38 research outputs found
TPU Cloud-Based Generalized U-Net for Eye Fundus Image Segmentation
Medical images from different clinics are acquired with different instruments and settings.
To perform segmentation on these images as a cloud-based service we need to train with multiple datasets
to increase the segmentation independency from the source. We also require an ef cient and fast segmentation
network. In this work these two problems, which are essential for many practical medical imaging
applications, are studied. As a segmentation network, U-Net has been selected. U-Net is a class of deep
neural networks which have been shown to be effective for medical image segmentation. Many different
U-Net implementations have been proposed.With the recent development of tensor processing units (TPU),
the execution times of these algorithms can be drastically reduced. This makes them attractive for cloud
services. In this paper, we study, using Google's publicly available colab environment, a generalized fully
con gurable Keras U-Net implementation which uses Google TPU processors for training and prediction.
As our application problem, we use the segmentation of Optic Disc and Cup, which can be applied to
glaucoma detection. To obtain networks with a good performance, independently of the image acquisition
source, we combine multiple publicly available datasets (RIM-One V3, DRISHTI and DRIONS). As a result
of this study, we have developed a set of functions that allow the implementation of generalized U-Nets
adapted to TPU execution and are suitable for cloud-based service implementation.Ministerio de Economía y Competitividad TEC2016-77785-
An eLearning Standard Approach for Supporting PBL in Computer Engineering
Problem-based learning (PBL) has proved to be a highly successful pedagogical model in many fields, although it is not that common in computer engineering. PBL goes beyond the typical teaching methodology by promoting student interaction. This paper presents a PBL trial applied to a course in a computer engineering degree at the University of Seville, Spain. To promote the reusability and interoperability of the PBL trial, a design-driven approach was used, based on the Internet protocol Multimedia Subsystems (IMS) Learning Design (LD) standard. This paper presents the outcomes of using this method to innovate teaching practices in a blended learning environment. Design and implementation results, as well as users' opinions, are presented and analyzed.Ministerio de Educación y Ciencia TIN2006-15617-C03-03Junta de Andalucía P06-TIC-0229
Using virtual potential fields for electric wheelchair guidance
TetraNauta is an electric wheelchair guidance system intended for people with heavy motion impairments (such as persons with tetraplegia). It is specially useful when impairments also affect wheelchair steering as it is able to automatically guide wheelchairs between different points in a known environment (a hospital, a school, etc), conditioned with track marks painted on the floor. It also provides a semiautomatic navigation mode, where control is shared between user and navigation system. It is intended for learning wheelchair manipulation and as an aid in places where navigation is difficult or dangerous (i.e. for crossing narrow corridors)
On the Design of Ambient Intelligent Systems in the Context of Assistive Technologies
The design of Ambient Intelligent Systems (AISs) is discussed in the
context of assistive technologies. The main issues include ubiquitous communications,
context awareness, natural interactions and heterogeneity, which are
analyzed using some examples. A layered architecture is proposed for heterogeneous
sub-systems integration with three levels of interactions that may be
used as a framework to design assistive AISs.Ministerio de Ciencia y Tecnología TIC2001-1868-C0
A generalization of path following for mobile robots
Several authors have proposed some methods for applying path following in specific cases to mobile robots. When we try to extend the path following approach to the general problem several difficulties arise. We present a generalized technique to apply path following to a mobile robot with nonholonomic constraints. As an application example, we expose the case of mobile robots with a higher degree of manoeuvrability than the typical car-like robots. In particular we consider a robot that can turn around itself making a zero-radius turn; a case still not resolved as far as we know. Finally we propose a suitable control law for this example that ensures asymptotical convergence.Comisión Interministerial de Ciencia y Tecnología TER96-2056-C02-0
Dual Machine-Learning system to aid Glaucoma Diagnosis using disc and cup feature extraction.
