Real Time Adaptive Color Segmentation for Mars Landing Site Identification

Author(s):  
Tuan A. Duong ◽  
◽  
Vu A. Duong

Real time identification of planetary landing sites is of significant importance in NASA’s precision landing program. As a lander descends towards a potential landing site, it is important to determine whether or not the potential site is free of debris to allow safe landing. This requires real time processing of images acquired by the lander during the approach, so that appropriate navigational corrections can be made to direct the lander to a safe landing zone. In this paper we discuss an adaptive color segmentation technique that can aid in identifying safe landing terrain, and terrain that may be rock covered, dusty, and unfavorable to land. A new learning architecture that allows real time adaptation in a dynamically changing environment as the lander approaches a landing site is evaluated. Results indicate that a real time adaptive color segmentation approach is sufficient to identify safe landing zones. The paper also discusses the time required for adaptation, a critical parameter during an actual descent. The simulation-based case study reported in this paper is a primary step toward developing a more realistic case for landing site identification.

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4237
Author(s):  
Hoon Ko ◽  
Kwangcheol Rim ◽  
Isabel Praça

The biggest problem with conventional anomaly signal detection using features was that it was difficult to use it in real time and it requires processing of network signals. Furthermore, analyzing network signals in real-time required vast amounts of processing for each signal, as each protocol contained various pieces of information. This paper suggests anomaly detection by analyzing the relationship among each feature to the anomaly detection model. The model analyzes the anomaly of network signals based on anomaly feature detection. The selected feature for anomaly detection does not require constant network signal updates and real-time processing of these signals. When the selected features are found in the received signal, the signal is registered as a potential anomaly signal and is then steadily monitored until it is determined as either an anomaly or normal signal. In terms of the results, it determined the anomaly with 99.7% (0.997) accuracy in f(4)(S0) and in case f(4)(REJ) received 11,233 signals with a normal or 171anomaly judgment accuracy of 98.7% (0.987).


Author(s):  
Daiki Matsumoto ◽  
Ryuji Hirayama ◽  
Naoto Hoshikawa ◽  
Hirotaka Nakayama ◽  
Tomoyoshi Shimobaba ◽  
...  

Author(s):  
David J. Lobina

The study of cognitive phenomena is best approached in an orderly manner. It must begin with an analysis of the function in intension at the heart of any cognitive domain (its knowledge base), then proceed to the manner in which such knowledge is put into use in real-time processing, concluding with a domain’s neural underpinnings, its development in ontogeny, etc. Such an approach to the study of cognition involves the adoption of different levels of explanation/description, as prescribed by David Marr and many others, each level requiring its own methodology and supplying its own data to be accounted for. The study of recursion in cognition is badly in need of a systematic and well-ordered approach, and this chapter lays out the blueprint to be followed in the book by focusing on a strict separation between how this notion applies in linguistic knowledge and how it manifests itself in language processing.


2020 ◽  
pp. 1-25
Author(s):  
Theres Grüter ◽  
Hannah Rohde

Abstract This study examines the use of discourse-level information to create expectations about reference in real-time processing, testing whether patterns previously observed among native speakers of English generalize to nonnative speakers. Findings from a visual-world eye-tracking experiment show that native (L1; N = 53) but not nonnative (L2; N = 52) listeners’ proactive coreference expectations are modulated by grammatical aspect in transfer-of-possession events. Results from an offline judgment task show these L2 participants did not differ from L1 speakers in their interpretation of aspect marking on transfer-of-possession predicates in English, indicating it is not lack of linguistic knowledge but utilization of this knowledge in real-time processing that distinguishes the groups. English proficiency, although varying substantially within the L2 group, did not modulate L2 listeners’ use of grammatical aspect for reference processing. These findings contribute to the broader endeavor of delineating the role of prediction in human language processing in general, and in the processing of discourse-level information among L2 users in particular.


Entropy ◽  
2021 ◽  
Vol 23 (5) ◽  
pp. 546
Author(s):  
Zhenni Li ◽  
Haoyi Sun ◽  
Yuliang Gao ◽  
Jiao Wang

Depth maps obtained through sensors are often unsatisfactory because of their low-resolution and noise interference. In this paper, we propose a real-time depth map enhancement system based on a residual network which uses dual channels to process depth maps and intensity maps respectively and cancels the preprocessing process, and the algorithm proposed can achieve real-time processing speed at more than 30 fps. Furthermore, the FPGA design and implementation for depth sensing is also introduced. In this FPGA design, intensity image and depth image are captured by the dual-camera synchronous acquisition system as the input of neural network. Experiments on various depth map restoration shows our algorithms has better performance than existing LRMC, DE-CNN and DDTF algorithms on standard datasets and has a better depth map super-resolution, and our FPGA completed the test of the system to ensure that the data throughput of the USB 3.0 interface of the acquisition system is stable at 226 Mbps, and support dual-camera to work at full speed, that is, 54 fps@ (1280 × 960 + 328 × 248 × 3).


