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Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would fit the most the scenario: an exploration of the extreme extra-terrestrial environment using a MRS. The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology, Comment: PrePrint

Large Language Models (LLMs) are increasingly bringing advances to Natural Language Processing. However, low-resource languages, those lacking extensive prominence in datasets for various NLP tasks, or where existing datasets are not as substantial, such as Portuguese, already obtain several benefits from LLMs, but not to the same extent. LLMs trained on multilingual datasets normally struggle to respond to prompts in Portuguese satisfactorily, presenting, for example, code switching in their responses. This work proposes a fine-tuned LLaMA 2-based model for Portuguese prompts named Bode in two versions: 7B and 13B. We evaluate the performance of this model in classification tasks using the zero-shot approach with in-context learning, and compare it with other LLMs. Our main contribution is to bring an LLM with satisfactory results in the Portuguese language, as well as to provide a model that is free for research or commercial purposes., Comment: 10 pages, 3 figures

Quantum error correction with erasure qubits promises significant advantages over standard error correction due to favorable thresholds for erasure errors. To realize this advantage in practice requires a qubit for which nearly all errors are such erasure errors, and the ability to check for erasure errors without dephasing the qubit. We demonstrate that a "dual-rail qubit" consisting of a pair of resonantly coupled transmons can form a highly coherent erasure qubit, where transmon $T_1$ errors are converted into erasure errors and residual dephasing is strongly suppressed, leading to millisecond-scale coherence within the qubit subspace. We show that single-qubit gates are limited primarily by erasure errors, with erasure probability $p_\text{erasure} = 2.19(2)\times 10^{-3}$ per gate while the residual errors are $\sim 40$ times lower. We further demonstrate mid-circuit detection of erasure errors while introducing $< 0.1\%$ dephasing error per check. Finally, we show that the suppression of transmon noise allows this dual-rail qubit to preserve high coherence over a broad tunable operating range, offering an improved capacity to avoid frequency collisions. This work establishes transmon-based dual-rail qubits as an attractive building block for hardware-efficient quantum error correction., Comment: 9+13 pages, 16 figures

In this paper, we present a self-training-based framework for glaucoma grading using OCT B-scans under the presence of domain shift. Particularly, the proposed two-step learning methodology resorts to pseudo-labels generated during the first step to augment the training dataset on the target domain, which is then used to train the final target model. This allows transferring knowledge-domain from the unlabeled data. Additionally, we propose a novel glaucoma-specific backbone which introduces residual and attention modules via skip-connections to refine the embedding features of the latent space. By doing this, our model is capable of improving state-of-the-art from a quantitative and interpretability perspective. The reported results demonstrate that the proposed learning strategy can boost the performance of the model on the target dataset without incurring in additional annotation steps, by using only labels from the source examples. Our model consistently outperforms the baseline by 1-3% across different metrics and bridges the gap with respect to training the model on the labeled target data., Comment: 5 pages, 4 figures, 3 tables, 2 algorithms, international conference

Recently, bladder cancer has been significantly increased in terms of incidence and mortality. Currently, two subtypes are known based on tumour growth: non-muscle invasive (NMIBC) and muscle-invasive bladder cancer (MIBC). In this work, we focus on the MIBC subtype because it is of the worst prognosis and can spread to adjacent organs. We present a self-learning framework to grade bladder cancer from histological images stained via immunohistochemical techniques. Specifically, we propose a novel Deep Convolutional Embedded Attention Clustering (DCEAC) which allows classifying histological patches into different severity levels of the disease, according to the patterns established in the literature. The proposed DCEAC model follows a two-step fully unsupervised learning methodology to discern between non-tumour, mild and infiltrative patterns from high-resolution samples of 512x512 pixels. Our system outperforms previous clustering-based methods by including a convolutional attention module, which allows refining the features of the latent space before the classification stage. The proposed network exceeds state-of-the-art approaches by 2-3% across different metrics, achieving a final average accuracy of 0.9034 in a multi-class scenario. Furthermore, the reported class activation maps evidence that our model is able to learn by itself the same patterns that clinicians consider relevant, without incurring prior annotation steps. This fact supposes a breakthrough in muscle-invasive bladder cancer grading which bridges the gap with respect to train the model on labelled data.

