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Event-enhanced synthetic aperture imaging

Science China(Information Sciences) 2025年第3期68卷 388-390页

作者： Siqi LI Shaoyi DU Jun-Hai YONG Yue GAO Beijing National Research Center for Information Science and Technology School of SoftwareTsinghua University Institute for Brain and Cognitive Sciences Beijing Laboratory of Brain and Cognitive IntelligenceTsinghua University National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and ApplicationsInstitute of Artificial Intelligence and Robotics Xi'an Jiaotong University

Synthetic aperture imaging(SAI) methods aim to see through dense occlusions and reconstruct the target scene behind occlusions. Traditional frame-based SAI methods,e.g., DeOccNet [1], take the occluded light field ima...

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RGB-Based Category-Level Object Pose Estimation via Depth Recovery and Adaptive Refinement

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IEEE robotics and Automation Letters 2025年第6期10卷 5377-5384页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Zeng, Zhiwen Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Changsha410082 China Hunan University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha410082 China Central South University School of Architecture and Art Changsha410082 China University of Western Australia Department of Computer Science and Software Engineering CrawleyWA6009 Australia

Category-level pose estimation methods have received widespread attention as they can be generalized to intra-class unseen objects. Although RGB-D-based category-level methods have made significant progress, reliance on depth image limits practical application. RGB-based methods offer a more practical and cost-effective solution. However, current RGB-based methods struggle with object geometry perception, leading to inaccurate pose estimation. We propose depth recovery and adaptive refinement for category-level object pose estimation from a single RGB image. We leverage DINOv2 to reconstruct the coarse scene-level depth from the input RGB image and propose an adaptive refinement network based on an encoder-decoder architecture to dynamically improve the predicted coarse depth and reduce its gap from the ground truth. We introduce a 2D–3D consistency loss to ensure correspondence between the point cloud obtained from depth projection and the objects in the 2D image. This consistency supervision enables the model to maintain alignment between the depth image and the point cloud. Finally, we extract features from the refined point cloud and feed them into two confidence-aware rotation regression branches and a translation and size prediction residual branch for end-to-end training. Decoupling the rotation matrix provides a more direct representation, which facilitates parameter optimization and gradient propagation. Extensive experiments on the REAL275 and CAMERA25 datasets demonstrate the superior performance of our method. Real-world estimation and robotic grasping experiments demonstrate our model robustness to occlusion, clutter environments, and low-textured objects. Our code and robotic grasping video are available at DA-Pose. © 2016 IEEE.

关键词： Depth perception

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Renewable energy reduces domestic depression but increases depression for neighboring countries: evidence of spatial effects from 181 countries worldwide

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BMC Public Health 2025年第1期25卷 1-14页

作者： Zhang, Zheng Xu, Huijie Liping, Cui Wang, Yuanyuan Key Laboratory of Brain Cognition and Education Sciences Ministry of Education China School of Psychology Center for Studies of Psychological Application and Guangdong Key Laboratory of Mental Health and Cognitive Science South China Normal University Guangzhou China School of Education Huazhong University of Science and Technology Wuhan China Human Resources Department Hebei Vocational University of Technology and Engineering Hebei China

Background: Depression poses a significant global public health challenge, affecting millions of people worldwide. The utilization of renewable energy holds potential for improving mental health by reducing air pollution and promoting green spaces. Purpose: This study aims to investigate the impact of renewable energy use on depression, with a focus on its spatial effects and the mediating roles of air pollution reduction and green space expansion. Methods: Data from 181 countries were analyzed using a two-way fixed effects model and the Spatial Durbin Model (SDM). Depression-related metrics, including Disability-Adjusted Life Years (DALYs), Age-Standardized Disability-Adjusted Life Years Rate (ASDR), prevalence, and Age-Standardized Prevalence Rate (ASPR), were evaluated. Results: Renewable energy use significantly reduces DALYs, ASDR, prevalence, and ASPR within a country, but it also significantly increases the risk of depression in neighboring countries. The impact of renewable energy on depression varies by gender, age, and SDI level, being more pronounced for males and the 50–74 age group. The effect is significant in high and low SDI countries but not in middle SDI countries, indicating a "middle-income trap." Conclusion: Renewable energy can improve mental health by reducing air pollution and promoting green spaces. However, policymakers need to consider spatial effects and tailor policies accordingly to maximize health benefits. © The Author(s) 2025.

