检索结果-内蒙古大学图书馆

arXiv 2023年

作者： Zhang, Tianyi Lyu, Shangqing Lei, Yanli Chen, Sicheng Ying, Nan He, Yufang Liu, Zeyu Zhao, Yu Feng, Yunlu Jin, Yueming Lee, Hwee Kuan Zhang, Guanglei The Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing100191 China Singapore138410 Singapore The School of Microelectronics Xi’an Jiaotong University Xi’an710049 China The Department of Pathology Peking Union Medical College Hospital Beijing100006 China The Department of Gastroenterology Peking Union Medical College Hospital Beijing100006 China The Department of Biomedical Engineering National University of Singapore Singapore117417 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117417 Singapore The School of Computing National University of Singapore Singapore117417 Singapore School of Biological Sciences Nanyang Technological University 639798 Singapore 169856 Singapore International Research Laboratory on Artifical Intelligence 138632 Singapore Singapore Institute for Clinical Sciences Singapore117609 Singapore

Pathological image analysis is a crucial field in computer vision. Due to the annotation scarcity in the pathological field, pre-training with self-supervised learning (SSL) is widely applied to learn on unlabeled images. However, the current SSL-based pathological pre-training: (1) does not explicitly explore the essential focuses of the pathological field, and (2) does not effectively bridge with and thus take advantage of the knowledge from natural images. To explicitly address them, we propose our large-scale PuzzleTuning framework, containing the following innovations. Firstly, we define three task focuses that can effectively bridge knowledge of pathological and natural domain: appearance consistency, spatial consistency, and restoration understanding. Secondly, we devise a novel multiple puzzle restoring task, which explicitly pre-trains the model regarding these focuses. Thirdly, we introduce an explicit prompt-tuning process to incrementally integrate the domain-specific knowledge. It builds a bridge to align the large domain gap between natural and pathological images. Additionally, a curriculum-learning training strategy is designed to regulate task difficulty, making the model adaptive to the puzzle restoring complexity. Experimental results show that our PuzzleTuning framework outperforms the previous state-of-the-art methods in various downstream tasks on multiple datasets. The code, demo, and pre-trained weights are available at https://***/sagizty/PuzzleTuning. © 2023, CC BY-NC-SA.

关键词： Image analysis

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REFUGE2 CHALLENGE: A TREASURE TROVE FOR MULTI-DIMENSION ANALYSIS AND EVALUATION IN GLAUCOMA SCREENING

arXiv

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arXiv 2022年

作者： Fang, Huihui Li, Fei Wu, Junde Fu, Huazhu Sun, Xu Son, Jaemin Yu, Shuang Zhang, Menglu Yuan, Chenglang Bian, Cheng Lei, Baiying Zhao, Benjian Xu, Xinxing Li, Shaohua Fumero, Francisco Sigut, José Almubarak, Haidar Bazi, Yakoub Guo, Yuanhao Zhou, Yating Baid, Ujjwal Innani, Shubham Guo, Tianjiao Yang, Jie Orlando, José Ignacio Bogunović, Hrvoje Zhang, Xiulan Xu, Yanwu The REFUGE2 Challenge Australia State Key Laboratory of Ophthalmology Zhongshan Ophthalmic Center Sun Yat-Sen University Guangdong Provincial Key Laboratory of Ophthalmology and Visual Science Guangzhou China Intelligent Healthcare Unit Baidu Inc. Beijing China The Institute of High Performance Computing Agency for Science Technology and Research Singapore Yatiris Group PLADEMA Institute CONICET UNICEN Tandil Argentina Christian Doppler Lab for Artificial Intelligence in Retina Department of Ophthalmology and Optometry Medical University of Vienna Vienna Austria VUNO Inc Seoul Korea Republic of Tencent HealthCare Tencent Shenzhen China Computer Vision Institute College of Computer Science and Software Engineering of Shenzhen University Shenzhen China School of Biomedical Engineering Health Science Center Shenzhen University China Xiaohe Healthcare ByteDance Guangdong Guangzhou510000 China School of Biomedical Engineering Shenzhen University China College of Computer Science & Software Engineering Shenzhen University China Department of Computer Science and Systems Engineering Universidad de La Laguna Spain Saudi Electronic University Saudi Arabia King Saud University Saudi Arabia Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China SGGS Institute of Engineering and Technology India Institute of Medical Robotics Shanghai Jiao Tong University China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

