The development of the narrow-band imaging (NBI) has been increasing the interest of medical specialists in the study of laryngeal microvascular network to establish diagnosis without biopsy and pathological examination. A possible solution to this challenging problem is presented in this paper, which proposes an automatic method based on anisotropic filtering and matched filter to extract the lesion area and segment blood vessels. Lesion classification is then performed based on a statistical analysis of the blood vessels' characteristics, such as thickness, tortuosity, and density. Here, the presented algorithm is applied to 50 NBI endoscopic images of laryngeal diseases and the segmentation and classification accuracies are investigated. The experimental results show the proposed algorithm provides reliable results, reaching an overall classification accuracy rating of 84.3%. This is a highly motivating preliminary result that proves the feasibility of the new method and supports the investment in further research and development to translate this study into clinical practice. Furthermore, to our best knowledge, this is the first time image processing is used to automatically classify laryngeal tumors in endoscopic videos based on tumor vascularization characteristics. Therefore, the introduced system represents an innovation in biomedical and health informatics.

For robotic arms to operate in arbitrary environments, especially near people, it is critical to certify the safety of their motion planning algorithms. However, there is often a trade-o↵ between safety and real-time performance; one can either carefully design safe plans, or rapidly generate potentiallyunsafe plans. This work presents a receding-horizon, real-time trajectory planner with safety guarantees, called ARMTD (Autonomous Reachability-based Manipulator Trajectory Design). The method first computes (o✏ine) a reachable set of parameterized trajectories for each joint of an arm. Each trajectory includes a fail-safe maneuver (braking to a stop). At runtime, in each receding-horizon planning iteration, ARMTD constructs a parameterized reachable set of the full arm in workspace and intersects it with obstacles to generate sub-di↵erentiable, provablyconservative collision-avoidance constraints on the trajectory parameters. ARMTD then performs trajectory optimization over the parameters, subject to these constraints. On a 6 degree-of-freedom arm, ARMTD outperforms CHOMP in simulation, never crashes, and completes a variety of real-time planning tasks on hardware.

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We provide an output feedback eventtriggered controller for discrete-time linear systems. We make novel use of positive systems, interval observers, an event-triggered state estimator, and triggering times that are computed from estimator values. This provides a discrete-time analog of our recent positive systems approach for continuous-time systems. A key novel ingredient in our discrete-time event triggers is their use of vectors of absolute values, instead of the usual Euclidean norm. We illustrate the benefits of our method using a model for event-triggered BlueROV2 underwater vehicles.