arXiv subjects

Kevin George

Publications and source records attributed to Kevin George.

6 recordsLinked to original sources

arXiv2025

Real-time Remote Tracking and Autonomous Planning for Whale Rendezvous using Robots

We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to guide navigation decisions. Key challenges include (i) real-time acoustic tracking in the presence of multiple whales, (ii) distributed communication and decision-making for robot deployments, and (iii) on-board signal processing and long-range detection from fish-trackers. We evaluate our system by conducting rendezvous with sperm whales at sea in Dominica, performing hardware experiments on land, and running simulations using whale trajectories interpolated from marine biologists' surface observations.

cs.RO↗

arXiv2025

BioDisco: Multi-agent hypothesis generation with dual-mode evidence, iterative feedback and temporal evaluation

Identifying novel hypotheses is essential to scientific research, yet this process risks being overwhelmed by the sheer volume and complexity of available information. Existing automated methods often struggle to generate novel and evidence-grounded hypotheses, lack robust iterative refinement and rarely undergo rigorous temporal evaluation for future discovery potential. To address this, we propose BioDisco, a multi-agent framework that draws upon language model-based reasoning and a dual-mode evidence system (biomedical knowledge graphs and automated literature retrieval) for grounded novelty, integrates an internal scoring and feedback loop for iterative refinement, and validates performance through pioneering temporal and human evaluations and a Bradley-Terry paired comparison model to provide statistically-grounded assessment. Our evaluations demonstrate superior novelty and significance over ablated configurations and generalist biomedical agents. Designed for flexibility and modularity, BioDisco allows seamless integration of custom language models or knowledge graphs, and can be run with just a few lines of code.

cs.AI↗

arXiv2017

Pathological Pulmonary Lobe Segmentation from CT Images using Progressive Holistically Nested Neural Networks and Random Walker

Automatic pathological pulmonary lobe segmentation(PPLS) enables regional analyses of lung disease, a clinically important capability. Due to often incomplete lobe boundaries, PPLS is difficult even for experts, and most prior art requires inference from contextual information. To address this, we propose a novel PPLS method that couples deep learning with the random walker (RW) algorithm. We first employ the recent progressive holistically-nested network (P-HNN) model to identify potential lobar boundaries, then generate final segmentations using a RW that is seeded and weighted by the P-HNN output. We are the first to apply deep learning to PPLS. The advantages are independence from prior airway/vessel segmentations, increased robustness in diseased lungs, and methodological simplicity that does not sacrifice accuracy. Our method posts a high mean Jaccard score of 0.888$\pm$0.164 on a held-out set of 154 CT scans from lung-disease patients, while also significantly (p < 0.001) outperforming a state-of-the-art method.

cs.CV↗

arXiv2017

Progressive and Multi-Path Holistically Nested Neural Networks for Pathological Lung Segmentation from CT Images

Pathological lung segmentation (PLS) is an important, yet challenging, medical image application due to the wide variability of pathological lung appearance and shape. Because PLS is often a pre-requisite for other imaging analytics, methodological simplicity and generality are key factors in usability. Along those lines, we present a bottom-up deep-learning based approach that is expressive enough to handle variations in appearance, while remaining unaffected by any variations in shape. We incorporate the deeply supervised learning framework, but enhance it with a simple, yet effective, progressive multi-path scheme, which more reliably merges outputs from different network stages. The result is a deep model able to produce finer detailed masks, which we call progressive holistically-nested networks (P-HNNs). Using extensive cross-validation, our method is tested on multi-institutional datasets comprising 929 CT scans (848 publicly available), of pathological lungs, reporting mean dice scores of 0.985 and demonstrating significant qualitative and quantitative improvements over state-of-the art approaches.

cs.CV↗

arXiv2010

Numerical simulation of transom-stern waves

The flow field generated by a transom-stern hullform is a complex, broad-banded, three-dimensional phenomenon marked by a large breaking wave. This unsteady multiphase turbulent flow feature is difficult to study experimentally and simulate numerically. The results of a set of numerical simulations, which use the Numerical Flow Analysis (NFA) code, of the flow around the Model 5673 transom stern at speeds covering both wet- and dry-transom operating conditions are shown in the accompanying fluid dynamics video. The numerical predictions for wet-transom and dry-transom conditions are presented to demonstrate the current state of the art in the simulation of ship generated breaking waves. The interested reader is referred to Drazen et al. (2010) for a detailed and comprehensive comparison with experiments conducted at the Naval Surface Warfare Center Carderock Division (NSWCCD).

physics.flu-dyn↗

arXiv2009

A Numerical Simulation of a Plunging Breaking Wave

This article describes the fluid dynamics video, "A Numerical Simulation of a Plunging Breaking Wave", which was submitted to the gallery of fluid motion at the 2009 APS/DFD conference. The simulation was of a deep-water plunging breaking wave. It was a two-phase calculation which used a Volume of Fluid (VOF) method to simulate the interface between the two immiscible fluids. Surface tension and viscous effects were not considered. The initial wave was generated by applying a spatio-temporal pressure forcing on the free surface. The video shows the 50% isocontour of the volume fraction from several different perspectives. Significant air entrainment is observed as well as the presence of stream-wise vortex structures.

physics.flu-dyn↗