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The model-based gait analysis of kinematic characteristics of the human body has been used to identify individuals. To extract gait features, spatiotemporal changes of anatomical landmarks of the human body in 3D were preferable. Without special lab settings, 2D images were easily acquired by monocular video cameras in real-world settings. The 2D and 3D locations of key joint positions were estimated by the 2D and 3D pose estimators. Then, the 3D joint positions can be estimated from the 2D image sequences in human gait. Yet, it has been challenging to have the exact gait features of a person due to viewpoint variance and occlusion of body parts in the 2D images. In the study, we conducted a comparative study of two different approaches: feature-based and spatiotemporal-based viewpoint invariant person re-identification using gait patterns. The first method is to use gait features extracted from time-series 3D joint positions to identify an individual. The second method uses a neural network, a Siamese Long Short Term Memory (LSTM) network with the 3D spatiotemporal changes of key joint positions in a gait cycle to classify an individual without extracting gait features. To validate and compare these two methods, we conducted experiments with two open datasets of the MARS and CASIA-A datasets. The results show that the Siamese LSTM outperforms the gait feature-based approaches on the MARS dataset by 20% and 55% on the CASIA-A dataset. The results show that feature-based gait analysis using 2D and 3D pose estimators is premature. As a future study, we suggest developing large-scale human gait datasets and designing accurate 2D and 3D joint position estimators specifically for gait patterns. We expect that the current comparative study and the future work could contribute to rehabilitation study, forensic gait analysis and early detection of neurological disorders.

This research presents a comprehensive comparative analysis of SLAM algorithms and Deep Neural Network (DNN)-based Behavior Cloning (BC) navigation in outdoor agricultural environments. The study categorizes SLAM algorithms into laser-based and vision-based approaches, addressing the specific challenges posed by uneven terrain and the similarity between aisles in an orchard farm. The DNN-based BC navigation technique proves efficient, exhibiting reduced human intervention and providing a viable alternative for agricultural navigation. Despite the DNN-based BC navigation approach taking more time to reach its target due to a constant throttle limit for steady speed, the overall performance in terms of driving deviation and human intervention is notable compared to conventional SLAM algorithms. We provide comprehensive evaluation criteria for selecting optimal techniques for outdoor agricultural navigations. The algorithms were tested in three different scenarios: Precision, Speed, and Autonomy. Our proposed performance metric, P, is weighted and normalized. The DNN-based BC algorithm showed the best performance among the others, with a performance of 0.92 in the Precision and Autonomy scenarios. When Speed is more important, the RTAB-Map showed the best score with 0.96. In a case where Autonomy has a higher priority, Gmapping also showed a comparable performance of 0.92 with the DNN-based BC.

Accurately identifying human key points is crucial for various applications, including activity recognition, pose estimation, and gait analysis. This study introduces a high-resolution dataset formed via the VICON motion capture system and three diverse 2D cameras. It facilitates the training of neural networks to estimate 2D key joint positions from images and videos. The study involved 25 healthy adults (17 males, 8 females), executing normal gait for 2 to 3 s. The VICON system captured 3D ground truth data, while the three 2D cameras collected images from different perspectives (0°, 45°, and 135°). The dataset was used to train the Body Pose Network (BPNET), a popular neural network model developed by NVIDIA TAO. Additionally, a comparison entails another BPNET model trained on the COCO 2017 dataset, featuring over 118,000 annotated images. Notably, the proposed dataset exhibited a higher level of accuracy (14.5%) than COCO 2017, despite comprising one-fourth of the image count (23,741 annotated image). This substantial reduction in data size translates to improvements in computational efficiency during model training. Furthermore, the unique dataset’s emphasis on gait and precise prediction of key joint positions during normal gait movements distinguish it from existing alternatives. This study has implications ranging from gait-based person identification, and non-invasive concussion detection through sports temporal analysis, to pathologic gait pattern identification.

For autonomous driving research, using a scaled vehicle platform is a viable alternative compared to a full-scale vehicle. However, using embedded solutions such as small robotic platforms with differential driving or radio-controlled (RC) car-based platforms can be limiting on, for example, sensor package restrictions or computing challenges. Furthermore, for a given controller, specialized expertise and abilities are necessary. To address such problems, this paper proposes a feasible solution, the Ridon vehicle, which is a spacious ride-on automobile with high-driving electric power and a custom-designed drive-by-wire system powered by a full-scale machine-learning-ready computer. The major objective of this paper is to provide a thorough and appropriate method for constructing a cost-effective platform with a drive-by-wire system and sensor packages so that machine-learning-based algorithms can be tested and deployed on a scaled vehicle. The proposed platform employs a modular and hierarchical software architecture, with microcontroller programs handling the low-level motor controls and a graphics processing unit (GPU)-powered laptop computer processing the higher and more sophisticated algorithms. The Ridon vehicle platform is validated by employing it in a deep-learning-based behavioral cloning study. The suggested platform’s affordability and adaptability would benefit broader research and the education community.