Glaucoma is one of the leading causes of blindness worldwide and Optical Coherence Tomography (OCT) is the quintessential imaging technique for its detection. Unlike most of the state-of-the-art studies focused on glaucoma detection, in this paper, we propose, for the first time, a novel framework for glaucoma grading using raw circumpapillary B-scans. In particular, we set out a new OCT-based hybrid network which combines hand-driven and deep learning algorithms. An OCT-specific descriptor is proposed to extract hand-crafted features related to the retinal nerve fibre layer (RNFL). In parallel, an innovative CNN is developed using skip-connections to include tailored residual and attention modules to refine the automatic features of the latent space. The proposed architecture is used as a backbone to conduct a novel few-shot learning based on static and dynamic prototypical networks. The k-shot paradigm is redefined giving rise to a supervised end-to-end system which provides substantial improvements discriminating between healthy, early and advanced glaucoma samples. The training and evaluation processes of the dynamic prototypical network are addressed from two fused databases acquired via Heidelberg Spectralis system. Validation and testing results reach a categorical accuracy of 0.9459 and 0.8788 for glaucoma grading, respectively. Besides, the high performance reported by the proposed model for glaucoma detection deserves a special mention. The findings from the class activation maps are directly in line with the clinicians' opinion since the heatmaps pointed out the RNFL as the most relevant structure for glaucoma diagnosis.

Prostate cancer is one of the most prevalent cancers worldwide. One of the key factors in reducing its mortality is based on early detection. The computer-aided diagnosis systems for this task are based on the glandular structural analysis in histology images. Hence, accurate gland detection and segmentation is crucial for a successful prediction. The methodological basis of this work is a prostate gland segmentation based on U-Net convolutional neural network architectures modified with residual and multi-resolution blocks, trained using data augmentation techniques. The residual configuration outperforms in the test subset the previous state-of-the-art approaches in an image-level comparison, reaching an average Dice Index of 0.77.

In tunnel construction projects, delays induce high costs. Thus, tunnel boring machines (TBM) operators aim for fast advance rates, without safety compromise, a difficult mission in uncertain ground environments. Finding the optimal control parameters based on the TBM sensors' measurements remains an open research question with large practical relevance. In this paper, we propose an intelligent decision support system developed in three steps. First past projects performances are evaluated with an optimality score, taking into account the advance rate and the working pressure safety. Then, a deep learning model learns the mapping between the TBM measurements and this optimality score. Last, in real application, the model provides incremental recommendations to improve the optimality, taking into account the current setting and measurements of the TBM. The proposed approach is evaluated on real micro-tunnelling project and demonstrates great promises for future projects., Comment: 17 pages, 5 figures, 3 tables

Taking into account that glaucoma is the leading cause of blindness worldwide, we propose in this paper three different learning methodologies for glaucoma detection in order to elucidate that traditional machine-learning techniques could outperform deep-learning algorithms, especially when the image data set is small. The experiments were performed on a private database composed of 194 glaucomatous and 198 normal B-scans diagnosed by expert ophthalmologists. As a novelty, we only considered raw circumpapillary OCT images to build the predictive models, without using other expensive tests such as visual field and intraocular pressure measures. The results ratify that the proposed hand-driven learning model, based on novel descriptors, outperforms the automatic learning. Additionally, the hybrid approach consisting of a combination of both strategies reports the best performance, with an area under the ROC curve of 0.85 and an accuracy of 0.82 during the prediction stage., Comment: 8 pages, 4 figures, 2 tables

Nowadays, glaucoma is the leading cause of blindness worldwide. We propose in this paper two different deep-learning-based approaches to address glaucoma detection just from raw circumpapillary OCT images. The first one is based on the development of convolutional neural networks (CNNs) trained from scratch. The second one lies in fine-tuning some of the most common state-of-the-art CNNs architectures. The experiments were performed on a private database composed of 93 glaucomatous and 156 normal B-scans around the optic nerve head of the retina, which were diagnosed by expert ophthalmologists. The validation results evidence that fine-tuned CNNs outperform the networks trained from scratch when small databases are addressed. Additionally, the VGG family of networks reports the most promising results, with an area under the ROC curve of 0.96 and an accuracy of 0.92, during the prediction of the independent test set.

The ability to detect anomalies in time series is considered highly valuable in numerous application domains. The sequential nature of time series objects is responsible for an additional feature complexity, ultimately requiring specialized approaches in order to solve the task. Essential characteristics of time series, situated outside the time domain, are often difficult to capture with state-of-the-art anomaly detection methods when no transformations have been applied to the time series. Inspired by the success of deep learning methods in computer vision, several studies have proposed transforming time series into image-like representations, used as inputs for deep learning models, and have led to very promising results in classification tasks. In this paper, we first review the signal to image encoding approaches found in the literature. Second, we propose modifications to some of their original formulations to make them more robust to the variability in large datasets. Third, we compare them on the basis of a common unsupervised task to demonstrate how the choice of the encoding can impact the results when used in the same deep learning architecture. We thus provide a comparison between six encoding algorithms with and without the proposed modifications. The selected encoding methods are Gramian Angular Field, Markov Transition Field, recurrence plot, grey scale encoding, spectrogram, and scalogram. We also compare the results achieved with the raw signal used as input for another deep learning model. We demonstrate that some encodings have a competitive advantage and might be worth considering within a deep learning framework. The comparison is performed on a dataset collected and released by Airbus SAS, containing highly complex vibration measurements from real helicopter flight tests. The different encodings provide competitive results for anomaly detection., Comment: 13 pages, 5 figures, 2 tables

