ESys.Net : a new .Net based system-level design environment

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

A cloud-based system for measuring radiation treatment plan similarity

PURPOSE: Radiation therapy is used to treat cancer using carefully designed plans that maximize the radiation dose delivered to the target and minimize damage to healthy tissue, with the dose administered over multiple occasions. Creating treatment plans is a laborious process and presents an obstacle to more frequent replanning, which remains an unsolved problem. However, in between new plans being created, the patient's anatomy can change due to multiple factors including reduction in tumor size and loss of weight, which results in poorer patient outcomes. Cloud computing is a newer technology that is slowly being used for medical applications with promising results. The objective of this work was to design and build a system that could analyze a database of previously created treatment plans, which are stored with their associated anatomical information in studies, to find the one with the most similar anatomy to a new patient. The analyses would be performed in parallel on the cloud to decrease the computation time of finding this plan. METHODS: The system used SlicerRT, a radiation therapy toolkit for the open-source platform 3D Slicer, for its tools to perform the similarity analysis algorithm. Amazon Web Services was used for the cloud instances on which the analyses were performed, as well as for storage of the radiation therapy studies and messaging between the instances and a master local computer. A module was built in SlicerRT to provide the user with an interface to direct the system on the cloud, as well as to perform other related tasks. RESULTS: The cloud-based system out-performed previous methods of conducting the similarity analyses in terms of time, as it analyzed 100 studies in approximately 13 minutes, and produced the same similarity values as those methods. It also scaled up to larger numbers of studies to analyze in the database with a small increase in computation time of just over 2 minutes. CONCLUSION: This system successfully analyzes a large database of radiation therapy studies and finds the one that is most similar to a new patient, which represents a potential step forward in achieving feasible adaptive radiation therapy replanning.

Hand pose detection for vision-based gesture interfaces

[EN]Vision-based applications designed for humanmachine interaction require fast and accurate hand detection. However, previous works on this field assume different constraints, like a limitation in the number of detected gestures, because hands are highly complex objects to locate. This paper presents an approach which changes the detection target without limiting the number of detected gestures. Using a cascade classifier we detect hands based on their wrists. With this approach, we introduce two main contributions: (1) a reliable segmentation, independently of the gesture being made and (2) a training phase faster than previous cascade classifier based methods. The paper includes experimental evaluations with different video streams that illustrate the efficiency and suitability for perceptual interfaces.

Vision-Based Solutions for Human-Robot Collaboration in Industrial Workcells

Industrial robots are both versatile and high performant, enabling the flexible automation typical of the modern Smart Factories. For safety reasons, however, they must be relegated inside closed fences and/or virtual safety barriers, to keep them strictly separated from human operators. This can be a limitation in some scenarios in which it is useful to combine the human cognitive skill with the accuracy and repeatability of a robot, or simply to allow a safe coexistence in a shared workspace. Collaborative robots (cobots), on the other hand, are intrinsically limited in speed and power in order to share workspace and tasks with human operators, and feature the very intuitive hand guiding programming method. Cobots, however, cannot compete with industrial robots in terms of performance, and are thus useful only in a limited niche, where they can actually bring an improvement in productivity and/or in the quality of the work thanks to their synergy with human operators. The limitations of both the pure industrial and the collaborative paradigms can be overcome by combining industrial robots with artificial vision. In particular, vision can be exploited for a real-time adjustment of the pre-programmed task-based robot trajectory, by means of the visual tracking of dynamic obstacles (e.g. human operators). This strategy allows the robot to modify its motion only when necessary, thus maintain a high level of productivity but at the same time increasing its versatility. Other than that, vision offers the possibility of more intuitive programming paradigms for the industrial robots as well, such as the programming by demonstration paradigm. These possibilities offered by artificial vision enable, as a matter of fact, an efficacious and promising way of achieving human-robot collaboration, which has the advantage of overcoming the limitations of both the previous paradigms yet keeping their strengths.

Innovative microbiome-based system for the improvement of productivity, safety and sustainability of mussels farming

Northwestern Adriatic Sea Mediterranean mussels are exposed to fluctuating environmental parameters and to natural and anthropogenic stressors. Today is well known that mussels can be defined as holobiont, even if remains a lot to elucidate about how an organism and its microbial component response to environmental stress. This PhD dissertation aims to investigate microbiome possible adaptive patters exploiting the organism physiology response to stress, using the NGS sequencing method. The experimental approach consisted of two phases to first determine (i) the microbiome at a tissue scale level, (ii) the microbiome and physiological response to natural and anthropogenic stress environment and the chemical assessment of the microecosystem the Northwestern Adriatic Sea Mediterranean Mussel lives in. Results revealed firstly a robust microbiome well differentiated from seawater microecosystem, with compositional variations at the organ level. Thanks to those findings, digestive gland, the organ in which digestive and detoxification processes allow animal to tolerate and accumulate xenobiotics of natural and anthropogenic origin, was the selected tissue for the second phase of the project. The second phase of the project evaluated the putative physiological variations and the compositional changes in microbiome of digestive gland. I then manage to assess microbiome region trends across the north Adriatic, with each sampling site well differentiated from the others. Finally, a chemical method able to a powerful tool for the analytical detection of the major pollutants in mussels were validated. These first results may provide baseline information for future studies approaches of seasonal and region trends of microbiota profiles and physiological responses in terms of metabolism.