The identification of fault types and their locations is crucial for power system protection/operation when a fault occurs in the lines. In general, this involves a human-in-the-loop analysis to capture the transient voltage and current signals using a common format for transient data exchange for power systems (COMTRADE) file. Then, protection engineers can identify the fault types and the line locations after the incident. This paper proposes intelligent and novel methods of faulty line and location detection based on convolutional neural networks in the power system. The three-phase fault information contained in the COMTRADE file is converted to an image file and extracted adaptively by the proposed CNN, which is trained by a large number of images under various kinds of fault conditions and factors. A 500 kV power system is simulated to generate different types of electromagnetic fault transients. The test results show that the proposed CNN-based analyzer can classify the fault types and locations under various conditions and reduce the fault analysis efforts.

Consciousness is a complex and multi-faceted phenomenon defying scientific explanation. Part of the reason why this is the case is due to its subjective nature. In our previous computational experiments, to avoid such a subjective trap, we took a strategy to investigate objective necessary conditions of consciousness. Our basic hypothesis was that predictive internal dynamics serves as such a condition. This is in line with theories of consciousness that treat retention (memory), protention (anticipation), and primary impression as the tripartite temporal structure of consciousness. To test our hypothesis, we analyzed publicly available sleep and awake electroencephalogram (EEG) data. Our results show that EEG signals from awake or rapid eye movement (REM) sleep states have more predictable dynamics compared to those from slow-wave sleep (SWS). Since awakeness and REM sleep are associated with conscious states and SWS with unconscious or less consciousness states, these results support our hypothesis. The results suggest an intricate relationship among prediction, consciousness, and time, with potential applications to time perception and neurorobotics.

This study introduces the Perception Latency Mitigation Network (PLM-Net), a novel deep learning approach for addressing perception latency in vision-based Autonomous Vehicle (AV) lateral control systems. Perception latency is the delay between capturing the environment through vision sensors (e.g., cameras) and applying an action (e.g., steering). This issue is understudied in both classical and neural-network-based control methods. Reducing this latency with powerful GPUs and FPGAs is possible but impractical for automotive platforms. PLM-Net comprises the Base Model (BM) and the Timed Action Prediction Model (TAPM). BM represents the original Lane Keeping Assist (LKA) system, while TAPM predicts future actions for different latency values. By integrating these models, PLM-Net mitigates perception latency. The final output is determined through linear interpolation of BM and TAPM outputs based on real-time latency. This design addresses both constant and varying latency, improving driving trajectories and steering control. Experimental results validate the efficacy of PLM-Net across various latency conditions. Source code: https://github.com/AwsKhalil/oscar/tree/devel-plm-net.

Aging population has been growing as life expectancy increases. In the years to come a much larger percentage of the population will be dependent on others for their daily care. According to a recent report more than 11 million seniors live alone in the USA. These seniors may face serious consequences when they have an emergency situation. However health-monitoring systems are often not affordable for many seniors. The remote health monitoring system presented in this paper addresses the challenge to provide caregivers an emergency alert system for the elderly based on monitoring of their heart rates, breathing activities, and room temperature measurements. The device also allows the dependents to make on demand request for assistance. The remote communication is enabled through the cellular telephone services; so there is no special or additional subscription services needed. This is essential to make the device more affordable for the elderly. We expect that this affordable remote health-monitoring system can be used to help seniors who live alone be safer and healthier.

Connectomics is the study of the full connection matrix of the brain. Recent advances in high-throughput, high-resolution 3D microscopy methods have enabled the imaging of whole small animal brains at a sub-micrometer resolution, potentially opening the road to full-blown connectomics research. One of the first such instruments to achieve whole-brain-scale imaging at sub-micrometer resolution is the Knife-Edge Scanning Microscope (KESM). KESM whole-brain data sets now include Golgi (neuronal circuits), Nissl (soma distribution), and India ink (vascular networks). KESM data can contribute greatly to connectomics research, since they fill the gap between lower resolution, large volume imaging methods (such as diffusion MRI) and higher resolution, small volume methods (e.g., serial sectioning electron microscopy). Furthermore, KESM data are by their nature multiscale, ranging from the subcellular to the whole organ scale. Due to this, visualization alone is a huge challenge, before we even start worrying about quantitative connectivity analysis. To solve this issue, we developed a web-based neuroinformatics framework for efficient visualization and analysis of the multiscale KESM data sets. In this paper, we will first provide an overview of KESM, then discuss in detail the KESM data sets and the web-based neuroinformatics framework, which is called the KESM brain atlas (KESMBA). Finally, we will discuss the relevance of the KESMBA to connectomics research, and identify challenges and future directions.