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Multi-omics graph convolutional networks for digestive system tumour classification and early-late stage diagnosis

CAAI Transactions on Intelligence technology 2024年第6期9卷 1572-1586页

作者： Lin Zhou Zhengzhi Zhu Hongbo Gao Chunyu Wang Muhammad Attique Khan Mati Ullah Siffat Ullah Khan School of Information Science and Technology University of Science and Technology of ChinaHefeiAnhuiChina Anhui Engineering Research Center on Information Fusion and Control of Intelligent Robot WuhuAnhuiChina Department of Breast Center West District of The Affiliated Hospital of University of Science and Technology of ChinaDivision of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefeiAnhuiChina Institute of Advanced Technology University of Science and Technology of ChinaHefeiAnhuiChina School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore School of Biological and Environmental Engineering Chaohu UniversityChaohu Regional Collaborative Technology Service Center for Rural RevitalizationHefeiChina Department of Artificial Intelligence College of Computer Engineering and SciencePrince Mohammad Bin Fahd UniversityAl-KhobarSaudi Arabia School of Automation Northwestern Polytechnical UniversityXi'anShaanxiChina Institute of Engineering and Computing Science University of Science and Technology of BannuKPKBannuPakistan

The prevalence of digestive system tumours(DST)poses a significant challenge in the global crusade against *** neoplasms constitute 20%of all documented cancer diagnoses and contribute to 22.5%of cancer-related *** accurate diagnosis of DST is paramount for vigilant patient monitoring and the judicious selection of optimal *** this challenge,the authors introduce a novel methodology,denominated as the Multi-omics Graph Transformer Convolutional Network(MGTCN).This innovative approach aims to discern various DST tumour types and proficiently discern between early-late stage tumours,ensuring a high degree of *** MGTCN model incorporates the Graph Transformer Layer framework to meticulously transform the multi-omics adjacency matrix,thereby illuminating potential associations among diverse samples.A rigorous experimental evaluation was undertaken on the DST dataset from The Cancer Genome Atlas to scrutinise the efficacy of the MGTCN *** outcomes unequivocally underscore the efficiency and precision of MGTCN in diagnosing diverse DST tumour types and successfully discriminating between early-late stage DST *** source code for this groundbreaking study is readily accessible for download at https://***/bigone1/MGTCN.

关键词： digestive system tumors early-late stage multi-omics tumor types

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Design and Property Analysis of an Ultra-Low Range Pirani Vacuum Gauge for Rocket-sounding

Design and Property Analysis of an Ultra-Low Range Pirani Va...

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2024 Applied Optics and Photonics China: Laser technology and Applications, AOPC 2024

作者： Zheng, Dezhi Han, Lijing Chun, Hu Wang, Yikai Peng, Peng Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of Technology Beijing100081 China State Key Laboratory of CNS/ATM Beijing Institute of Technology Beijing100081 China MIIT Key Laboratory of Complex-field Intelligent Exploration Beijing Institute of Technology Beijing100081 China Institute of Information and Electronics Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314000 China Chongqing Caeri Robot Technology Co. Ltd Certification Department Chongqing400722 China

ISBN: (数字)9781510687745

ISBN: (纸本)9781510687738

Near-space atmospheric models play a crucial role in the advancement of hypersonic weapons. Current atmospheric models calculate air pressure using altitude back-calculation, but this method often falls short of providing the accuracy required for enhancing aircraft performance. This paper introduces an ultra-low pressure sensor based on Pirani's principle for in-situ sounding rockets. The sensor is constructed on a silicon substrate and employs gold wires as the sensing element, featuring an initial resistance of 1100 Ω. It uses a photosensitive polyimide (PSPI) as the micro-hot plate material, which has an area of 1 mm x 1 mm. To meet the environmental requirements under high overload conditions, an aluminum film is integrated into the structure to improve its resistance to such overloads. Additionally, this paper conducts an analysis of the thermal conductivity model to enhance the structural integrity and performance of the Pirani vacuum sensor. Finally, This paper presents a comprehensive model correlating physical dimensions with detection performance and performs an analysis of thermal stress utilizing simulation software. Additionally, it includes an examination of electromagnetic coupling and thermal field effects on the designed Pirani vacuum sensor. During the rocket launch for deploying a probe sensor for sounding, the sensor experiences a longitudinal overload of 200g. Finite element analysis indicates that the stress exerted on the sensor is 3.2 MPa, significantly lower than the PSPI/Al composite film's Young's modulus. The simulation results indicate that the sensor measurement range can reach 0.037-3634Pa. When the measuring range is 0.1 to 100 Pa, the sensitivity reaches 136.7/log(P). And for a measuring range of 100 to 1000 Pa, the sensitivity is 24.9/log(P). The sensor’s sensitivity, range, and stress characteristics are adequate to meet the requirements for rocket sounding. This sensor offers a valuable approach for full-altitude in-situ detectio