2020 ◽  
Vol 41 (S1) ◽  
pp. s367-s368
Author(s):  
Michael Korvink ◽  
John Martin ◽  
Michael Long

Background: The Bundled Payment Care Improvement Program is a CMS initiative designed to encourage greater collaboration across settings of care, especially as it relates to an initial set of targeted clinical episodes, which include sepsis and pneumonia. As with many CMS incentive programs, performance evaluation is retrospective in nature, resulting in after-the-fact changes in operational processes to improve both efficiency and quality. Although retrospective performance evaluation is informative, care providers would ideally identify a patient’s potential clinical cohort during the index stay and implement care management procedures as necessary to prevent or reduce the severity of the condition. The primary challenges for real-time identification of a patient’s clinical cohort are CMS-targeted cohorts are based on either MS-DRG (grouping of ICD-10 codes) or HCPCS coding—coding that occurs after discharge by clinical abstractors. Additionally, many informative data elements in the EHR lack standardization and no simple and reliable heuristic rules can be employed to meaningfully identify those cohorts without human review. Objective: To share the results of an ensemble statistical model to predict patient risks of sepsis and pneumonia during their hospital (ie, index) stay. Methods: The predictive model uses a combination of Bernoulli Naïve Bayes natural language processing (NLP) classifiers, to reduce text dimensionality into a single probability value, and an eXtreme Gradient Boosting (XGBoost) algorithm as a meta-model to collectively evaluate both standardized clinical elements alongside the NLP-based text probabilities. Results: Bernoulli Naïve Bayes classifiers have proven to perform well on short text strings and allow for highly explanatory unstructured or semistructured text fields (eg, reason for visit, culture results), to be used in a both comparative and generalizable way within the larger XGBoost model. Conclusions: The choice of XGBoost as the meta-model has the benefits of mitigating concerns of nonlinearity among clinical features, reducing potential of overfitting, while allowing missing values to exist within the data. Both the Bayesian classifier and meta-model were trained using a patient-level integrated dataset extracted from both a patient-billing and EHR data warehouse maintained by Premier. The data set, joined by patient admission-date, medical record number, date of birth, and hospital entity code, allows the presence of both the coded clinical cohort (derived from the MS-DRG) and the explanatory features in the EHR to exist within a single patient encounter record. The resulting model produced F1 performance scores of .65 for the sepsis population and .61 for the pneumonia population.Funding: NoneDisclosures: None


Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 3956
Author(s):  
Youngsun Kong ◽  
Hugo F. Posada-Quintero ◽  
Ki H. Chon

The subjectiveness of pain can lead to inaccurate prescribing of pain medication, which can exacerbate drug addiction and overdose. Given that pain is often experienced in patients’ homes, there is an urgent need for ambulatory devices that can quantify pain in real-time. We implemented three time- and frequency-domain electrodermal activity (EDA) indices in our smartphone application that collects EDA signals using a wrist-worn device. We then evaluated our computational algorithms using thermal grill data from ten subjects. The thermal grill delivered a level of pain that was calibrated for each subject to be 8 out of 10 on a visual analog scale (VAS). Furthermore, we simulated the real-time processing of the smartphone application using a dataset pre-collected from another group of fifteen subjects who underwent pain stimulation using electrical pulses, which elicited a VAS pain score level 7 out of 10. All EDA features showed significant difference between painless and pain segments, termed for the 5-s segments before and after each pain stimulus. Random forest showed the highest accuracy in detecting pain, 81.5%, with 78.9% sensitivity and 84.2% specificity with leave-one-subject-out cross-validation approach. Our results show the potential of a smartphone application to provide near real-time objective pain detection.


2021 ◽  
pp. 100489
Author(s):  
Paul La Plante ◽  
P.K.G. Williams ◽  
M. Kolopanis ◽  
J.S. Dillon ◽  
A.P. Beardsley ◽  
...  

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