Development of Deep Learning Algorithm for Humanoid Robots to Walk to the Target Using Semantic Segmentation and Deep Q Network

2020 ◽  
Author(s):  
Simge Nur Aslan ◽  
Aysegul Ucar ◽  
Cuneyt Guzelis
Keyword(s):  
Deep Learning ◽  
Learning Algorithm ◽  
Semantic Segmentation ◽  
Humanoid Robots ◽  
Deep Learning Algorithm

scholarly journals Study on Radar Echo-Filling in an Occlusion Area by a Deep Learning Algorithm

2021 ◽  
Vol 13 (9) ◽  
pp. 1779
Author(s):  
Xiaoyan Yin ◽  
Zhiqun Hu ◽  
Jiafeng Zheng ◽  
Boyong Li ◽  
Yuanyuan Zuo
Keyword(s):  
Deep Learning ◽  
Loss Function ◽  
Learning Algorithm ◽  
Weather Radar ◽  
Loss Functions ◽  
Training Dataset ◽  
Echo Intensity ◽  
Common Mean ◽  
Deep Learning Algorithm ◽  
Radar Beam

Radar beam blockage is an important error source that affects the quality of weather radar data. An echo-filling network (EFnet) is proposed based on a deep learning algorithm to correct the echo intensity under the occlusion area in the Nanjing S-band new-generation weather radar (CINRAD/SA). The training dataset is constructed by the labels, which are the echo intensity at the 0.5° elevation in the unblocked area, and by the input features, which are the intensity in the cube including multiple elevations and gates corresponding to the location of bottom labels. Two loss functions are applied to compile the network: one is the common mean square error (MSE), and the other is a self-defined loss function that increases the weight of strong echoes. Considering that the radar beam broadens with distance and height, the 0.5° elevation scan is divided into six range bands every 25 km to train different models. The models are evaluated by three indicators: explained variance (EVar), mean absolute error (MAE), and correlation coefficient (CC). Two cases are demonstrated to compare the effect of the echo-filling model by different loss functions. The results suggest that EFnet can effectively correct the echo reflectivity and improve the data quality in the occlusion area, and there are better results for strong echoes when the self-defined loss function is used.

scholarly journals Development and Verification of a Deep Learning Algorithm to Evaluate Small-Bowel Preparation Quality

Diagnostics ◽  
2021 ◽  
Vol 11 (6) ◽  
pp. 1127
Author(s):  
Ji Hyung Nam ◽  
Dong Jun Oh ◽  
Sumin Lee ◽  
Hyun Joo Song ◽  
Yun Jeong Lim
Keyword(s):  
Deep Learning ◽  
Small Bowel ◽  
Scoring System ◽  
Operating Characteristic ◽  
Clinical Evidence ◽  
Learning Algorithm ◽  
Characteristic Curve ◽  
External Validation ◽  
Test Results ◽  
Deep Learning Algorithm

Capsule endoscopy (CE) quality control requires an objective scoring system to evaluate the preparation of the small bowel (SB). We propose a deep learning algorithm to calculate SB cleansing scores and verify the algorithm’s performance. A 5-point scoring system based on clarity of mucosal visualization was used to develop the deep learning algorithm (400,000 frames; 280,000 for training and 120,000 for testing). External validation was performed using additional CE cases (n = 50), and average cleansing scores (1.0 to 5.0) calculated using the algorithm were compared to clinical grades (A to C) assigned by clinicians. Test results obtained using 120,000 frames exhibited 93% accuracy. The separate CE case exhibited substantial agreement between the deep learning algorithm scores and clinicians’ assessments (Cohen’s kappa: 0.672). In the external validation, the cleansing score decreased with worsening clinical grade (scores of 3.9, 3.2, and 2.5 for grades A, B, and C, respectively, p < 0.001). Receiver operating characteristic curve analysis revealed that a cleansing score cut-off of 2.95 indicated clinically adequate preparation. This algorithm provides an objective and automated cleansing score for evaluating SB preparation for CE. The results of this study will serve as clinical evidence supporting the practical use of deep learning algorithms for evaluating SB preparation quality.

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