关键词： Sounding rockets

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Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion

arXiv

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arXiv 2023年

作者： Shin, Young-Ha Song, Tae-Gyu Ji, Gwanghyeon Park, Hae-Won Humanoid Robot Research Center Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Yuseonggu Daejeon34141 Korea Republic of

This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in the training process to reduce state transitions that are infeasible in the real world due to motor torque-speed limitations. The gait reward is designed to distribute motor torque evenly across all legs, contributing to more balanced power usage and mitigating performance bottlenecks due to single-motor saturation. Additionally, we designed a lightweight foot to enhance the robot’s agility. We observed that applying the motor operating region as a constraint helps the policy network avoid infeasible areas during sampling. With the trained policy, KAIST Hound, a 45 kg quadruped robot, can run up to 6.5 m/s, which is the fastest speed among electric motor-based quadruped robots. Copyright © 2023, The Authors. All rights reserved.

关键词： Actuators

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FLASH: Low-Latency Serverless Model Inference with Multi-Core Parallelism in Edge

FLASH: Low-Latency Serverless Model Inference with Multi-Cor...

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International Conference on Parallel and Distributed Systems (ICPADS)

作者： Yanbo Li Yanying Lin Shijie Peng Yingfei Tang Tian Xiang Wei Song Kejiang Ye Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Southern University of Science and Technology University of Chinese Academy of Sciences Zhejiang Laboratory Intelligent Robot Research Center

Low response latency holds a pivotal role in the landscape of edge deep learning model inference, yet the constrained resources within edge computing environments often limit its full potential. Within the scope of this paper, we substantiate that even amid the resource limitations inherent to edge computing environments, it remains feasible to curtail model response latency by elevating multi-core parallel efficiency. Our research encompasses a comprehensive analysis of the parallel acceleration effects observed across models featuring diverse parameter magnitudes during the inference process. This analysis culminates in the development of FLASH, an online deep model inference system tailored for Serverless edge inference, strategically optimized through the utilization of multi-core parallelism. FLASH exhibits dynamic adaptability by modulating the number of CPU cores within computational instances in accordance with traffic request loads. It also employs a dynamic scaling mechanism to finely adjust model placement, ultimately facilitating inference acceleration and mitigating the concomitant cold start overhead. Empirical experimentation conducted across a spectrum of burst-level workloads serves to underscore FLASH’s capacity, resulting in an average reduction in response latency by 33% and a maximum reduction of 75%, while concurrently realizing a throughput enhancement of 2.94x.

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research on Denoising Method Based on Iterative SVD Decomposition

Research on Denoising Method Based on Iterative SVD Decompos...

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2023 China Automation Congress, CAC 2023

作者： Chu, Dongting Liu, Bingyou Wan, Guoyang Qi, Jingjing Wan, Luanfei College of Electrical Engineering Anhui Polytechnic University Wuhu China Ministry of Education Anhui Polytechnic University The Key Lab. of Advanced Perception and Intelligent Control of High-end Equipment Wuhu China Wuhu Hit Robot Industrial Technology Research Institute Co. Ltd Wuhu China College of Electrical Engineering Wuhu Institute of Technology Wuhu China

