Diabetes is a disease that occurs when the body presents an uncontrolled level of glucose that is capable of damaging the retina, leading to permanent damage of the eyes or vision loss. When diabetes affects the eyes, it is known as diabetic retinopathy, which became a global medical problem among elderly people. The fundus oculi technique involves observing the eyeball to diagnose or check the pathology evolution. In this work, we implement a convolutional neural network model to process a fundus oculi image to recognize the eyeball structure and determine the presence of diabetic retinopathy. The model’s parameters are optimized using the transfer-learning methodology for mapping an image with the corresponding label. The model training and testing are performed with a dataset of medical fundus oculi images and a pathology severity scale present in the eyeball as labels. The severity scale separates the images into five classes, from a healthy eyeball to a proliferative diabetic retinopathy presence. The latter is probably a blind patient. Our proposal presented an accuracy of 97.78%, allowing for the confident prediction of diabetic retinopathy in fundus oculi images.

Robots are extending their presence in domestic environments every day, it being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be able to acquire experience from different sources as quickly as possible. A plausible approach to address this issue is interactive feedback, where a trainer advises a learner on which actions should be taken from specific states to speed up the learning process. Moreover, deep reinforcement learning has been recently widely used in robotics to learn the environment and acquire new skills autonomously. However, an open issue when using deep reinforcement learning is the excessive time needed to learn a task from raw input images. In this work, we propose a deep reinforcement learning approach with interactive feedback to learn a domestic task in a Human–Robot scenario. We compare three different learning methods using a simulated robotic arm for the task of organizing different objects; the proposed methods are (i) deep reinforcement learning (DeepRL); (ii) interactive deep reinforcement learning using a previously trained artificial agent as an advisor (agent–IDeepRL); and (iii) interactive deep reinforcement learning using a human advisor (human–IDeepRL). We demonstrate that interactive approaches provide advantages for the learning process. The obtained results show that a learner agent, using either agent–IDeepRL or human–IDeepRL, completes the given task earlier and has fewer mistakes compared to the autonomous DeepRL approach.

Currently, unmanned aerial vehicles, such as drones, are becoming a part of our lives and extend to many areas of society, including the industrialized world. A common alternative for controlling the movements and actions of the drone is through unwired tactile interfaces, for which different remote control devices are used. However, control through such devices is not a natural, human-like communication interface, which sometimes is difficult to master for some users. In this research, we experimented with a domain-based speech recognition architecture to effectively control an unmanned aerial vehicle such as a drone. The drone control was performed in a more natural, human-like way to communicate the instructions. Moreover, we implemented an algorithm for command interpretation using both Spanish and English languages, as well as to control the movements of the drone in a simulated domestic environment. We conducted experiments involving participants giving voice commands to the drone in both languages in order to compare the effectiveness of each, considering the mother tongue of the participants in the experiment. Additionally, different levels of distortion were applied to the voice commands to test the proposed approach when it encountered noisy input signals. The results obtained showed that the unmanned aerial vehicle was capable of interpreting user voice instructions. Speech-to-action recognition improved for both languages with phoneme matching in comparison to only using the cloud-based algorithm without domain-based instructions. Using raw audio inputs, the cloud-based approach achieves 74.81% and 97.04% accuracy for English and Spanish instructions, respectively. However, with our phoneme matching approach the results are improved, yielding 93.33% accuracy for English and 100.00% accuracy for Spanish.

Research interest in autonomous control of unmanned aerial vehicles (UAVs) has increased rapidly over the past decade. They are now widely used in civilian, military, and private areas. Applications include surveillance, search and rescue, and delivery tasks. More broadly, they excel at solving problems where a significant amount of space must be covered and traveled. However, using UAVs to solve navigation problems with full autonomy necessitates the mastering of complex subtasks. A solution that includes control, planning, localization, and mapping remains an open challenge. Object-goal navigation contains the same navigation problems where the main objective is to reach a target object. The search and identification of this target are central to the vehicle’s navigation. This requires an understanding of what it is and where it can be located to move around the scene. This paper presents a systematic literature review on object-goal navigation and its subtasks, using autonomous UAVs. Survey taxonomies were found for the tasks and methods behind navigation and target localization problems using UAVs. The review analyzed 67 articles found between 2011 and 2022. They were found in the ACM, IEEE Xplore, WebOfScience, Science Direct, and Scopus databases. This review revealed essential issues related to autonomous navigation task dependencies. Moreover, it highlighted gaps in UAV development and framework standardization. Open challenges for autonomous UAV control for object-goal navigation must address the research on finding methods for problems. For example, autonomy level and comparison metrics, considering safety, ethics, and legal implications.

Research in intelligent systems field has led to different learning methods for machines to acquire knowledge, among them, reinforcement learning (RL). Given the problem of the time required to learn how to develop a problem, using RL this work tackles the interactive reinforcement learning (IRL) approach as a way of solution for the training of agents. Furthermore, this work also addresses the problem of continuous representations along with the interactive approach. In this regards, we have performed experiments with simulated environments using different representations in the state vector in order to show the efficiency of this approach under a certain probability of interaction. The obtained results in the simulated environments show a faster learning convergence when using continuous states and interactive feedback in comparison to discrete and autonomous reinforcement learning respectively.

Early alert fire and smoke detection systems are crucial for daily and security management decision-making. Recent literature approaches are based on Deep Learning (DL) models. Efficient models are required for hardware-constrained systems, such as mobile devices, embedded systems, and robotics achieving high performance at low power consumption. For this research, we designed a novel specific-purpose model for fire and smoke recognition using still images and the study of state-of-the-art convolution techniques to improve the trade-off between accuracy and complexity. In this regard, the literature suggests that the inverted residual block, the depthwise and octave convolution techniques, reduces the model’s size and computation requirements working well by themselves. In this work, we propose the KutralNext architecture, an efficient model for single- and multi-label fire and smoke recognition tasks. Additionally, a more efficient architecture KutralNext+, demonstrates that those convolution techniques achieve a better trade-off combined, reaching an 84.36% average test accuracy in FireNet, FiSmo, and FiSmoA fire datasets. The KutralSmoke and FiSmo fire and smoke datasets attained an 81.53% average test accuracy. Furthermore, a previous fire and smoke recognition model considered, FireDetection, KutralNext uses 59% fewer parameters, and KutralNext+ requires 97% fewer flops and is 4x faster.