With the rapid development of artificial intelligence (AI) in medical image processing, deep learning in color fundus photography (CFP) analysis is also evolving. Although there are some open-source, labeled datasets of CFPs in the ophthalmology community, large-scale datasets for screening only have labels of disease categories, and datasets with annotations of fundus structures are usually small in size. In addition, labeling standards are not uniform across datasets, and there is no clear information on the acquisition device. Here we release a multi-annotation, multi-quality, and multi-device color fundus image dataset for glaucoma analysis on an original challenge-Retinal Fundus Glaucoma Challenge 2nd Edition (REFUGE2). The REFUGE2 dataset contains 2000 color fundus images with annotations of glaucoma classification, optic disc/cup segmentation, as well as fovea localization. Meanwhile, the REFUGE2 challenge sets three sub-tasks of automatic glaucoma diagnosis and fundus structure analysis and provides an online evaluation framework. Based on the characteristics of multi-device and multi-quality data, some methods with strong generalizations are provided in the challenge to make the predictions more robust. This shows that REFUGE2 brings attention to the characteristics of real-world multi-domain data, bridging the gap between scientific research and clinical application. © 2022, CC BY-NC-ND.

关键词： Color

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Breaking barriers in robotic soft tissue surgery: Conditional autonomous intestinal anastomosis

arXiv

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arXiv 2021年

作者： Saeidi, Hamed Opfermann, J.D. Kam, M. Wei, S. Leonard, S. Hsieh, M.H. Kang, J.U. Krieger, A. Department of Mechanical Engineering Johns Hopkins University BaltimoreMD21211 United States Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21211 United States Department of Electrical and Computer Engineering Johns Hopkins University BaltimoreMD21211 United States Department of Urology Children's National Hospital 111 Michigan Ave. N.W. WashingtonDC20010 United States

Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeon's skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially challenging as it necessitates intricate imaging, tissue tracking and surgical planning techniques, as well as a precise execution via highly adaptable control strategies. In the laparoscopic setting, soft-tissue surgery is even more challenging due to the need for high maneuverability and repeatability under motion and vision constraints. We demonstrate the first robotic laparoscopic soft tissue surgery with a level of autonomy of 3 out of 5, which allows the operator to select among autonomously generated surgical plans while the robot executes a wide range of tasks independently. We also demonstrate the first in vivo autonomous robotic laparoscopic surgery via intestinal anastomosis on porcine models. We compared the criteria including needle placement corrections, suture spacing, suture bite size, completion time, lumen patency, and leak pressure between the developed system, manual laparoscopic surgery, and robot-assisted surgery (RAS). The ex vivo results indicate that our system outperforms expert surgeons and RAS techniques in terms of consistency and accuracy, and it leads to a remarkable anastomosis quality in living pigs. These results demonstrate that surgical robots exhibiting high levels of autonomy have the potential to improve consistency, patient outcomes, and access to a standard surgical technique. © 2021, CC BY.

关键词： Robotic surgery

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Continuity scaling: A rigorous framework for detecting and quantifying causality accurately

arXiv

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arXiv 2022年

作者： Ying, Xiong Leng, Si-Yang Ma, Huan-Fei Nie, Qing Lai, Ying-Cheng Lin, Wei School of Mathematical Sciences SCMS SCAM Fudan University Shanghai200433 China Research Institute for Intelligent Complex Systems CCSB LCNBI Fudan University Shanghai200433 China State Key Laboratory of Medical Neurobiology MOE Frontiers Center for Brain Science Institutes of Brain Science Fudan University Shanghai200032 China Institute of AI and Robotics Academy for Engineering and Technology Fudan University Shanghai200433 China School of Mathematical Sciences Soochow University Suzhou215006 China Department of Mathematics Department of Developmental and Cell Biology NSF-Simons Center for Multiscale Cell Fate Research University of California IrvineCA92697-3875 United States School of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287-5706 United States Shanghai Artificial Intelligence Laboratory Shanghai200232 China