Massive MIMO-based system analysis and comparison with MIMO based-systems

The thesis is focused on introducing basic MIMO-based and Massive MIMO-based systems and their possible benefits. Then going through the implementation options that we have, according to 3GPP standards, for 5G systems and how the transition is done from a non-standalone 5G RAN to a completely standalone 5G RAN. Having introduced the above-mentioned subjects and providing some definition of telecommunications principles, we move forward to a more technical analysis of the Capacity, Throughput, Power consumption, and Costs. Comparing all the mentioned parameters between a Massive-MIMO-based system and a MIMO-based system. In the analysis of power consumption and costs, we also introduce the concept of virtualization and its benefits in terms of both power and costs. Finally, we try to justify a trade-off between having a more reliable system with a high capacity and throughput while keeping the costs as low as possible.

Sistema de visão para aterragem automática de UAV

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo de Automação e Electrónica Industrial

Sistema visual para Ground Truth de sistemas autónomos

Este trabalho visa contribuir para o desenvolvimento de um sistema de visão multi-câmara para determinação da localização, atitude e seguimento de múltiplos objectos, para ser utilizado na unidade de robótica do INESCTEC, e resulta da necessidade de ter informação externa exacta que sirva de referência no estudo, caracterização e desenvolvimento de algoritmos de localização, navegação e controlo de vários sistemas autónomos. Com base na caracterização dos veículos autónomos existentes na unidade de robótica do INESCTEC e na análise dos seus cenários de operação, foi efectuado o levantamento de requisitos para o sistema a desenvolver. Foram estudados os fundamentos teóricos, necessários ao desenvolvimento do sistema, em temas relacionados com visão computacional, métodos de estimação e associação de dados para problemas de seguimento de múltiplos objectos . Foi proposta uma arquitectura para o sistema global que endereça os vários requisitos identi cados, permitindo a utilização de múltiplas câmaras e suportando o seguimento de múltiplos objectos, com ou sem marcadores. Foram implementados e validados componentes da arquitectura proposta e integrados num sistema para validação, focando na localização e seguimento de múltiplos objectos com marcadores luminosos à base de Light-Emitting Diodes (LEDs). Nomeadamente, os módulos para a identi cação dos pontos de interesse na imagem, técnicas para agrupar os vários pontos de interesse de cada objecto e efectuar a correspondência das medidas obtidas pelas várias câmaras, método para a determinação da posição e atitude dos objectos, ltro para seguimento de múltiplos objectos. Foram realizados testes para validação e a nação do sistema implementado que demonstram que a solução encontrada vai de encontro aos requisitos, e foram identi cadas as linhas de trabalho para a continuação do desenvolvimento do sistema global.

Hand gesture recognition system based in computer vision and machine learning : applications on human-machine interaction

