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This article describes the design and construction journey of a self-developed unmanned surface vehicle (USV). In order to increase the accessibility and lower the barrier of entry we propose a low-cost (under EUR 1000) approach to the vessel construction with great adaptability and customizability. This design prioritizes minimal power consumption as a key objective. It focuses on elucidating the intricacies of both the design and assembly processes involved in creating an economical USV. Utilizing easily accessible components, the boat outlined in this study has been already participated in the 1st Aegean Ro-boat Race 2023 competition and is tailored for entry into similar robotic competitions. Its primary functionalities encompass autonomous sea navigation coupled with sophisticated collision avoidance capabilities. Finally, we studied reinforcement learning strategies for constructing a robust intelligent controller for the task of USV navigation under disturbances and we show some preliminary simulation results we have obtained.

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Functional magnetic resonance imaging (fMRI) has become one of the most important techniques for studying the human brain in action. A common problem in fMRI analysis is the detection of activated brain regions in response to an experimental task. In this work we propose a novel clustering approach for addressing this issue using an adaptive regression mixture model. The main contribution of our method is the employment of both spatial and sparse properties over the body of the mixture model. Thus, the clustering approach is converted into a maximum a posteriori estimation approach, where the expectation-maximization algorithm is applied for model training. Special care is also given to estimate the kernel scalar parameter per cluster of the design matrix by presenting a multi-kernel scheme. In addition an incremental training procedure is presented so as to make the approach independent on the initialization of the model parameters. The latter also allows us to introduce an efficient stopping criterion of the process for determining the optimum brain activation area. To assess the effectiveness of our method, we have conducted experiments with simulated and real fMRI data, where we have demonstrated its ability to produce improved performance and functional activation detection capabilities.

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In this study, we present an advanced Bayesian framework for the analysis of functional magnetic resonance imaging (fMRI) data that simultaneously employs both spatial and sparse properties. The basic building block of our method is the general linear regression model that constitutes a well-known probabilistic approach. By treating regression coefficients as random variables, we can apply an enhanced Gibbs distribution function that captures spatial constrains and at the same time allows sparse representation of fMRI time series. The proposed scheme is described as a maximum a posteriori approach, where the known expectation maximization algorithm is applied offering closed-form update equations for the model parameters. We have demonstrated that our method produces improved performance and functional activation detection capabilities in both simulated data and real applications.

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Recent advents in magnetic resonance spectroscopy (MRS) techniques permit subsequent microarray analysis over the entire human transcriptome in the same tissue biopsies. However, extracting information from such immense quantities of data is limited by difficulties in recognizing and evaluating the relevant patterns of apparent gene expression in the context of the existing knowledge of phenotypes by histopathology. Using a quantitative approach derived from a knowledge base of pathology findings, we present a novel methodology used to process genome-wide transcription and MRS data. This methodology was tested to examine metabolite and genome-wide profiles in MRS and RNA in 55 biopsies from human subjects with brain tumors with ~100% certainty. With the guidance of histopathology and clinical outcome, 15 genes with the assistance of 15 MRS metabolites were able to be distinguished by tumor categories and the prediction of survival was better than when either method was used alone. This new method, combining MRS, genomics, statistics and biological content, improves the typing and understanding of the complexity of human brain tumors, and assists in the search for novel tumor biomarkers. It is an important step for novel drug development, it generates testable hypotheses regarding neoplasia and promises to guide human brain tumor therapy provided improved in vivo methods for monitoring response to therapy are developed.

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Brain tumors are one of the leading causes of death in adults with cancer; however, molecular classification of these tumors with in vivo magnetic resonance spectroscopy (MRS) is limited because of the small number of metabolites detected. In vitro MRS provides highly informative biomarker profiles at higher fields, but also consumes the sample so that it is unavailable for subsequent analysis. In contrast, ex vivo high-resolution magic angle spinning (HRMAS) MRS conserves the sample but requires large samples and can pose technical challenges for producing accurate data, depending on the sample testing temperature. We developed a novel approach that combines a two-dimensional (2D), solid-state, HRMAS proton (1H) NMR method, TOBSY (total through-bond spectroscopy), which maximizes the advantages of HRMAS and a robust classification strategy. We used approximately 2 mg of tissue at -8 degrees C from each of 55 brain biopsies, and reliably detected 16 different biologically relevant molecular species. We compared two classification strategies, the support vector machine (SVM) classifier and a feed-forward neural network using the Levenberg-Marquardt back-propagation algorithm. We used the minimum redundancy/maximum relevance (MRMR) method as a powerful feature-selection scheme along with the SVM classifier. We suggest that molecular characterization of brain tumors based on highly informative 2D MRS should enable us to type and prognose even inoperable patients with high accuracy in vivo.

