Mohammad Reza Sharif

Mohammadreza Sharif, Kiran Mohan, Sarath Suvarna

In recent years, floor plan segmentation has gained significant attention due to its wide range of applications in floor plan reconstruction and robotics. In this paper, we propose a novel 2D floor plan segmentation technique based on a down-sampling approach. Our method employs continuous down-sampling on a floor plan to maintain its structural information while reducing its complexity. We demonstrate the effectiveness of our approach by presenting results obtained from both cluttered floor plans generated by a vacuum cleaning robot in unknown environments and a benchmark of floor plans. Our technique considerably reduces the computational and implementation complexity of floor plan segmentation, making it more suitable for real-world applications. Additionally, we discuss the appropriate metric for evaluating segmentation results. Overall, our approach yields promising results for 2D floor plan segmentation in cluttered environments.

Mehrshad Zandigohar, Mo Han, Mohammadreza Sharif et al.

Objective: For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. Current control methods based on physiological signals such as electromyography (EMG) are prone to yielding poor inference outcomes due to motion artifacts, muscle fatigue, and many more. Vision sensors are a major source of information about the environment state and can play a vital role in inferring feasible and intended gestures. However, visual evidence is also susceptible to its own artifacts, most often due to object occlusion, lighting changes, etc. Multimodal evidence fusion using physiological and vision sensor measurements is a natural approach due to the complementary strengths of these modalities. Methods: In this paper, we present a Bayesian evidence fusion framework for grasp intent inference using eye-view video, eye-gaze, and EMG from the forearm processed by neural network models. We analyze individual and fused performance as a function of time as the hand approaches the object to grasp it. For this purpose, we have also developed novel data processing and augmentation techniques to train neural network components. Results: Our results indicate that, on average, fusion improves the instantaneous upcoming grasp type classification accuracy while in the reaching phase by 13.66% and 14.8%, relative to EMG (81.64% non-fused) and visual evidence (80.5% non-fused) individually, resulting in an overall fusion accuracy of 95.3%. Conclusion: Our experimental data analyses demonstrate that EMG and visual evidence show complementary strengths, and as a consequence, fusion of multimodal evidence can outperform each individual evidence modality at any given time.

Rassa Ghavami Modegh, Mehrab Hamidi, Saeed Masoudian et al.

COVID-19 is a virus with high transmission rate that demands rapid identification of the infected patients to reduce the spread of the disease. The current gold-standard test, Reverse-Transcription Polymerase Chain Reaction (RT-PCR), has a high rate of false negatives. Diagnosing from CT-scan images as a more accurate alternative has the challenge of distinguishing COVID-19 from other pneumonia diseases. Artificial intelligence can help radiologists and physicians to accelerate the process of diagnosis, increase its accuracy, and measure the severity of the disease. We designed a new interpretable deep neural network to distinguish healthy people, patients with COVID-19, and patients with other pneumonia diseases from axial lung CT-scan images. Our model also detects the infected areas and calculates the percentage of the infected lung volume. We first preprocessed the images to eliminate the batch effects of different devices, and then adopted a weakly supervised method to train the model without having any tags for the infected parts. We trained and evaluated the model on a large dataset of 3359 samples from 6 different medical centers. The model reached sensitivities of 97.75% and 98.15%, and specificities of 87% and 81.03% in separating healthy people from the diseased and COVID-19 from other diseases, respectively. It also demonstrated similar performance for 1435 samples from 6 different medical centers which proves its generalizability. The performance of the model on a large diverse dataset, its generalizability, and interpretability makes it suitable to be used as a reliable diagnostic system.