Sendo uma forma natural de interação homem-máquina, o reconhecimento de gestos implica uma forte componente de investigação em áreas como a visão por computador e a aprendizagem computacional. O reconhecimento gestual é uma área com aplicações muito diversas, fornecendo aos utilizadores uma forma mais natural e mais simples de comunicar com sistemas baseados em computador, sem a necessidade de utilização de dispositivos extras. Assim, o objectivo principal da investigação na área de reconhecimento de gestos aplicada à interacção homemmáquina é o da criação de sistemas, que possam identificar gestos específicos e usálos para transmitir informações ou para controlar dispositivos. Para isso as interfaces baseados em visão para o reconhecimento de gestos, necessitam de detectar a mão de forma rápida e robusta e de serem capazes de efetuar o reconhecimento de gestos em tempo real. Hoje em dia, os sistemas de reconhecimento de gestos baseados em visão são capazes de trabalhar com soluções específicas, construídos para resolver um determinado problema e configurados para trabalhar de uma forma particular. Este projeto de investigação estudou e implementou soluções, suficientemente genéricas, com o recurso a algoritmos de aprendizagem computacional, permitindo a sua aplicação num conjunto alargado de sistemas de interface homem-máquina, para reconhecimento de gestos em tempo real. A solução proposta, Gesture Learning Module Architecture (GeLMA), permite de forma simples definir um conjunto de comandos que pode ser baseado em gestos estáticos e dinâmicos e que pode ser facilmente integrado e configurado para ser utilizado numa série de aplicações. É um sistema de baixo custo e fácil de treinar e usar, e uma vez que é construído unicamente com bibliotecas de código. As experiências realizadas permitiram mostrar que o sistema atingiu uma precisão de 99,2% em termos de reconhecimento de gestos estáticos e uma precisão média de 93,7% em termos de reconhecimento de gestos dinâmicos. Para validar a solução proposta, foram implementados dois sistemas completos. O primeiro é um sistema em tempo real capaz de ajudar um árbitro a arbitrar um jogo de futebol robótico. A solução proposta combina um sistema de reconhecimento de gestos baseada em visão com a definição de uma linguagem formal, o CommLang Referee, à qual demos a designação de Referee Command Language Interface System (ReCLIS). O sistema identifica os comandos baseados num conjunto de gestos estáticos e dinâmicos executados pelo árbitro, sendo este posteriormente enviado para um interface de computador que transmite a respectiva informação para os robôs. O segundo é um sistema em tempo real capaz de interpretar um subconjunto da Linguagem Gestual Portuguesa. As experiências demonstraram que o sistema foi capaz de reconhecer as vogais em tempo real de forma fiável. Embora a solução implementada apenas tenha sido treinada para reconhecer as cinco vogais, o sistema é facilmente extensível para reconhecer o resto do alfabeto. As experiências também permitiram mostrar que a base dos sistemas de interação baseados em visão pode ser a mesma para todas as aplicações e, deste modo facilitar a sua implementação. A solução proposta tem ainda a vantagem de ser suficientemente genérica e uma base sólida para o desenvolvimento de sistemas baseados em reconhecimento gestual que podem ser facilmente integrados com qualquer aplicação de interface homem-máquina. A linguagem formal de definição da interface pode ser redefinida e o sistema pode ser facilmente configurado e treinado com um conjunto de gestos diferentes de forma a serem integrados na solução final.

Hand gesture recognition system based in computer vision and machine learning

"Lecture notes in computational vision and biomechanics series, ISSN 2212-9391, vol. 19"

Hand gesture recognition system based in computer vision and machine learning: Applications on human-machine interaction

Tese de Doutoramento em Engenharia de Eletrónica e de Computadores

A Food Recognition System for Diabetic Patients based on an Optimized Bag of Features Model

Computer vision-based food recognition could be used to estimate a meal's carbohydrate content for diabetic patients. This study proposes a methodology for automatic food recognition, based on the Bag of Features (BoF) model. An extensive technical investigation was conducted for the identification and optimization of the best performing components involved in the BoF architecture, as well as the estimation of the corresponding parameters. For the design and evaluation of the prototype system, a visual dataset with nearly 5,000 food images was created and organized into 11 classes. The optimized system computes dense local features, using the scale-invariant feature transform on the HSV color space, builds a visual dictionary of 10,000 visual words by using the hierarchical k-means clustering and finally classifies the food images with a linear support vector machine classifier. The system achieved classification accuracy of the order of 78%, thus proving the feasibility of the proposed approach in a very challenging image dataset.

Intelligent automatic overtaking system using vision for vehicle detection

There is clear evidence that investment in intelligent transportation system technologies brings major social and economic benefits. Technological advances in the area of automatic systems in particular are becoming vital for the reduction of road deaths. We here describe our approach to automation of one the riskiest autonomous manœuvres involving vehicles – overtaking. The approach is based on a stereo vision system responsible for detecting any preceding vehicle and triggering the autonomous overtaking manœuvre. To this end, a fuzzy-logic based controller was developed to emulate how humans overtake. Its input is information from the vision system and from a positioning-based system consisting of a differential global positioning system (DGPS) and an inertial measurement unit (IMU). Its output is the generation of action on the vehicle’s actuators, i.e., the steering wheel and throttle and brake pedals. The system has been incorporated into a commercial Citroën car and tested on the private driving circuit at the facilities of our research center, CAR, with different preceding vehicles – a motorbike, car, and truck – with encouraging results.

A coupled knowledge-based expert system for design of liquid-retaining structures

This paper describes a coupled knowledge-based system (KBS) for the design of liquid-retaining structures, which can handle both the symbolic knowledge processing based on engineering heuristics in the preliminary synthesis stage and the extensive numerical crunching involved in the detailed analysis stage. The prototype system is developed by employing blackboard architecture and a commercial shell VISUAL RULE STUDIO. Its present scope covers design of three types of liquid-retaining structures, namely, a rectangular shape with one compartment, a rectangular shape with two compartments and a circular shape. Through custom-built interactive graphical user interfaces, the user is directed throughout the design process, which includes preliminary design, load specification, model generation, finite element analysis, code compliance checking and member sizing optimization. It is also integrated with various relational databases that provide the system with sectional properties, moment and shear coefficients and final member details. This system can act as a consultant to assist novice designers in the design of liquid-retaining structures with increase in efficiency and optimization of design output and automated record keeping. The design of a typical example of the liquid-retaining structure is also illustrated. (C) 2003 Elsevier B.V All rights reserved.