Background: Melanoma has become more widespread over the past 30 years and early detection is a major factor in reducing mortality rates associated with this type of skin cancer. Therefore, having access to an automatic, reliable system that is able to detect the presence of melanoma via a dermatoscopic image of lesions and/or skin pigmentation can be a very useful tool in the area of medical diagnosis. Methods: Among state-of-the-art methods used for automated or computer assisted medical diagnosis, attention should be drawn to Deep Learning based on Convolutional Neural Networks, wherewith segmentation, classification and detection systems for several diseases have been implemented. The method proposed in this paper involves an initial stage that automatically crops the region of interest within a dermatoscopic image using the Mask and Region-based Convolutional Neural Network technique, and a second stage based on a ResNet152 structure, which classifies lesions as either “benign” or “malignant”. Results: Training, validation and testing of the proposed model was carried out using the database associated to the challenge set out at the 2017 International Symposium on Biomedical Imaging. On the test data set, the proposed model achieves an increase in accuracy and balanced accuracy of 3.66% and 9.96%, respectively, with respect to the best accuracy and the best sensitivity/specificity ratio reported to date for melanoma detection in this challenge. Additionally, unlike previous models, the specificity and sensitivity achieve a high score (greater than 0.8) simultaneously, which indicates that the model is good for accurate discrimination between benign and malignant lesion, not biased towards any of those classes. Conclusions: The results achieved with the proposed model suggest a significant improvement over the results obtained in the state of the art as far as performance of skin lesion classifiers (malignant/benign) is concerned.

This paper deals with the problem of determining a useful energy budget for a mobile robot in a given environment without having to carry out experimental measures for every possible exploration task. The proposed solution uses machine learning models trained on a subset of possible exploration tasks but able to make predictions on untested scenarios. Additionally, the proposed model does not use any kinematic or dynamic models of the robot, which are not always available. The method is based on a neural network with hyperparameter optimization to improve performance. Tabu List optimization strategy is used to determine the hyperparameter values (number of layers and number of neurons per layer) that minimize the percentage relative absolute error (%RAE) while maximize the Pearson correlation coefficient (R) between predicted data and actual data measured under a number of experimental conditions. Once the optimized artificial neural network is trained, it can be used to predict the performance of an exploration algorithm on arbitrary variations of a grid map scenario. Based on such prediction, it is possible to know the energy needed for the robot to complete the exploration task. A total of 128 tests were carried out using a robot executing two exploration algorithms in a grid map with the objective of locating a target whose location is not known a priori by the robot. The experimental energy consumption was measured and compared with the prediction of our model. A success rate of 96.093% was obtained, measured as the percentage of tests where the energy budget suggested by the model was enough to actually carry out the task when compared to the actual energy consumed in the test, suggesting that the proposed model could be useful for energy budgeting in actual mobile robot applications.