Glaucoma is a degenerative disease that affects vision, causing damage to the optic nerve
that ends in vision loss. The classic techniques to detect it have undergone a great change since the intrusion
of machine learning techniques into the processing of eye fundus images. Several works focus on training
a convolutional neural network (CNN) by brute force, while others use segmentation and feature extraction
techniques to detect glaucoma. In this work, a diagnostic aid tool to detect glaucoma using eye fundus
images is developed, trained and tested. It consists of two subsystems that are independently trained and
tested, combining their results to improve glaucoma detection. The first subsystem applies machine learning
and segmentation techniques to detect optic disc and cup independently, combine them and extract their
physical and positional features. The second one applies transfer learning techniques to a pre-trained CNN
to detect glaucoma through the analysis of the complete eye fundus images. The results of both systems are
combined to discriminate positive cases of glaucoma and improve final detection. The results show that this
system achieves a higher classification rate than previous works. The system also provides information on
the basis for the proposed diagnosis suggestion that can help the ophthalmologist to accept or modify it
AER tools for Communications and Debugging
Address-event-representation (AER) is a communications protocol for transferring spikes between bio-inspired chips. Such systems may consist of a hierarchical structure with several chips that transmit spikes among them in real time, while performing some processing. To develop and test AER based systems it is convenient to have a set of instruments that would allow to: generate AER streams, monitor the output produced by neural chips and modify the spike stream produced by an emitting chip to adapt it to the requirements of the receiving elements. In this paper we present a set of tools that implement these functions developed in the CAVIAR EU projectUnión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-0
A Protocol Generator Tool for Automatic In-Vitro HPV Robotic Analysis
Human Papilloma Virus (HPV) could develop precancerous
lesions and invasive cancer, as it is the main cause of nearly all cases
of cervical cancer. There are many strains of HPV and current vaccines
can only protect against some of them. This makes the detection and
genotyping of HPV a research area of utmost importance. Several biomedical
systems can detect HPV in DNA samples; however, most of
them do not have a procedure as fast, automatic or precise as it is actually
needed in this field. This manuscript presents a novel XML-based
hierarchical protocol architecture for biomedical robots to describe each
protocol step and execute it sequentially, along with a robust and automatic
robotic system for HPV DNA detection capable of processing from
1 to 24 samples simultaneously in a fast (from 45 to 162 min), efficient
(100% markers effectiveness) and precise (able to detect 36 different HPV
genotypes) way. It includes an efficient artificial vision process as the last
step of the diagnostic.FIDETIA P055-12/E03Ministerio de Economía y Competitivida TEC2016-77785-
Time-Recovering PCI-AER interface for Bio-inspired Spiking Systems
Address Event Representation (AER) is an emergent neuromorphic interchip communication protocol that allows
for real-time virtual massive connectivity between huge number neurons located on different chips. By exploiting
high speed digital communication circuits (with nano-seconds timings), synaptic neural connections can be time
multiplexed, while neural activity signals (with mili-seconds timings) are sampled at low frequencies. Also,
neurons generate ‘events’ according to their activity levels. More active neurons generate more events per unit
time, and access the interchip communication channel more frequently, while neurons with low activity
consume less communication bandwidth. When building multi-chip muti-layered AER systems it is absolutely
necessary to have a computer interface that allows (a) to read AER interchip traffic into the computer and visualize it
on screen, and (b) inject a sequence of events at some point of the AER structure. This is necessary for testing and
debugging complex AER systems.
This paper presents a PCI to AER interface, that dispatches a sequence of events received from the PCI bus
with embedded timing information to establish when each event will be delivered. A set of specialized states
machines has been introduced to recovery the possible time delays introduced by the asynchronous AER bus. On the
input channel, the interface capture events assigning a timestamp and delivers them through the PCI bus to MATLAB
applications. It has been implemented in real time hardware using VHDL and it has been tested in a PCI-AER
board, developed by authors, that includes a Spartan II 200 FPGA. The demonstration hardware is currently
capable to send and receive events at a peak rate of 8,3 Mev/sec, and a typical rate of 1 Mev/sec.European Commission IST-2001-34124Ministerio de Educación y Ciencia TIC-2000-0406-P
Robotics software frameworks for multi-agent robotic systems development
Robotics is an area of research in which the paradigm of Multi-Agent Systems (MAS) can prove to be highly
useful. Multi-Agent Systems come in the form of cooperative robots in a team, sensor networks based on
mobile robots, and robots in Intelligent Environments, to name but a few. However, the development
of Multi-Agent Robotic Systems (MARS) still presents major challenges. Over the past decade, a high
number of Robotics Software Frameworks (RSFs) have appeared which propose some solutions to the
most recurrent problems in robotics. Some of these frameworks, such as ROS, YARP, OROCOS, ORCA,
Open-RTM, and Open-RDK, possess certain characteristics and provide the basic infrastructure necessary
for the development of MARS. The contribution of this work is the identification of such characteristics
as well as the analysis of these frameworks in comparison with the general-purpose Multi-Agent System
Frameworks (MASFs), such as JADE and Mobile-C.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Junta de Andalucía P06-TIC-2298Junta de Andalucía P08-TIC-0386