ISBN: (纸本)9798350303759

In response to the poor denoising ability of Singular Value Decomposition (SVD), and the extracted motion waveform containing some residual noise signals, this paper proposes an iterative SVD decomposition denoising method. Firstly, the original signal is constructed into a binary recursive matrix form, and then SVD decomposition is used to obtain singular values with different contributions to the original matrix. Then, singular values with small contributions are discarded, while those with large contributions are retained. By modifying the signal reconstruction method, the denoised signal can be obtained once, and the required signal can be obtained by repeating the above process continuously. In simulation experiments and tuning fork vibration experiments, this article uses the iterative SVD decomposition denoising method and two existing denoising methods to denoise signals containing noise and uses signal-to-noise ratio (SNR) and root mean square error method (RMSE) as denoising performance indicators for data comparison, confirming the effectiveness and superiority of iterative SVD decomposition denoising method and its excellent denoising ability. In the tuning fork vibration experiment, the error between the measured results and the actual results is 0.3125%, proving that this denoising method has practical application value. © 2023 IEEE.

关键词： Singular value decomposition

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Respiratory Rate Measurement Method Based on Singular Value Decomposition

Respiratory Rate Measurement Method Based on Singular Value ...

引用

2023 China Automation Congress, CAC 2023

作者： Chu, Dongting Liu, Bingyou Wan, Guoyang Qi, Jingjing Wan, Luanfei College of Electrical Engineering Anhui Polytechnic University Wuhu China Anhui Polytechnic University The Key Lab. of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu China Wuhu Hit Robot Industrial Technology Research Institute Co. Ltd Wuhu China College of Electrical Engineering Wuhu Institute of Technology Wuhu China

ISBN: (纸本)9798350303759

In order to enhance the measurement accuracy of respiratory rate, a respiratory rate measurement method based on high-speed vision is presented in this paper. Initially, a high-speed camera is utilized to capture the experimenter's chest breathing movement video sequence, and singular value decomposition (SVD) is applied to extract the displacement resulting from respiratory movement. However, the extracted motion waveform contains some noise signals due to the poor denoising capabilities of SVD. To address this issue, an improved wavelet denoising approach is proposed in this paper to enhance the accuracy of respiratory measurement frequency. Finally, the respiratory frequency measurement method based on high-speed vision is simulated and experimented, and the respiratory rate is calculated through spectral analysis. The experiments indicate that the proposed method can accurately extract the respiratory displacement signal and effectively denoise it, making it convenient for practical use. © 2023 IEEE.

关键词： High speed cameras

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Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control

arXiv

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arXiv 2022年

作者： Amatucci, Lorenzo Kim, Joon-Ha Hwangbo, Jemin Park, Hae-Won The Humanoid Robot Research Center Korea Advanced Institute of Science and Technology Daejeon34141 Korea Republic of

In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-making process. The redefined contact sequence problem is solved by utilizing a Monte Carlo Tree Search (MCTS) algorithm that exploits optimization-based simulations to evaluate the best search direction. The proposed scheme has proven to have a good trade-off between exploration and exploitation of the search space compared to the state-of-the-art Mixed-Integer Quadratic Programming (MIQP). The model predictive control (MPC) utilizes the gait generated by the MCTS to optimize the ground reaction forces and future footholds position. The simulation results, performed on a quadruped robot, showed that the proposed framework could generate known periodic gait and adapt the contact sequence to the encountered conditions, including external forces and terrain with unknown and variable properties. When tested on robots with different layouts, the system has also shown its reliability. Copyright © 2022, The Authors. All rights reserved.

关键词： Model predictive control

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Two-Stage Hand-Eye Calibration based on Variance Minimization Principle

引用

IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Ding, Tao Tian, Dazhuang Wu, Hao Zhu, Dahu Li, Wenlog Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components School of Automotive Engineering Wuhan430070 China Wuhan University of Technology Hubei Digital Manufacturing Key Laboratory School of Mechanical and Electronic Engineering Wuhan430070 China Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components Hubei Provincial Engineering Research Center of Robot and Intelligent Manufacturing Wuhan430070 China Huazhong University of Science and Technology State Key Laboratory of Intelligent Manufacturing Equipment and Technology Wuhan430074 China