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Advancements in the diagnosis and prognosis of brain tumor patients, and thus in their survival and quality of life, can be achieved using biomarkers that facilitate improved tumor typing. We introduce and implement a combinatorial metabolic and molecular approach that applies state-of-the-art, high-resolution magic angle spinning (HRMAS) proton (1H) MRS and gene transcriptome profiling to intact brain tumor biopsies, to identify unique biomarker profiles of brain tumors. Our results show that samples as small as 2 mg can be successfully processed, the HRMAS 1H MRS procedure does not result in mRNA degradation, and minute mRNA amounts yield high-quality genomic data. The MRS and genomic analyses demonstrate that CNS tumors have altered levels of specific 1H MRS metabolites that directly correspond to altered expression of Kennedy pathway genes; and exhibit rapid phospholipid turnover, which coincides with upregulation of cell proliferation genes. The data also suggest Sonic Hedgehog pathway (SHH) dysregulation may play a role in anaplastic ganglioglioma pathogenesis. That a strong correlation is seen between the HRMAS 1H MRS and genomic data cross-validates and further demonstrates the biological relevance of the MRS results. Our combined metabolic/molecular MRS/genomic approach provides insights into the biology of anaplastic ganglioglioma and a new potential tumor typing methodology that could aid neurologists and neurosurgeons to improve the diagnosis, treatment, and ongoing evaluation of brain tumor patients.

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The purpose of the study was to evaluate brain myelination by measuring the magnetization transfer ratio (MTR) and to measure grey (GMV) and white matter volume (WMV) in macrocephalic children with neurofibromatosis type 1 (NF1). Seven NF1 patients (aged 0.65-16.67 years) and seven age- and gender-matched controls were studied. A three-dimensional (3D) gradient echo sequence with and without magnetization transfer (MT) prepulse was used for MTR assessment. Volume measurements of GM and WM were performed by applying segmentation techniques on T2-weighted turbo spin echo images (T2WI). MTR of unidentified bright objects (UBOs) on T2WI in cerebellar white matter (52.8+/-3.3), cerebral peduncles (48.5+/-1.5), hippocampus (52.6+/-1.1), internal capsule (55.7+/-0.3), globus pallidus (52.7+/-3.9), and periventricular white matter (52.6+/-1.2) was lower than in the corresponding areas of controls (64.6+/-2.5, 60.8+/-1.3, 56.4+/-0.9, 64.7+/-1.9, 59.2+/-2.3, 63.6+/-1.7, respectively; p<0.05). MTR of normal-appearing brain tissue in patients was not significantly different than in controls. Surface area (mm(2)) of the corpus callosum (809.1+/-62.8), GMV (cm(3)) (850.7+/-42.9), and white matter volume (WMV) (cm(3)) (785.1+/-85.2) were greater in patients than in controls (652.5+/-52.6 mm(2), 611.2+/-92.1 cm(3), 622.5+/-108.7 cm(3), respectively; p<0.05). To conclude, macrocephaly in NF1 patients is related to increased GMV and WMV and corpus callosum enlargement. MTR of UBOs is lower than that of normal brain tissue.

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We present a system for multi-class protein classification based on neural networks. The basic issue concerning the construction of neural network systems for protein classification is the sequence encoding scheme that must be used in order to feed the neural network. To deal with this problem we propose a method that maps a protein sequence into a numerical feature space using the matching scores of the sequence to groups of conserved patterns (called motifs) into protein families. We consider two alternative ways for identifying the motifs to be used for feature generation and provide a comparative evaluation of the two schemes. We also evaluate the impact of the incorporation of background features (2-grams) on the performance of the neural system. Experimental results on real datasets indicate that the proposed method is highly efficient and is superior to other well-known methods for protein classification.

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MOTIVATION: This paper studies the problem of discovering subsequences, known as motifs, that are common to a given collection of related biosequences, by proposing a greedy algorithm for learning a mixture of motifs model through likelihood maximization. The approach adds sequentially a new motif to a mixture model by performing a combined scheme of global and local search for appropriately initializing its parameters. In addition, a hierarchical partitioning scheme based on kd-trees is presented for partitioning the input dataset in order to speed-up the global searching procedure. The proposed method compares favorably over the well-known MEME approach and treats successfully several drawbacks of MEME. RESULTS: Experimental results indicate that the algorithm is advantageous in identifying larger groups of motifs characteristic of biological families with significant conservation. In addition, it offers better diagnostic capabilities by building more powerful statistical motif-models with improved classification accuracy.

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