Background The development of standardised methods for ultrasound (US) scanning and evaluation of synovitis activity by the OMERACT-EULAR Synovitis Scoring (OESS) system is a major step forward in the use of US in the diagnosis and monitoring of patients with inflammatory arthritis. The variation in interpretation of disease activity on US images can affect diagnosis, treatment and outcomes in clinical trials. We, therefore, set out to investigate if we could utilise neural network architecture for the interpretation of disease activity on Doppler US images, using the OESS scoring system. Methods Two state-of-the-art neural networks were used to extract information from 1342 Doppler US images from patients with rheumatoid arthritis (RA). One neural network divided images as either healthy (Doppler OESS score 0 or 1) or diseased (Doppler OESS score 2 or 3). The other to score images across all four of the OESS systems Doppler US scores (0–3). The neural networks were hereafter tested on a new set of RA Doppler US images (n=176). Agreement between rheumatologist’s scores and network scores was measured with the kappa statistic. Results For the neural network assessing healthy/diseased score, the highest accuracies compared with an expert rheumatologist were 86.4% and 86.9% with a sensitivity of 0.864 and 0.875 and specificity of 0.864 and 0.864, respectively. The other neural network developed to four class Doppler OESS scoring achieved an average per class accuracy of 75.0% and a quadratically weighted kappa score of 0.84. Conclusion This study is the first to show that neural network technology can be used in the scoring of disease activity on Doppler US images according to the OESS system.

Programming by Demonstration (PbD) is an efficient way for non-experts to teach new skills to a robot. PbD can be carried out in different ways, for instance, by kinesthetic guidance, teleoperation or by using external controls. In this paper, we compare these three ways of controlling a robot in terms of efficiency, effectiveness (success and error rate) and usability. In an industrial assembly scenario, 51 participants carried out peg-in-hole tasks using one of the three control modalities. The results show that kinesthetic guidance produces the best results. In order to test whether the problems during teleoperation are due to the fact that users cannot, like in kinesthetic guidance, switch between control points using traditional teleoperation devices, we designed a new device that allows users to switch between controls for large and small movements. A user study with 15 participants shows that the novel teleoperation device yields almost as good results as kinesthetic guidance.

We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called “semantic event chains.” We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.