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We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to enable them to detect objects and recognize them for effective manipulations and take real-time decisions involving those objects. In this paper, we describe a novel architecture that enables multiple low-compute NAO robots to perform real-time detection, recognition and localization of objects in its camera view and take programmable actions based on the detected objects. The proposed algorithm for object detection and localization is an empirical modification of YOLOv3, based on indoor experiments in multiple scenarios, with a smaller weight size and lesser computational requirements. Quantization of the weights and re-adjusting filter sizes and layer arrangements for convolutions improved the inference time for low-resolution images from the robot s camera feed. YOLOv3 was chosen after a comparative study of bounding box algorithms was performed with an objective to choose one that strikes the perfect balance among information retention, low inference time and high accuracy for real-time object detection and localization. The architecture also comprises of an effective end-to-end pipeline to feed the real-time frames from the camera feed to the neural net and use its results for guiding the robot with customizable actions corresponding to the detected class labels., Comment: 7 pages

Background: A large number of neurology case reports have been published, but it is a challenging task for human medical experts to explore all of these publications. Text mining offers a computational approach to investigate neurology literature and capture meaningful patterns. The overarching goal of this study is to provide a new perspective on case reports of neurological disease and syndrome analysis over the last six decades using text mining. Methods: We extracted diseases and syndromes (DsSs) from more than 65,000 neurology case reports from 66 journals in PubMed over the last six decades from 1955 to 2017. Text mining was applied to reports on the detected DsSs to investigate high-frequency DsSs, categorize them, and explore the linear trends over the 63-year time frame. Results: The text mining methods explored high-frequency neurologic DsSs and their trends and the relationships between them from 1955 to 2017. We detected more than 18,000 unique DsSs and found 10 categories of neurologic DsSs. While the trend analysis showed the increasing trends in the case reports for top-10 high-frequency DsSs, the categories had mixed trends. Conclusion: Our study provided new insights into the application of text mining methods to investigate DsSs in a large number of medical case reports that occur over several decades. The proposed approach can be used to provide a macro level analysis of medical literature by discovering interesting patterns and tracking them over several years to help physicians explore these case reports more efficiently.

Labeling training data is one of the most costly bottlenecks in developing machine learning-based applications. We present a first-of-its-kind study showing how existing knowledge resources from across an organization can be used as weak supervision in order to bring development time and cost down by an order of magnitude, and introduce Snorkel DryBell, a new weak supervision management system for this setting. Snorkel DryBell builds on the Snorkel framework, extending it in three critical aspects: flexible, template-based ingestion of diverse organizational knowledge, cross-feature production serving, and scalable, sampling-free execution. On three classification tasks at Google, we find that Snorkel DryBell creates classifiers of comparable quality to ones trained with tens of thousands of hand-labeled examples, converts non-servable organizational resources to servable models for an average 52% performance improvement, and executes over millions of data points in tens of minutes.