This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using ...
This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author’s publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score).
One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surgical instrument of the robot as it penetrates the human eye. Safe surgery requires accurate control of this force. In a ...
One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surgical instrument of the robot as it penetrates the human eye. Safe surgery requires accurate control of this force. In a teleoperated eye surgical system, there is likely to be a time delay that can affect the system control. This paper focuses on designing a predefined-time Sliding Mode control (SMC) method to control a teleoperated robotic eye surgical system under an unknown time delay of the communication channel. The Lyapunov theory is used to prove the system stability. For the master and slave parts, manipulator robots are considered for designing and testing the controller. MATLAB software is used to simulate the controller. The simulation results show the robustness of the controller against the time delay of the communication channel.
This paper introduces a new notion of Differential flatness for mechanical control systems, that we call mechanical flatness, and we study its relations with the mechanical structure of systems and with several variat...
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This paper introduces a new notion of Differential flatness for mechanical control systems, that we call mechanical flatness, and we study its relations with the mechanical structure of systems and with several variations of the notion of flatness. For the simplest nontrivial case of 3 DOF and 2-inputs, we give a complete Classification result in terms of normal forms, examining the interplay between mechanical flatness, config-flatness, and static mechanical feedback linearization.
Gaussian processes (GP) are becoming more and more popular way to solve statistics and machine learning problems. One of the reasons is the increase in computational power that can handle the inherent computational pr...
Gaussian processes (GP) are becoming more and more popular way to solve statistics and machine learning problems. One of the reasons is the increase in computational power that can handle the inherent computational problem for GP models. Still, in the case of big data, the computational burden can be impractical. For this reason, various approximation methods are *** our work, we would like to present an alternative to the internal approximation by using the properties of Chebyshev polynomials. The idea is to calculate the GP model only at Chebyshev nodes and use the property of transforming function values in them to Chebyshev coefficients giving a solution to the original problem. In our research, we propose our version of the algorithm and test it on cases of various functions.
The importance of security in the modern, dynamically changing world seems to be understood across the globe. Different types of organizations, both from the public and the private sector, are creating strategies and ...
The importance of security in the modern, dynamically changing world seems to be understood across the globe. Different types of organizations, both from the public and the private sector, are creating strategies and investing large amounts of funds to implement Physical Protection Systems (PPS) in order to protect their assets. It appears relatively obvious that assessment of the effectiveness of PPS is important and required. Moreover, the result of the assessment should be reliable and cover as much as possible current threats, including those that are coming from cyberspace. In this paper, we propose a new approach to evaluating PPS. Our proposition as a starting point is using well-known EASI (Estimate of Adversary Sequence Interruption) methodology but reinforced with methods aiming to cover the cybersecurity of PPS considering all potential adversary paths.
Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly...
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The automation of a bascule bridge, located in the Netherlands, is studied. The modeling of the system is worked out in the framework of Ramadge-Wonham and analyzed per automation component of the bridge. The desired ...
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This article presents the methodological background and an overview of recent applications of artificial autonomous decision systems (AADS), endowed with intelligent coordination algorithms. The research results compr...
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Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly...
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In this paper we have addressed the implementation of the accumulation and projection of high-resolution event data stream (HD – 1280 × 720 pixels) onto the image plane in FPGA devices. The results confirm the f...
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