This paper has a twofold contribution. The first is a data driven approach for predicting the Covid 19 pandemic dynamics, based on data from more advanced countries. The second is to report and discuss the results obtained with this approach for Brazilian states, as of May 4th, 2020. We start by presenting preliminary results obtained by training an LSTM SAE network, which are somewhat disappointing. Then, our main approach consists in an initial clustering of the world regions for which data is available and where the pandemic is at an advanced stage, based on a set of manually engineered features representing a country response to the early spread of the pandemic. A Modified Auto-Encoder network is then trained from these clusters and learns to predict future data for Brazilian states. These predictions are used to estimate important statistics about the disease, such as peaks. Finally, curve fitting is carried out on the predictions in order to find the distribution that best fits the outputs of the MAE, and to refine the estimates of the peaks of the pandemic. Results indicate that the pandemic is still growing in Brazil, with most states peaks of infection estimated between the 25th of April and the 19th of May 2020. Predicted numbers reach a total of 240 thousand infected Brazilians, distributed among the different states, with S\~ao Paulo leading with almost 65 thousands estimated, confirmed cases. The estimated end of the pandemics (with 97 percent of cases reaching an outcome) starts as of May 28th for some states and rests through August 14th, 2020., Comment: First version submitted to Chaos, Solitons and Fractals, 41 pages, complementary material at http://www.natalnet.br/covid

One common method for stabilizing robots after a push is the Instantaneous Capture Point, however, this has the fundamental limitation of assuming constant height. Although there are several works for balancing bipedal robots including height variations in 2D, the amount of literature on 3D models is limited. There are optimization methods using variable Center of Pressure (CoP) and reaction force to the ground, although they do not provide the physical region where a robot can step and require a precomputation for the analysis. This work provides the necessary and sufficient conditions to maintain balance of the 3D Variable Height Inverted Pendulum (VHIP) with both, fixed and variable CoP. We also prove that the 3D VHIP with Fixed CoP is the same as its 2D version, and we generalize controllers working on the 2D VHIP to the 3D VHIP. We also show the generalization of the Divergent Component of Motion to the 3D VHIP and we provide an alternative motion decomposition for the analysis of height and CoP strategies independently. This allow us to generalize previous global feedback controllers done in the 2D VHIP to the 3D VHIP with a Variable CoP., Comment: 13 pages, 12 figures, To be submitted - RA-L

In the present paper, we investigate the ground state energy of a massless scalar field and generation of topological mass by considering a quasi-periodically identified Minkowski spacetime and the `half-Einstein Universe', that is, an Einstein Universe where the massless scalar field propagates under Dirichlet boundary condition. The analysis is performed considering one and two-loop corrections to the effective potential in both cases. Our results are compared with previous results found in literature., Comment: 17 pages, 2 figures

Emerging wireless communication systems will be characterized by a tight coupling between communication and positioning. This is particularly apparent in millimeter-wave (mm-wave) communications, where devices use a large number of antennas and the propagation is well described by geometric channel models. For mm-wave communications, initial access, consisting in the beam selection and alignment of two devices, is challenging and time-consuming in the absence of location information. Conversely, accurate positioning relies on high-quality communication links with proper beam alignment. This paper studies this interaction and proposes a new position-aided beam selection protocol, which considers the problem of joint communication and positioning in scenarios with direct line-of-sight and scattering. Simulation results show significant reductions in latency with respect to a standard protocol., Comment: 10 pages, 5 figures, journal. Submitted to IEEE Transactions on Wireless Communications

Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. While their benefits for achieving high-data rate communications are well-known, their potential advantages for accurate positioning are largely undiscovered. We derive the Cram\'{e}r-Rao bound (CRB) on position and rotation angle estimation uncertainty from millimeter wave signals from a single transmitter, in the presence of scatterers. We also present a novel two-stage algorithm for position and rotation angle estimation that attains the CRB for average to high signal-to-noise ratio. The algorithm is based on multiple measurement vectors matching pursuit for coarse estimation, followed by a refinement stage based on the space-alternating generalized expectation maximization algorithm. We find that accurate position and rotation angle estimation is possible using signals from a single transmitter, in either line-of- sight, non-line-of-sight, or obstructed-line-of-sight conditions., Comment: The manuscript has been revised, and increased from 27 to 31 pages. Also, Fig.2, Fig. 10 and Table I are added