Furkan Kaynar

Furkan Kaynar, Sudarshan Rajagopalan, Shaobo Zhou et al.

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can very feasibly extend the cognitive skills of a robot for task-oriented grasping. We propose a novel two-step framework towards this aim. The first step involves grasp area estimation by segmentation. We receive grasp area demonstrations for a new task via interactive segmentation, and learn from these few demonstrations to estimate the required grasp area on an unseen scene for the given task. The second step is autonomous grasp estimation in the segmented region. To train the segmentation network for few-shot learning, we built a grasp area segmentation (GAS) dataset with 10089 images grouped into 1121 segmentation tasks. We benefit from an efficient meta learning algorithm for training for few-shot adaptation. Experimental evaluation showed that our method successfully detects the correct grasp area on the respective objects in unseen test scenes and effectively allows remote teaching of new grasp strategies by non-experts.

Emre Eğriboz, Furkan Kaynar, Songül Varlı Albayrak et al.

In recent years, besides the medical treatment methods in medical field, Computer Aided Diagnosis (CAD) systems which can facilitate the decision making phase of the physician and can detect the disease at an early stage have started to be used frequently. The diagnosis of Idiopathic Pulmonary Fibrosis (IPF) disease by using CAD systems is very important in that it can be followed by doctors and radiologists. It has become possible to diagnose and follow up the disease with the help of CAD systems by the development of high resolution computed imaging scanners and increasing size of computation power. The purpose of this project is to design a tool that will help specialists diagnose and follow up the IPF disease by identifying areas of honeycombing and ground glass patterns in High Resolution Computed Tomography (HRCT) lung images. Creating a program module that segments the lung pair and creating a self-learner deep learning model from given Computed Tomography (CT) images for the specific diseased regions thanks to doctors are the main purposes of this work. Through the created model, program module will be able to find special regions in given new CT images. In this study, the performance of lung segmentation was tested by the Sørensen-Dice coefficient method and the mean performance was measured as 90.7%, testing of the created model was performed with data not used in the training stage of the CNN network, and the average performance was measured as 87.8% for healthy regions, 73.3% for ground-glass areas and 69.1% for honeycombing zones.