Hand-eye calibration in industrial scenarios greatly determines the efficiency and effectiveness of 3D vision-guided robotic tasks. Most of the existing hand-eye calibration methods, however, rely on collecting large-scale point cloud samples to guarantee high measurement accuracy, which is time-consuming and particularly influenced by measurement defects such as local missing, noise, and uneven density. To overcome this challenging problem, we present a novel two-stage hand-eye calibration method based on the variance minimization principle. In the first stage, a robust function weighted variance minimization (RFWVM) registration algorithm is proposed for fine registration of defective point clouds, aiming at solving the coarse hand-eye calibration matrix with few-shot point clouds. In the second stage, an objective function of the calibration error correction algorithm is established via the point-to-plane distance variance minimization, which is intended to suppress the influence of measurement defects. Through these two stages, the globally optimal hand-eye matrix is solved by iteratively correcting the coarse hand-eye calibration matrix. A series of experiments validate the universality, accuracy, and robustness of the proposed method. © 1963-2012 IEEE.

关键词： Error correction

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Digital Twin based Test- and Verify Framework of Human-robot Collaboration Solutions

Digital Twin based Test- and Verify Framework of Human-Robot...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Chengxiao He Liuqun Fan Yang Xiao Ziqi Han Zicheng Luo Chang Ge Lv Muyang School of Mechanical Engineering at Tongji University No. 1239 Siping Road Shanghai China School of Mechanical Engineering at Tongji University Tongji University Robot Test Engineer at Shanghai Robot Industrial Technology Research Institute School of Mechanical Engineering at Tongji University and at Global Advanced Manufacturing Institute

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

While human-robot collaboration is emerging as a new paradigm for solving problems in the industrial domain, the lack of suitable testing methods has led to insufficient design feedback and unconvincing safety certifications during deployment, which impede its long-term development. These include insufficient design feedback and unconvincing safety certifications during deployment. Adhering to a human-centric principle, this work analyzes deficiencies in existing standards and testing methodologies for human-robot collaboration testing. By integrating digital twin and AI technologies, a simulation-based testing framework is proposed for human-robot collaboration. AI-generated human factors are introduced in the simulation environment to emulate capabilities of the human-robot collaboration solutions under evaluation across diverse scenarios. This explores corner cases while mitigating equipment and personnel risks inherent in physical testing workflows. Through the exploration of corner cases, this research has discovered that developing human-robot collaboration solutions requires greater attention to human factors, rather than primarily considering electromechanical devices, to ensure operator safety during real-world deployment of human-robot collaboration schemes.

关键词： Collaboration Human factors Generators Safety Digital twins Artificial intelligence Certification

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A camera calibration method suitable for complex illumination conditions

A camera calibration method suitable for complex illuminatio...

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2022 Chinese Automation Congress, CAC 2022

作者： Chen, Haifeng Fan, Xuan Yang, Pan Liu, Bingyou Anhui Polytechnic University The Key Lab. of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu China Research Institute of Harbin Institute of Technology The Wuhu Robot Industry Technology Wuhu China The Dahl Intelligent Control Co. Ltd. Wuhu China

ISBN: (纸本)9781665465335

Images in weak or strong light usually have problems of uneven illumination and low contrast. Obtaining high-quality images is an important guarantee for good camera calibration results. In order to solve the problem of low camera calibration accuracy under complex lighting conditions, an image enhancement method based on Retinex under complex lighting conditions is proposed, and camera calibration is studied. Firstly, the color enhancement and color constancy of the image are realized based on the MSR algorithm. Then, the calibration plate image is processed by Gaussian homomorphic filtering to improve the image contrast and other indicators, and the final calibration plate image is obtained through image segmentation and bilateral filtering combined with Otsu algorithm. Finally, based on Zhang Zhengyou's calibration method, comparative experiments are carried out under weak illumination, uneven illumination and strong illumination conditions. The experimental results show that the algorithm enhances the details of the calibration plate image under complex lighting conditions and improves the accuracy of camera calibration under complex lighting conditions. © 2022 IEEE.

关键词： Calibration

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