关键词： ASDR ASPR DALYs Depression Environmental pollution Green space Renewable energy Spatial effects

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Right Frontal Gamma Transcranial Alternating Current Stimulation Modulates Optimism Biases

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Neuroscience Bulletin 2025年第1期41卷 172-176页

作者： Ziqing Yao Jinwen Wei Gan Huang Linling Li Zhen Liang Li Zhang Haiyan Wu Tifei Yuan Zhiguo Zhang Xiaoqing Hu Department of Psychology The State Key Laboratory of Brain and Cognitive SciencesThe University of Hong KongHong KongSARChina School of Biomedical Engineering Medical SchoolShenzhen UniversityShenzhen518060China Guangdong Provincial Key Laboratory of Biomedical Measurements and Ultrasound Imaging Shenzhen UniversityShenzhen518060China Centre for Cognitive and Brain Sciences and Department of Psychology University of MacaoMacao SARChina Shanghai Key Laboratory of Psychotic Disorders Brain Health InstituteNational Center for Mental DisordersShanghai Mental Health CenterShanghai Jiaotong University School of MedicineShanghai210109China School of Computer Science and Technology Harbin Institute of TechnologyShenzhen518055China Peng Cheng Laboratory Shenzhen518055China HKU-Shenzhen Institute of Research and Innovation Shenzhen518063China

Dear Editor,People are often optimistic when forecasting the future,such that they believe they are less likely to encounter adverse life *** phenomenon,known as optimism bias,emerges due to preferential encoding and consolidation of desirable over undesirable information[1,2],engaging frontal brain regions such as the anterior cingulate cortex and inferior frontal gyrus[1].An optimism bias is instrumental in supporting mental health:reduction or absence of optimism biases is associated with mood disorders such as depression,characterized by pessimistic thinking about the future[3].This relationship highlights the potential value of interventions that could enhance optimism bias[4].

关键词： ism such likely

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HetSwarm: Cooperative Navigation of Heterogeneous Swarm in Dynamic and Dense Environments through Impedance-based Guidance

arXiv

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arXiv 2025年

作者： Zafar, Malaika Khan, Roohan Ahmed Fedoseev, Aleksey Jaiswal, Kumar Katyayan Tsetserukou, Dzmitry Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia Multi-Robot Autonomy Laboratory Center for Digital Engineering IISER Bhopal Bhopal India

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments and operating at varying altitudes. However, their limited flight time, battery life, and payload capacity necessitate a supporting ground station. To address these challenges, we propose HetSwarm, a heterogeneous multi-robot system that combines a UAV and a mobile ground robot for collaborative navigation in cluttered and dynamic conditions. Our approach employs an artificial potential field (APF)-based path planner for the UAV, allowing it to dynamically adjust its trajectory in real time. The ground robot follows this path while maintaining connectivity through impedance links, ensuring stable coordination. Additionally, the ground robot establishes temporal impedance links with low-height ground obstacles to avoid local collisions, as these obstacles do not interfere with the UAV’s flight. Experimental validation of HetSwarm in diverse environmental conditions demonstrated a 90% success rate across 30 test cases. The ground robot exhibited an average deviation of 45 cm near obstacles, confirming effective collision avoidance. Compared to the Conflict-Based Search (CBS) algorithm, our approach enables agents to navigate within 25 cm of obstacles, whereas CBS maintains a minimum clearance of 73 cm, highlighting our method’s efficiency in utilizing space in real-time. Extensive simulations in the Gym PyBullet environment further validated the robustness of our system for real-world applications, demonstrating its potential for dynamic, real-time task execution in cluttered environments. © 2025, CC BY-NC-ND.

