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An Efficient Medical Image Deep Fusion Model Based on Convolutional Neural Networks

computers, Materials & Continua 2023年第2期74卷 2905-2925页

作者： Walid El-Shafai Noha A.El-Hag Ahmed Sedik Ghada Elbanby Fathi E.Abd El-Samie Naglaa F.Soliman Hussah Nasser AlEisa Mohammed E.Abdel Samea Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Laboratory Department of Computer SciencePrince Sultan UniversityRiyadh11586Saudi Arabia Higher Institute of Commercial Science Management Information SystemsEl-Mahala El-KobraEgypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelsheikh UniversityKafr El-SheikhEgypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadhSaudi Arabia Medical Imaging and Interventional Radiology National Liver InstituteMenoufia UniversityEgypt

Medical image fusion is considered the best method for obtaining one image with rich details for efficient medical diagnosis and *** learning provides a high performance for several medical image analysis *** paper proposes a deep learning model for the medical image fusion *** model depends on Convolutional Neural Network(CNN).The basic idea of the proposed model is to extract features from both CT and MR ***,an additional process is executed on the extracted *** that,the fused feature map is reconstructed to obtain the resulting fused ***,the quality of the resulting fused image is enhanced by various enhancement techniques such as Histogram Matching(HM),Histogram Equalization(HE),fuzzy technique,fuzzy type,and Contrast Limited Histogram Equalization(CLAHE).The performance of the proposed fusion-based CNN model is measured by various metrics of the fusion and enhancement *** realistic datasets of different modalities and diseases are tested and ***,real datasets are tested in the simulation analysis.

关键词： Image fusion CNN deep learning feature extraction evaluation metrics medical diagnosis

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intelligent upper-limb exoskeleton integrated with soft bioelectronics and deep learning for intention-driven augmentation

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npj Flexible Electronics 2024年第1期8卷 856-868页

作者： Jinwoo Lee Kangkyu Kwon Ira Soltis Jared Matthews Yoon Jae Lee Hojoong Kim Lissette Romero Nathan Zavanelli Youngjin Kwon Shinjae Kwon Jimin Lee Yewon Na Sung Hoon Lee Ki Jun Yu Minoru Shinohara Frank L.Hammond Woon-Hong Yeo Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoul 04620Republic of Korea IEN Center for Wearable Intelligent Systems and Healthcare Institute for Electronics and NanotechnologyGeorgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Industrial Design Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Electronic Engineering Yonsei UniversitySeoul 03722Republic of Korea School of Biological Sciences Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Materials Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper ***,we introduce an intelligent upper-limb exoskeleton system that utilizes deep learning to predict human intention for strength *** embedded soft wearable sensors provide sensory feedback by collecting real-time muscle activities,which are simultaneously computed to determine the user’s intended *** deep learning predicts four upper-limb joint motions with an average accuracy of 96.2%at a 500–550 ms response rate,suggesting that the exoskeleton operates just by human *** addition,an array of soft pneumatics assists the intended movements by providing 897 newtons of force while generating a displacement of 87mm at *** intent-driven exoskeleton can reduce human muscle activities by 3.7 times on average compared to the unassisted exoskeleton.

关键词： skeleton learning utilize

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MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation

MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutiona...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Ji, Shanshan Meng, Qiwei Wang, Wen Lin, Zheyuan Li, Te Wan, Minhong Zhang, Chunlong Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach. © 2023 IEEE.

