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Joseph Lee

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4 papers

2 author rows

YNIMG Journal 2019 Journal Article

Relationship of critical dynamics, functional connectivity, and states of consciousness in large-scale human brain networks

Heonsoo Lee
Daniel Golkowski
Denis Jordan
Sebastian Berger
Rüdiger Ilg
Joseph Lee
UnCheol Lee
Michael S. Avidan

Recent modeling and empirical studies support the hypothesis that large-scale brain networks function near a critical state. Similar functional connectivity patterns derived from resting state empirical data and brain network models at criticality provide further support. However, despite the strong implication of a relationship, there has been no principled explanation of how criticality shapes the characteristic functional connectivity in large-scale brain networks. Here, we hypothesized that the network science concept of partial phase locking is the underlying mechanism of optimal functional connectivity in the resting state. We further hypothesized that the characteristic connectivity of the critical state provides a theoretical boundary to quantify how far pharmacologically or pathologically perturbed brain connectivity deviates from its critical state, which could enable the differentiation of various states of consciousness with a theory-based metric. To test the hypothesis, we used a neuroanatomically informed brain network model with the resulting source signals projected to electroencephalogram (EEG)-like sensor signals with a forward model. Phase lag entropy (PLE), a measure of phase relation diversity, was estimated and the topography of PLE was analyzed. To measure the distance from criticality, the PLE topography at a critical state was compared with those of the EEG data from baseline consciousness, isoflurane anesthesia, ketamine anesthesia, vegetative state/unresponsive wakefulness syndrome, and minimally conscious state. We demonstrate that the partial phase locking at criticality shapes the functional connectivity and asymmetric anterior-posterior PLE topography, with low (high) PLE for high (low) degree nodes. The topographical similarity and the strength of PLE differentiates various pharmacologic and pathologic states of consciousness. Moreover, this model-based EEG network analysis provides a novel metric to quantify how far a pharmacologically or pathologically perturbed brain network is away from critical state, rather than merely determining whether it is in a critical or non-critical state.

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ICRA Conference 2019 Conference Paper

Tree Search Techniques for Minimizing Detectability and Maximizing Visibility

Zhongshun Zhang
Joseph Lee
Jonathon M. Smereka
Yoonchang Sung
Lifeng Zhou 0001
Pratap Tokekar

We introduce and study the problem of planning a trajectory for an agent to carry out a reconnaissance mission while avoiding being detected by an adversarial guard. This introduces a multi-objective version of classical visibility-based target search and pursuit-evasion problem. In our formulation, the agent receives a positive reward for increasing its visibility (by exploring new regions) and a negative penalty every time it is detected by the guard. The objective is to find a finite-horizon path for the agent that balances the trade off between maximizing visibility and minimizing detectability. We model this problem as a discrete, sequential, two-player, zero-sum game. We use two types of game tree search algorithms to solve this problem: minimax search tree and Monte-Carlo search tree. Both search trees can yield the optimal policy but may require possibly exponential computational time and space. We propose several pruning techniques to reduce the computational cost while still preserving optimality guarantees. Simulation results show that the proposed strategy prunes approximately three orders of magnitude nodes as compared to the brute-force strategy. We also find that the Monte-Carlo search tree saves approximately one order of computational time as compared to the minimax search tree.

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IROS Conference 2016 Conference Paper

Visual programming for mobile robot navigation using high-level landmarks

Joseph Lee
Yan Lu
Yiliang Xu
Dezhen Song

We propose a visual programming system that allows users to specify navigation tasks for mobile robots using high-level landmarks in a virtual reality (VR) environment constructed from the output of visual simultaneous localization and mapping (vSLAM). The VR environment provides a Google Street View-like interface for users to familiarize themselves with the robot's working environment, specify high-level landmarks, and determine task-level motion commands related to each landmark. Our system builds a roadmap by using the pose graph from the vSLAM outputs. Based on the roadmap, the high-level landmarks, and task-level motion commands, our system generates an output path for the robot to accomplish the navigation task. We present data structures, architecture, interface, and algorithms for our system and show that, given n s search-type motion commands, our system generates a path in O(n s (n r logn r +m r )) time, where n r and m r are the number of roadmap nodes and edges, respectively. We have implemented our system and tested it on real world data.

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IROS Conference 2014 Conference Paper

Planar building facade segmentation and mapping using appearance and geometric constraints

Joseph Lee
Yan Lu
Dezhen Song

Segmentation and mapping of planar building facades (PBFs) can increase a robot's ability of scene understanding and localization in urban environments which are often quasi-rectilinear and GPS-challenged. PBFs are basic components of the quasi-rectilinear environment. We propose a passive vision-based PBF segmentation and mapping algorithm by combining both appearance and geometric constraints. We propose a rectilinear index which allows us to segment out planar regions using appearance data. Then we combine geometric constraints such as reprojection errors, orientation constraints, and coplanarity constraints in an optimization process to improve the mapping of PBFs. We have implemented the algorithm and tested it in comparison with state-of-the-art. The results show that our method can reduce the angular error of scene structure by an average of 82. 82%.

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