关键词： Efficiency

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Gesture Recognition of sEMG Based on Res-LSTM 17th

Gesture Recognition of sEMG Based on Res-LSTM

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17th International Conference on Intelligent robotics and Applications, ICIRA 2024

作者： Zhao, Yujia Zou, Chunlong Yun, Juntong Jiang, Du Huang, Li Liu, Ying Jiang, Guozhang Xie, Yuanmin Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China College of Mechanical Engineering Hubei University of Automotive Technology Shiyan442000 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Wuhan430081 China College of Computer Science and Technology Wuhan University of Science and Technology Wuhan430081 China School of Mechanical Engineering Hubei Engineering University Xiaogan432000 China

ISBN: (纸本)9789819607761

sEMG (surface electromyography) signal control of bionic prostheses has been widely studied over the past few years. In particular, sparse sEMG signals are rapidly developing in the field of gesture recognition for their convenience, noninvasiveness, and ease of access. However, compared with high-density EMG signals, sparse EMG signals lack rich feature information, which in turn affects gesture recognition accuracy. In order to reduce the loss of feature information of sparse EMG signals in the spatio-temporal dimension, this paper proposes a hybrid neural network Res-LSTM combining residual network and long short-term memory network. The ordinary convolutional blocks in the CNN network are replaced with residual blocks, and the final fully connected layer is removed and a constant mapping layer is added to adequate extraction of spatial feature information of the data. The Res layer’s output is utilized as the input for the long and short-term memory (LSTM) network, which further extracts the features of the data in the temporal dimension, and finally completes the categorization output through a fully connected layer. The average accuracy of 91.11% for gesture-motion classification was verified by training on a homebrew dataset;and tested on a public dataset, NinaPro DB1, with an average accuracy of 91.03%. The experimental findings indicate that the proposed Res-LSTM network framework contributes to solving the problem of lack of feature information of sparse sEMG signals and improves the pattern recognition accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Gesture recognition

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MorNet: Asymmetric UNet-like Network with Morphological Opening and Closing for Image Segmentation 17th

MorNet: Asymmetric UNet-like Network with Morphological Open...

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17th International Conference on Intelligent robotics and Applications, ICIRA 2024

作者： Li, Meng Yun, Juntong Jiang, Du Tao, Bo Li, Gongfa Liu, Rong Liu, Ying Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Precision Manufacturing Research Institute Wuhan University of Science and Technology Wuhan430081 China School of Medicine Wuhan University of Science and Technology No. 1 Huangjia Lake University Town Wuhan430065 China School of Mechanical Engineering Hubei Engineering University Xiaogan432000 China

ISBN: (纸本)9789819607761

Image segmentation plays a crucial role in target recognition as it provides an essential prerequisite for identifying targets. However, UNet cannot acquire comprehensive information about the image, which limits its ability to effectively segment small and discrete objects. A new network structure, called MorNet, is proposed. It applies dilation and erosion operations in morphological opening and closing for connected and discrete region segmentation. MorNet effectively integrates global segmentation images, emphasizing small and discrete area segmentation and enhancing the segmentation of large continuous areas. This method enhances the understanding of the location of organs and diseased sites, enabling accurate segmentation. A side-out (SO) monitoring mechanism is introduced into the decoder to provide monitoring information for the original image and the predicted results. Compared with current UNet-like networks, our proposed method achieved the highest Dice scores (96.4635%, 94.0514%, 94.3444%) and PPV scores (94.2226%, 90.2361%, 91.5582%) for liver tumor, brain tumor, and liver segmentation tasks, respectively. The experimental results show that MorNet successfully combines the segmentation of connected and discrete regions. MorNet locates organs and lesions more accurately than current state-of-the-art medical image segmentation models. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Image segmentation

