We study the problem of decentralized classification conducted over a network of mobile sensors. We model the multiagent classification task as a hypothesis testing problem where each sensor has to almost surely find the true hypothesis from a finite set of candidate hypotheses. Each sensor makes noisy local observations and can also share information on their observations with other mobile sensors in communication range. In order to address the state-space explosion in the multiagent system, we propose a decentralized synthesis procedure that guarantees that each sensor will almost surely converge to the true hypothesis even in the presence of faulty or malicious agents. Additionally, we employ a contract-based synthesis approach that produces trajectories designed to empirically increase information-sharing between mobile sensors in order to converge faster to the true hypothesis. We implement and test the approach on experiments with both physical and simulated hardware to showcase the approach’s scalability and viability in real-world systems. Finally, we run a Gazebo/ROS simulated experiment with 12 agents to demonstrate the scalability of our approach in large environments with many agents.

A semantic understanding of the environment is needed to enable high level autonomy in robotic systems. Recent results have demonstrated rapid progress in underlying technology areas, but few results have been reported on end-to-end systems that enable effective autonomous perception in complex environments. In this paper, we describe an approach for rapidly and autonomously mapping unknown environments with integrated semantic and geometric information. We use surfel-based RGB-D SLAM techniques, with incremental object segmentation and classification methods to update the map in realtime. Information theoretic and heuristic measures are used to quickly plan sensor motion and drive down map uncertainty. Preliminary experimental results in simple and cluttered environments are reported.

Current approaches to physical security suffer from high false alarm rates and frequent human operator involvement, despite the relative rarity of real-world threats. We present a novel architecture for autonomous adaptive physical security called autonomous detection and assessment with moving sensors (ADAMS). ADAMS is a framework for reducing nuisance and false alarms by placing mobile robotic platforms equipped with sensors outside the normal asset perimeter. These robotic agents integrate sensor data from multiple perspectives over time, and autonomously move to obtain the best new data to reduce uncertainty in the threat scene. Inferences drawn from data fused over time provide ultimate decisions regarding whether to alert human operators. This paper describes the framework and algorithms used in a prototype ADAMS implementation. We describe the results of simulations comparing this framework to alternate paradigms. These simulations show ADAMS has a 4x increase in the range at which threats are identified versus traditional static sensors, and a 5x reduction in false alarms triggered versus frameworks where all sensor detections become alarms, leading to reduced operator load. Further, these simulations show this framework for reacting to new potential threats significantly outperforms methods which merely patrol the site. We also present the results of preliminary hardware trials of an exemplar prototype system, providing limited validation of the simulations in a real-time physical demonstration.

MOTIVATION: Single-cell RNA sequencing allows us to simultaneously profile the transcriptomes of thousands of cells and to indulge in exploring cell diversity, development and discovery of new molecular mechanisms. Analysis of scRNA data involves a combination of non-trivial steps from statistics, data visualization, bioinformatics and machine learning. Training molecular biologists in single-cell data analysis and empowering them to review and analyze their data can be challenging, both because of the complexity of the methods and the steep learning curve. RESULTS: We propose a workshop-style training in single-cell data analytics that relies on an explorative data analysis toolbox and a hands-on teaching style. The training relies on scOrange, a newly developed extension of a data mining framework that features workflow design through visual programming and interactive visualizations. Workshops with scOrange can proceed much faster than similar training methods that rely on computer programming and analysis through scripting in R or Python, allowing the trainer to cover more ground in the same time-frame. We here review the design principles of the scOrange toolbox that support such workshops and propose a syllabus for the course. We also provide examples of data analysis workflows that instructors can use during the training. AVAILABILITY AND IMPLEMENTATION: scOrange is an open-source software. The software, documentation and an emerging set of educational videos are available at http://singlecell.biolab.si.

When using a camera to estimate the pose of a moving target, measurements may only be available intermittently, due to feature tracking losses from occlusions or the limited field of view of the camera. Results spanning back to the Kalman filter have demonstrated the utility of using a predictor to update state estimates when measurements are not available, but target velocity measurements or a motion model must be known to implement a predictor for image-based pose estimation. In this paper, a novel estimator and predictor are developed to simultaneously learn a motion model, and estimate the pose, of a moving target from a moving camera. A stability analysis is provided to prove convergence of the state estimates and function approximation without requiring the restrictive persistent excitation condition. Two experiments illustrate the performance of the developed estimator and predictor. One experiment involves a stationary camera observing a mobile robot with sporadic feature tracking losses, and a second experiment involves a quadcopter moving between two mobile robots on a road network.

