检索结果-内蒙古大学图书馆

TechRxiv 2023年

作者： Mao, Kaining Wang, Deborah Baofeng Zheng, Tiansheng Jiao, Rongqi Zhu, Yanhui Wu, Bin Qian, Lei Lyu, Wei Chen, Jie Ye, Minjie The Affiliated Kangning Hospital of Wenzhou Medical University Zhejiang Provincial Clinical Research Center for Mental Disorders Oujiang Laboratory Zhejiang Lab for Regenerative Medicine Vision and Brain Health Zhejiang Wenzhou325000 China Key Laboratory of Alzheimer's Disease of Zhejiang Province Institute of Aging Wenzhou Medical University Zhejiang Wenzhou China The Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Wenzhou Medical University Zhejiang Wenzhou325000 China

Depression clinical interview corpora are essential for advancing automated depression diagnosis. While previous studies have used written speech material in controlled settings, these materials do not accurately represent spontaneous conversational speech. Additionally, self-reported measures of depression are subject to bias, making the data unreliable for training models for real-world scenarios. This study introduces a new corpus of depression clinical interviews collected directly from a psychiatric hospital, containing 113 recordings with 52 healthy and 61 depressive patients. The subjects were examined using the Montgomery-Asberg Depression Rating Scale (MADRS) in Chinese. Their final diagnosis was based on medical evaluations through a clinical interview conducted by a psychiatry specialist. All interviews were audio-recorded and transcribed verbatim, and annotated by experienced physicians. This dataset is a valuable resource for automated depression detection research and is expected to advance the field of psychology. Baseline models for detecting and predicting depression presence and level were built, and descriptive statistics of audio and text features were calculated. The decision-making process of the model was also investigated and illustrated. To the best of our knowledge, this is the first study to collect a depression clinical interview corpus in Chinese and train machine learning models to diagnose depression patients. © 2023, CC BY.

关键词： Sentiment analysis

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Scalable perception-action-communication loops with convolutional and graph neural networks

arXiv

引用

arXiv 2021年

作者： Hu, Ting-Kuei Gama, Fernando Chen, Tianlong Zheng, Wenqing Wang, Zhangyang Ribeiro, Alejandro Sadler, Brian M. Department of Computer Science and Engineering Texas A&M University College StationTX77843 United States Department of Computer and Electrical Engineering Rice University HoustonTX77005 United States Department of Electrical and Computer Engineering The University of Texas at Austin AustinTX78712 United States Department of Electrical and Systems Engineering The University of Pennsylvania PhiladelphiaPA19104 United States US Army Research Laboratory AdelphiMD20783 United States

In this paper, we present a perception-action-communication loop design using vision-based Graph Aggregation and Inference (VGAI). This multi-agent decentralized learning-to-control framework maps raw visual observations to agent actions, aided by local communication among neighboring agents. Our framework is implemented by a cascade of a convolutional and a graph neural network (CNN / GNN), addressing agent-level visual perception and feature learning, as well as swarm-level communication, local information aggregation and agent action inference, respectively. By jointly training the CNN and GNN, image features and communication messages are learned in conjunction to better address the specific task. We use imitation learning to train the VGAI controller in an offline phase, relying on a centralized expert controller. This results in a learned VGAI controller that can be deployed in a distributed manner for online execution. Additionally, the controller exhibits good scaling properties, with training in smaller teams and application in larger teams. Through a multiagent flocking application, we demonstrate that VGAI yields performance comparable to or better than other decentralized controllers, using only the visual input modality and without accessing precise location or motion state information. Copyright © 2021, The Authors. All rights reserved.

关键词： Graph neural networks

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Current and future directions in network biology