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HetSwarm: Cooperative Navigation of Heterogeneous Swarm in Dynamic and Dense Environments Through Impedance-Based Guidance

HetSwarm: Cooperative Navigation of Heterogeneous Swarm in D...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Malaika Zafar Roohan Ahmed Khan Aleksey Fedoseev Kumar Katyayan Jaiswal P. B. Sujit Dzmitry Tsetserukou Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia Department of Data Science and Engineering Multi-Robot Autonomy Laboratory IISER Bhopal Bhopal India

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments and operating at varying altitudes. However, their limited flight time, battery life, and payload capacity necessitate a supporting ground station. To address these challenges, we propose HetSwarm, a heterogeneous multi-robot system that combines a UAV and a mobile ground robot for collaborative navigation in cluttered and dynamic conditions. Our approach employs an artificial potential field (APF)-based path planner for the UAV, allowing it to dynamically adjust its trajectory in real time. The ground robot follows this path while maintaining connectivity through impedance links, ensuring stable coordination. Additionally, the ground robot establishes temporal impedance links with low-height ground obstacles to avoid local collisions, as these obstacles do not interfere with the UAV's flight. Experimental validation of HetSwarm in diverse environmental conditions demonstrated a 90 % success rate across 30 test cases. The ground robot exhibited an average deviation of 45 cm near obstacles, confirming effective collision avoidance. Compared to the Conflict-Based Search (CBS) algorithm, our approach enables agents to navigate within 25 cm of obstacles, whereas CBS maintains a minimum clearance of 73 cm, highlighting our method's efficiency in utilizing space in realtime. Extensive simulations in the Gym PyBullet environment further validated the robustness of our system for real-world applications, demonstrating its potential for dynamic, real-time task execution in cluttered environments.

关键词： Adaptive systems robot kinematics Autonomous aerial vehicles Real-time systems Aircraft navigation Robustness Trajectory Impedance Vehicle dynamics Collision avoidance

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Mirror Contrastive Loss Based Sliding Window Transformer for Subject-Independent Motor Imagery Based EEG Signal Recognition 4th

Mirror Contrastive Loss Based Sliding Window Transformer for...

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4th International Workshop on Human Brain and Artificial Intelligence, HBAI 2024

作者： Luo, Jing Mao, Qi Shi, Weiwei Shi, Zhenghao Wang, Xiaofan Lu, Xiaofeng Hei, Xinhong Shaanxi Key Laboratory for Network Computing and Security Technology and Human–Machine Integration Intelligent Robot Shaanxi University Engineering Research Center School of Computer Science and Engineering Xi’an University of Technology Shaanxi Xi’an China

ISBN: (纸本)9789819640003

While deep learning models have been extensively utilized in motor imagery based EEG signal recognition, they often operate as black boxes. Motivated by neurological findings indicating that the mental imagery of left or right-hand movement induces event-related desynchronization (ERD) in the contralateral sensorimotor area of the brain, we propose a Mirror Contrastive Loss based Sliding Window Transformer (MCL-SWT) to enhance subject-independent motor imagery-based EEG signal recognition. Specifically, our proposed mirror contrastive loss enhances sensitivity to the spatial location of ERD by contrasting the original EEG signals with their mirror counterparts—mirror EEG signals generated by interchanging the channels of the left and right hemispheres of the EEG signals. Moreover, we introduce a temporal sliding window transformer that computes self-attention scores from high temporal resolution features, thereby improving model performance with manageable computational complexity. We evaluate the performance of MCL-SWT on subject-independent motor imagery EEG signal recognition tasks, and our experimental results demonstrate that MCL-SWT achieved accuracies of 66.48% and 75.62%, surpassing the state-of-the-art (SOTA) model by 2.82% and 2.17%, respectively. Furthermore, ablation experiments confirm the effectiveness of the proposed mirror contrastive loss. A code demo of MCL-SWT is available at https://***/roniusLuo/MCL_SWT. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Image enhancement

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

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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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