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CHAN: Cross-Modal Hybrid Attention Network for Temporal Language Grounding in Videos

CHAN: Cross-Modal Hybrid Attention Network for Temporal Lang...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Wen Wang Ling Zhong Guang Gao Minhong Wan Jason Gu Zhejiang Lab Research Center for Intelligent Robotics China Department of Electrical and Computer Engineering Dalhousie University Canada

The goal of temporal language grounding (TLG) task is to temporally localize the most semantically matched video segment with respect to a given sentence query in an untrimmed video. How to effectively incorporate the cross-modal interactions between video and language is the key to improve grounding performance. Previous approaches focus on learning correlations by computing the attention matrix between each frame-word pair, while ignoring the global semantics conditioned on one modality for better associating the complex video contents and sentence query of the target modality. In this paper, we propose a novel Cross-modal Hybrid Attention Network, which integrates two parallel attention fusion modules to exploit the semantics of each modality and interactions in cross modalities. One is Intra-Modal Attention Fusion, which utilizes gated self-attention to capture the frame-by-frame and word-by-word relations conditioned on the other modality. The other is Inter-Modal Attention Fusion, which utilizes query and key features derived from different modalities to calculate the co-attention weights and further promote inter-modal fusion. Experimental results show that our CHAN significantly outperforms several existing state-of-the-arts on three challenging datasets (ActivityNet Captions, Charades-STA and TACOS), demonstrating the effectiveness of our proposed method.

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Crashworthiness Design Optimization for an eVTOL Aircraft

Crashworthiness Design Optimization for an eVTOL Aircraft

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Ding, Menglong Xie, Anhuan Zhu, Shiqiang Song, Wei Cai, Jiandong Yan, Xufei Zhao, Pengyu Gu, Jason Zhang, Yanyan Zhejiang Lab Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H4R2 Canada

ISBN: (纸本)9781665481090

The emergence of electric Vertical Takeoff and Landing (eVTOL) aircraft makes cheap, quiet and reliable short-range flights possible. As a manned aircraft, eVTOL's occupant protection capability is critical and its crashworthiness must be improved via optimization of energy absorption design for structures. This study aims to evaluate the crashworthiness of composite components and the entire eVTOL structure within the design space via the building-block approach. A variety of designs for the skid landing gear, energy absorber, structures in the cockpit and the combination of them were estimated by using the numerical method. The results show a tremendous reduction in occupant injury risk with the optimization of the skid landing gear, energy absorber and the entire eVTOL structure. This work provides a preliminary optimization design and evaluation methodology of crashworthiness for an eVTOL. © 2022 IEEE.

关键词： Crashworthiness

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Aerodynamic Simulation of a Typical Multirotor e VTOL Aircraft Configuration

Aerodynamic Simulation of a Typical Multirotor e VTOL Aircra...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Ding, Menglong Zhang, Yanyan Zhu, Shiqiang Song, Wei Zhao, Pengyu Yan, Xufei Cai, Jiandong Gu, Jason Xie, Anhuan Research Institute of Interdisciplinary Innovation Zhejiang Lab Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H4R2 Canada

ISBN: (纸本)9781665481090

The aerodynamic interaction among rotors is a key phenomenon that influences the performance of the electric Vertical Takeoff and Landing (eVTOL) aircraft. This study applied Lattice-Boltzmann Method (LBM) to systematically investigate the aerodynamic interaction under typical flight conditions. Simulation of a single rotor was performed to validate the reliability of LBM on rotor aerodynamics and find the maximum acceptable grid size. A numerical study on the complex unsteady flowfield caused by the sixteen rotors was also performed when considering the eVTOL is in hovering, forward flight and hovering under sidewind. Moreover, the analysis of the flowfield provides a detailed insight into the flow physics involved in such regular flight conditions. © 2022 IEEE.

关键词： VTOL/STOL aircraft

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Modeling and Parameter Identification for Human-robot Coupled Systems in Powered Lower Limb Prostheses.