arXiv

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arXiv 2023年

作者： Zitnik, Marinka Li, Michelle M. Wells, Aydin Glass, Kimberly Gysi, Deisy Morselli Krishnan, Arjun Murali, T.M. Radivojac, Predrag Roy, Sushmita Baudot, Anaïs Bozdag, Serdar Chen, Danny Z. Cowen, Lenore Devkota, Kapil Gitter, Anthony Gosline, Sara Gu, Pengfei Guzzi, Pietro H. Huang, Heng Jiang, Meng Kesimoglu, Ziynet Nesibe Koyuturk, Mehmet Ma, Jian Pico, Alexander R. Pržulj, Nataša Przytycka, Teresa M. Raphael, Benjamin J. Ritz, Anna Sharan, Roded Shen, Yang Singh, Mona Slonim, Donna K. Tong, Hanghang Yang, Xinan Holly Yoon, Byung-Jun Yu, Haiyuan Milenković, Tijana Department of Biomedical Informatics Harvard University United States Department of Computer Science and Engineering University of Notre Dame United States Lucy Family Institute for Data and Society University of Notre Dame United States Eck Institute for Global Health University of Notre Dame United States Channing Division of Network Medicine Brigham and Women’s Hospital Harvard Medical School United States Department of Statistics Federal University of Paraná Brazil Department of Physics Northeastern University United States Department of Biomedical Informatics University of Colorado United States Department of Computer Science Virginia Tech United States Khoury College of Computer Sciences Northeastern University United States Department of Biostatistics and Medical Informatics University of Wisconsin-Madison United States Wisconsin Institute for Discovery United States Aix Marseille Université INSERM MMG Marseille France Department of Computer Science and Engineering University of North Texas United States Department of Mathematics University of North Texas United States Department of Computer Science Tufts University United States Morgridge Institute for Research United States Pacific Northwest National Laboratory United States Department of Medical and Surgical Sciences University Magna Graecia of Catanzaro Italy Department of Computer Science University of Maryland College Park United States National Center of Biotechnology Information National Library of Medicine National Institutes of Health Department of Computer and Data Sciences Case Western Reserve University United States Computational Biology Department School of Computer Science Carnegie Mellon University United States Institute of Data Science and Biotechnology Gladstone Institutes Department of Computer Science University College London United Kingdom ICREA Catalan Institution for Research and Advanced Studies Spain Department of Computer Science Princeton University United States Departmen

Network biology is an interdisciplinary field bridging computational and biological sciences that has proved pivotal in advancing the understanding of cellular functions and diseases across biological systems and scales. Although the field has been around for two decades, it remains nascent. It has witnessed rapid evolution, accompanied by emerging challenges. These challenges stem from various factors, notably the growing complexity and volume of data together with the increased diversity of data types describing different tiers of biological organization. We discuss prevailing research directions in network biology and highlight areas of inference and comparison of biological networks, multimodal data integration and heterogeneous networks, higher-order network analysis, machine learning on networks, and network-based personalized medicine. Following the overview of recent breakthroughs across these five areas, we offer a perspective on the future directions of network biology. Additionally, we offer insights into scientific communities, educational initiatives, and the importance of fostering diversity within the field. This paper establishes a roadmap for an immediate and long-term vision for network biology. © 2023, CC BY.

关键词： Machine learning

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Associative Memory in Spiking Neural Network Form Implemented on Neuromorphic Hardware 2020

Associative Memory in Spiking Neural Network Form Implemente...

引用

2020 International Conference on Neuromorphic Systems, ICONS 2020

作者： Hampo, Michael Fan, David Jenkins, Todd Demange, Ashley Westberg, Stefan Bihl, Trevor Taha, Tarek Department of Electrical and Computer Engineering University of Dayton DaytonOH United States Air Force Research Laboratory Sensors Directorate Wright Patterson AFB DaytonOH United States

ISBN: (纸本)9781450388511

Implementing cognitive algorithms on robots is one potential direction to realize autonomous artificial agents. As society and technology progress there is an effort to push robotics and artificial intelligence into many aspects of daily life. An important step in this process is leveraging concepts known to work from human cognitive features on computer systems. This paper shows an associative memory in the form of a spiking neural network (SNN), an application of the associative memory, and some performance benchmarking. SNNs allow these computational models to be instantiated in a low size, weight, and power (SWaP) form factor due to the biological efficiencies they approximate. The model is created in a neural network simulator and run on a low SWaP CPU and Intel's Loihi, an artificial intelligence accelerator highly optimized for spiking neural algorithms. In addition, the model is employed on a mobile robotic platform that explores the real world and uses online learning to make associations. When the model was run on Loihi the overall power usage decreased as well as the run time of the simulation as compared to the low SWaP CPU proving beneficial to implement the neuromorphic hardware. © 2020 ACM.

