This paper addresses a new method for combination of supervised learning and Reinforcement Learning (RL). Applying supervised learning in robot navigation encounters serious challenges such as inconsistent and noisy data, difficulty for gathering training data, and high error in training data. RL capabilities such as training only by one evaluation scalar signal, and high degree of exploration have encouraged researchers to use RL in robot navigation problem. However, RL algorithms are time consuming as well as suffer from high failure rate in the training phase. Here, we propose Supervised Fuzzy Sarsa Learning (SFSL) as a novel idea for utilizing advantages of both supervised and reinforcement learning algorithms. A zero order Takagi-Sugeno fuzzy controller with some candidate actions for each rule is considered as the main module of robot"s controller. The aim of training is to find the best action for each fuzzy rule. In the first step, a human supervisor drives an Epuck robot within the environment and the training data are gathered. In the second step as a hard tuning, the training data are used for initializing the value (worth) of each candidate action in the fuzzy rules. Afterwards, the fuzzy Sarsa learning module, as a critic-only based fuzzy reinforcement learner, fine tunes the parameters of conclusion parts of the fuzzy controller online. The proposed algorithm is used for driving E-puck robot in the environment with obstacles. The experiment results show that the proposed approach decreases the learning time and the number of failures; also it improves the quality of the robot"s motion in the testing environments.

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Segmentation and three-dimensional (3D) visualization of teeth in dental computerized tomography (CT) images are of dentists’ requirements for both abnormalities diagnosis and the treatments such as dental implant and orthodontic planning. On the other hand, dental CT image segmentation is a difficult process because of the specific characteristics of the tooth's structure. This paper presents a method for automatic segmentation of dental CT images. We present a multi-step method, which starts with a preprocessing phase to reduce the metal artifact using the least square support vector machine. Integral intensity profile is then applied to detect each tooth's region candidates. Finally, the mean shift algorithm is used to partition the region of each tooth, and all these segmented slices are then applied for 3D visualization of teeth. Examining the performance of our proposed approach, a set of reliable assessment metrics is utilized. We applied the segmentation method on 14 cone-beam CT datasets. Functionality analysis of the proposed method demonstrated precise segmentation results on different sample slices. Accuracy analysis of the proposed method indicates that we can increase the sensitivity, specificity, precision, and accuracy of the segmentation results by 83.24%, 98.35%, 72.77%, and 97.62% and decrease the error rate by 2.34%. The experimental results show that the proposed approach performs well on different types of CT images and has better performance than all existing approaches. Moreover, segmentation results can be more accurate by using the proposed algorithm of metal artifact reduction in the preprocessing phase.

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