Modeling and Parameter Identification for Human-robot Couple...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Yongshan Huang Xin Wang Dingkun Liang Jiaming Xiong Anhuan Xie Jason Gu Research Center for Intelligent Robotics Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

Good trajectory tracking results are the basis for the implementation of other upper-level algorithms in powered lower limb prostheses, which rely on dynamics modeling and good parameter identification. However, powered lower limb prosthesis are human-robot coupled systems with human-inthe-loop, and it has been a challenge to model them as well as to perform parameter identification. This paper proposes a modeling method that can realize the decoupling of human-machine, and by constructing the linearized models of human-machine coupled system and prosthetic subsystem about the physical parameter sets respectively, and finally obtaining the relationship of their corresponding physical parameter sets, thus the method of indirectly identifying the parameters of human-machine coupled system through the prosthetic subsystem can be realized. The experimental results verify the feasibility and effectiveness of the method proposed in this paper. And the experimental results also shows that prosthetic controller should take advantage of dynamic of hip motion in order to make the wearer more comfortable and fluid when swinging the leg, and will also make the prosthesis more energy efficient.

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FEIF: Feature Excitation and Interactive Fusion for 6D Object Pose Estimation

FEIF: Feature Excitation and Interactive Fusion for 6D Objec...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Meng, Qiwei Zhu, Shiqiang Gu, Jianjun Lin, Zheyuan Zhong, Ling Song, Wei Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

In this paper, we present FEIF, a novel framework for 6D object pose estimation from a single RGBD image. Compared with previous approaches, this model fully leverages the complementary RGB and depth information through lay-erwise feature excitation and interactive fusion, thus improving the effectiveness and robustness of extracted features. The representative RGBD features can be subsequently applied for object keypoints prediction and pose computation. In addition, our FEIF includes a self-evaluation module to make robots aware of the confidence of pose estimation, so they are flexible to take the corresponding strategy for following tasks. Experiment results prove the SOTA performance of our model on LineMOD, Occlusion-LineMOD and YCB-Video datasets, and we also demonstrate its applicability and robustness in real-world robotic manipulation. © 2022 IEEE.

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Enhanced Robotic Vision System Based on Deep Learning and Image Fusion

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computers, Materials & Continua 2022年第10期73卷 1845-1861页

作者： E.A.Alabdulkreem Ahmed Sedik Abeer D.Algarni Ghada M.El Banby Fathi E.Abd El-Samie Naglaa F.Soliman Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelSheikh UniversityKafrelsheikh33511Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt

Image fusion has become one of the interesting fields that attract researchers to integrate information from different image *** is involved in several *** of the recent applications is the robotic *** application necessitates image enhancement of both infrared(IR)and visible *** paper presents a Robot Human Interaction System(RHIS)based on image fusion and deep *** basic objective of this system is to fuse visual and IR images for efficient feature extraction from the captured ***,an enhancement model is carried out on the fused image to increase its *** image enhancement models such as fuzzy logic,Convolutional Neural Network(CNN)and residual network(ResNet)pre-trained model are utilized on the fusion results and they are compared with each other and with the state-of-the-art *** results prove that the fuzzy logic enhancement gives the best results from the image quality ***,the proposed system can be considered as an efficient solution for the robotic vision problem with multi-modality images.

关键词： Deep learning fuzzy logic image fusion IR images

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Preliminary Design and Performance Analysis of A Solar-Powered Jumping-Gliding Martian Aircraft

Preliminary Design and Performance Analysis of A Solar-Power...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Lou, Bin Xie, Anhuan Zhu, Shiqiang Liu, Yaru Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

A solar-powered jumping-gliding Martian aircraft is proposed as a new tool for Mars exploration, designed especially to perform long-term wide-range detection. A completely new way of continues detection performed by aircraft is created. A preliminary design of the jumping-gliding Martian aircraft is carried out while its flight performance is analyzed afterwards. The conceptual design of a large-aspect ratio foldable wing with a thin fuselage and a jumping device is put forward. The solar energy model, aerodynamic model and weight mode are all built. The energy balance models are established for the periods of detecting mission that the aircraft lands on the ground for harvesting solar energy and flies in the sky. The gliding performance of this aircraft is particularly discussed here. © 2022 IEEE.

关键词： Aspect ratio

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