关键词： Neural networks

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Simultaneous tactile exploration and grasp refinement for unknown objects

arXiv

引用

arXiv 2021年

作者： de Farias, Cristiana Marturi, Naresh Stolkin, Rustam Bekiroglu, Yasemin The Extreme Robotics Laboratory School of Metallurgy and Materials University of Birmingham Birmingham United Kingdom Chalmers University of Technology Department of Electrical Engineering Automatic Control research group Sweden University College London Department of Computer Science Centre for Artificial Intelligence United Kingdom

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will have only a partial camera view of the near side of an observed object, for which the far side remains occluded. We show how an initial grasp attempt, based on an initial guess of the overall object shape, yields tactile glances of the far side of the object which enable the shape estimate and consequently the successive grasps to be improved. We propose a grasp exploration approach using a probabilistic representation of shape, based on Gaussian Process Implicit Surfaces. This representation enables initial partial vision data to be augmented with additional data from successive tactile glances. This is combined with a probabilistic estimate of grasp quality to refine grasp configurations. When choosing the next set of finger placements, a bi-objective optimisation method is used to mutually maximise grasp quality and improve shape representation during successive grasp attempts. Experimental results show that the proposed approach yields stable grasp configurations more efficiently than a baseline method, while also yielding improved shape estimate of the grasped object. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

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Evaluation of Robustness Metrics for Defense of Machine Learning Systems

Evaluation of Robustness Metrics for Defense of Machine Lear...

引用

International Conference on Military Communications and Information Systems (ICMCIS)

作者： J. DeMarchi R. Rijken J. Melrose B. Madahar G. Fumera F. Roli E. Ledda M. Aktaş F. Kurth P. Baggenstoss B. Pelzer L. Kanestad Collaborative Engineering Systems & Aerospace Systems Information Supremacy Royal Netherlands Aerospace Centre NLR Amsterdam NLD Cyber & Information Systems Division Defence Science and Technology Laboratory Portondown GBR Department of Electrical and Electronic Engineering University of Cagliari Cagliari ITA Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa ITA Department of Computer Control and Management Engineering Sapienza University of Rome Rome ITA Defence Systems Technologies Division ASELSAN Ankara TUR Fraunhofer Institute for Communication Information Processing and Ergonomics Bonn DEU Swedish Defence Research Agency Cyber Defence and C2 Technology Division Stockholm SWE

In this paper we explore some of the potential applications of robustness criteria for machine learning (ML) systems by way of tangible “demonstrator” scenarios. In each demonstrator, ML robustness metrics are applied to real-world scenarios with military relevance, indicating how they might be used to help detect and handle possible adversarial attacks on ML systems. We conclude by sketching promising future avenues of research in order to: (1) help establish useful verification methodologies to facilitate ML robustness compliance assessment; (2) support development of ML accountability mechanisms; and (3) reliably detect, repel, and mitigate adversarial attack.

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Enhancing Deep Reinforcement Learning: A Tutorial on Generative Diffusion Models in Network Optimization

arXiv

引用

arXiv 2023年

作者： Du, Hongyang Zhang, Ruichen Liu, Yinqiu Wang, Jiacheng Lin, Yijing Li, Zonghang Niyato, Dusit Kang, Jiawen Xiong, Zehui Cui, Shuguang Ai, Bo Zhou, Haibo Kim, Dong In The School of Computer Science and Engineering The Energy Research Institute @ NTU Interdisciplinary Graduate Program Nanyang Technological University Singapore The School of Computer Science and Engineering Nanyang Technological University Singapore The State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications China The School of Information and Communication Engineering University of Electronic Sciences and Technology of China Chengdu China The School of Automation Guangdong University of Technology China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore Shenzhen China The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China School of Electronic Science and Engineering Nanjing University Jiangsu Nanjing210093 China The Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of

