducing the need for more research into remote and automated applications