Cycling induced by automatic control of functional electrical stimulation provides a means of therapeutic exercise and functional restoration for people affected by paralysis. During cycling induced by functional electrical stimulation, various muscle groups are stimulated according to the cycle crank angle; however, because of kinematic constraints on the cycle-rider system, stimulation is typically only applied in a subsection of the crank cycle. Therefore, these systems can be considered as switched control systems with autonomous, state-dependent switching with potentially unstable modes. Previous studies have included an electric motor in the system to provide additional control authority, but no studies have considered the effects of switched control in the stability analysis of the motorized functional electrical stimulation cycling system. In this paper, a model of the motorized cycle-rider system with functional electrical stimulation is developed that includes the effects of a switched control input. A novel switching strategy for the electric motor is designed to only provide assistance in the regions of the crank cycle where the kinematic effectiveness of the rider's muscles is low. A switched sliding-mode controller is designed, and global, exponentially stable tracking of a desired crank trajectory is guaranteed via Lyapunov methods for switched systems, despite parametric uncertainty in the nonlinear model and unknown, time-varying disturbances. Experimental results from five able-bodied, passive riders are presented to validate the control design, and the developed control system achieves an average cadence tracking error of$0.00\pm 2.91$revolutions per minute for a desired trajectory of 50 revolutions per minute.

Switched systems theory is used to analyze the stability of image-based observers for three-dimensional localization of objects in a scene in the presence of intermittent measurements due to occlusions, feature tracking losses, or a limited camera field of view, for example. Generally, observers or filters that are exponentially stable under persistent measurement availability may have unbounded error growth under intermittent measurement loss, even while providing seemingly accurate state estimates. By constructing a framework that utilizes a state predictor during periods when measurements are not available, a class of image-based observers is shown to be exponentially convergent in the presence of intermittent measurements if an average dwell time, and a total unmeasurability time, condition is satisfied. The conditions are developed in a general form, applicable to any observer that is exponentially convergent assuming persistent visibility, and utilizes object motion knowledge to reduce the amount of time measurements must be available to maintain convergence guarantees. Based on the stability results, simulations are provided to show improved performance compared to a zero-order hold approach, where state estimates are held constant when measurements are not available. Experimental results are also included to verify the theoretical results, to demonstrate applicability of the developed observer and predictor design, and to compare against a typical approach using an extended Kalman filter.

BACKGROUND: Identifying candidate genes in genetic networks is important for understanding regulation and biological function. Large gene expression datasets contain relevant information about genetic networks, but mining the data is not a trivial task. Algorithms that infer Bayesian networks from expression data are powerful tools for learning complex genetic networks, since they can incorporate prior knowledge and uncover higher-order dependencies among genes. However, these algorithms are computationally demanding, so novel techniques that allow targeted exploration for discovering new members of known pathways are essential. RESULTS: Here we describe a Bayesian network approach that addresses a specific network within a large dataset to discover new components. Our algorithm draws individual genes from a large gene-expression repository, and ranks them as potential members of a known pathway. We apply this method to discover new components of the cAMP-dependent protein kinase (PKA) pathway, a central regulator of Dictyostelium discoideum development. The PKA network is well studied in D. discoideum but the transcriptional networks that regulate PKA activity and the transcriptional outcomes of PKA function are largely unknown. Most of the genes highly ranked by our method encode either known components of the PKA pathway or are good candidates. We tested 5 uncharacterized highly ranked genes by creating mutant strains and identified a candidate cAMP-response element-binding protein, yet undiscovered in D. discoideum, and a histidine kinase, a candidate upstream regulator of PKA activity. CONCLUSIONS: The single-gene expansion method is useful in identifying new components of known pathways. The method takes advantage of the Bayesian framework to incorporate prior biological knowledge and discovers higher-order dependencies among genes while greatly reducing the computational resources required to process high-throughput datasets.

BACKGROUND: Bioinformatics often leverages on recent advancements in computer science to support biologists in their scientific discovery process. Such efforts include the development of easy-to-use web interfaces to biomedical databases. Recent advancements in interactive web technologies require us to rethink the standard submit-and-wait paradigm, and craft bioinformatics web applications that share analytical and interactive power with their desktop relatives, while retaining simplicity and availability. RESULTS: We have developed dictyExpress, a web application that features a graphical, highly interactive explorative interface to our database that consists of more than 1000 Dictyostelium discoideum gene expression experiments. In dictyExpress, the user can select experiments and genes, perform gene clustering, view gene expression profiles across time, view gene co-expression networks, perform analyses of Gene Ontology term enrichment, and simultaneously display expression profiles for a selected gene in various experiments. Most importantly, these tasks are achieved through web applications whose components are seamlessly interlinked and immediately respond to events triggered by the user, thus providing a powerful explorative data analysis environment. CONCLUSION: dictyExpress is a precursor for a new generation of web-based bioinformatics applications with simple but powerful interactive interfaces that resemble that of the modern desktop. While dictyExpress serves mainly the Dictyostelium research community, it is relatively easy to adapt it to other datasets. We propose that the design ideas behind dictyExpress will influence the development of similar applications for other model organisms.