Generative Diffusion Models (GDMs) have emerged as a transformative force in the realm of Generative Artificial Intelligence (GenAI), demonstrating their versatility and efficacy across various applications. The ability to model complex data distributions and generate high-quality samples has made GDMs particularly effective in tasks such as image generation and reinforcement learning. Furthermore, their iterative nature, which involves a series of noise addition and denoising steps, is a powerful and unique approach to learning and generating data. This paper serves as a comprehensive tutorial on applying GDMs in network optimization tasks. We delve into the strengths of GDMs, emphasizing their wide applicability across various domains, such as vision, text, and audio generation. We detail how GDMs can be effectively harnessed to solve complex optimization problems inherent in networks. The paper first provides a basic background of GDMs and their applications in network optimization. This is followed by a series of case studies, showcasing the integration of GDMs with Deep Reinforcement Learning (DRL), incentive mechanism design, Semantic Communications (SemCom), Internet of Vehicles (IoV) networks, etc. These case studies underscore the practicality and efficacy of GDMs in real-world scenarios, offering insights into network design. We conclude with a discussion on potential future directions for GDM research and applications, providing major insights into how they can continue to shape the future of network optimization. © 2023, CC BY.

关键词： Reinforcement learning

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Robot-Assisted Vascular Shunt Insertion with the dVRK Surgical Robot

引用

Journal of Medical robotics research 2023年第3-4期8卷

作者： Dharmarajan, Karthik Panitch, Will Shi, Baiyu Huang, Huang Chen, Lawrence Yunliang Moghani, Masoud Yu, Qinxi Hari, Kush Low, Thomas Fer, Danyal Garg, Animesh Goldberg, Ken Department of Electrical Engineering and Computer Sciences University of California Berkeley 94709 CA United States Department of Industrial Engineering and Operations Research University of California Berkeley 94709 CA United States Department of Mechanical and Industrial Engineering University of Toronto Toronto M5S 3G8 ON Canada Department of Computer Science University of Toronto Toronto M5S 3G8 ON Canada Robotics Laboratory Sri International Menlo Park 94025 CA United States Department of General Surgery University of California San Francisco East Bay Oakland 94602 CA United States School of Interactive Computing Georgia Institute of Technology Atlanta 30332 GA United States

Vascular shunt insertion is a common surgical procedure performed to restore blood flow to damaged tissues temporarily. It usually requires a surgeon and a surgical assistant. We consider three scenarios: (1) a surgeon is available locally;(2) a remote surgeon is available via teleoperation;(3) no surgeon is available. In each scenario, a minimally invasive surgical-assistant da Vinci robot operates in a different mode either by teleoperation or automation. Robotic assistance for this procedure is challenging due to precision and control uncertainty. The role of the robot in this task depends on the availability of a human surgeon. We propose a trimodal framework for vascular shunt insertion assisted by a da Vinci research Kit (dVRK) robotic surgical assistant (RSA). To help further study for the community, we also present a physics-based simulated environment for shunt insertion built on top of the NVIDIA Isaac ORBIT simulator. We collect a large dataset of trajectories for the shunt insertion environment using ORBIT and implement these trajectories to show the simulator's realism, showcasing the possibility for future work to use the simulator for policy learning. Physical experiments demonstrate a success rate of 65-100% for mode (1), 100% for mode (2), and 75-95% for mode (3) across vessel phantoms with different sizes, color, and material properties. For dataset and videos, see https://***/***/ravsi. © 2023 World Scientific Publishing Company.

关键词： robot simulation Surgical robotics teleoperation visual servoing

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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

引用

ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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Model-free tracking control of complex dynamical trajectories with machine learning

arXiv

引用

arXiv 2023年

作者： Zhai, Zheng-Meng Moradi, Mohammadamin Kong, Ling-Wei Glaz, Bryan Haile, Mulugeta Lai, Ying-Cheng School of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287 United States Vehicle Technology Directorate CCDC Army Research Laboratory 2800 Powder Mill Road AdelphiMD20783-1138 United States Vehicle Technology Directorate CCDC Army Research Laboratory 6340 Rodman Road Aberdeen Proving GroundMD21005-5069 United States Department of Physics Arizona State University TempeAZ85287 United States

Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete knowledge of the system model and equations. We develop a model-free, machine-learning framework to control a two-arm robotic manipulator using only partially observed states, where the controller is realized by reservoir computing. Stochastic input is exploited for training, which consists of the observed partial state vector as the first and its immediate future as the second component so that the neural machine regards the latter as the future state of the former. In the testing (deployment) phase, the immediate-future component is replaced by the desired observational vector from the reference trajectory. We demonstrate the effectiveness of the control framework using a variety of periodic and chaotic signals, and establish its robustness against measurement noise, disturbances, and uncertainties. © 2023, CC BY.

关键词： Machine learning

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