Data based detection and quantification of causation in complex, nonlinear dynamical systems is of paramount importance to science, engineering and beyond. Inspired by the widely used methodology in recent years, the cross-map-based techniques, we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms, which is consistent with the natural interpretation of causality. In particular, instead of measuring the smoothness of the cross map as conventionally implemented, we define causation through measuring the scaling law for the continuity of the investigated dynamical system directly. The uncovered scaling law enables accurate, reliable, and efficient detection of causation and assessment of its strength in general complex dynamical systems, outperforming those existing representative methods. The continuity scaling based framework is rigorously established and demonstrated using datasets from model complex systems and the real world. Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

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Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

arXiv

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arXiv 2020年

作者： Gonzalez, Daniel J. Harry Asada, H. Robotics Research Center Department of Electrical Engineering and Computer Science United States Military Academy West PointNY10996 United States d’Arbeloff Laboratory for Information Systems and Technology Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human’s limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone. Copyright © 2020, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

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A reinforcement-learning-based energy-efficient framework for multi-task video analytics pipeline

arXiv

引用

arXiv 2021年

作者： Zhao, Yingying Dong, Mingzhi Wang, Yujiang Feng, Da Lv, Qin Dick, Robert P. Li, Dongsheng Lu, Tun Gu, Ning Shang, Li School of Computer Science Fudan University Shanghai China Shanghai Key Laboratory of Data Science Fudan University Shanghai China Shanghai Institute of Intelligent Electronics & Systems Shanghai China Department of Computing Imperial College London London United Kingdom Software Service Company Limited Beijing China University of Colorado Boulder BoulderCO United States Department of Electrical Engineering and Computer Science College of Engineering University of Michigan Ann ArborMI United States Microsoft Research Asia Shanghai China School of Computer Science Fudan University Shanghai China

Deep-learning-based video processing has yielded transformative results in recent years. However, the video analytics pipeline is energy-intensive due to high data rates and reliance on complex inference algorithms, which limits its adoption in energy-constrained applications. Motivated by the observation of high and variable spatial redundancy and temporal dynamics in video data streams, we design and evaluate an adaptive-resolution optimization framework to minimize the energy use of multitask video analytics pipelines. Instead of heuristically tuning the input data resolution of individual tasks, our framework utilizes deep reinforcement learning to dynamically govern the input resolution and computation of the entire video analytics pipeline. By monitoring the impact of varying resolution on the quality of high-dimensional video analytics features, hence the accuracy of video analytics results, the proposed end-to-end optimization framework learns the best non-myopic policy for dynamically controlling the resolution of input video streams to globally optimize energy efficiency. Governed by reinforcement learning, optical flow is incorporated into the framework to minimize unnecessary spatio-temporal redundancy that leads to re-computation, while preserving accuracy. The proposed framework is applied to video instance segmentation which is one of the most challenging computer vision tasks, and achieves better energy efficiency than all baseline methods of similar accuracy on the YouTube-VIS dataset. Copyright © 2021, The Authors. All rights reserved.

关键词： Energy efficiency

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Large-Scale Spatial Cross-Calibration of Hinode/SOT-SP and SDO/HMI

arXiv

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arXiv 2022年

作者： Fouhey, David F. Higgins, Richard E.L. Antiochos, Spiro K. Barnes, Graham DeRosa, Marc L. Hoeksema, J. Todd Leka, K.D. Liu, Yang Schuck, Peter W. Gombosi, Tamas I. University of Michigan Department of Electrical Engineering and Computer Science Ann ArborMI United States University of Michigan Department of Climate and Space Sciences and Engineering Ann ArborMI United States NorthWest Research Associates BoulderCO United States Lockheed Martin Solar and Astrophysics Laboratory Palo AltoCA United States Stanford University StanfordCA United States NASA GSFC Silver SpringMD United States University of Michigan Department of Climate and Space Center for Space Environment Modelling Ann ArborMI United States

We investigate the cross-calibration of the Hinode/SOT-SP and SDO/HMI instrument meta-data, specifically the correspondence of the scaling and pointing information. Accurate calibration of these datasets gives the correspondence needed by inter-instrument studies and learning-based magnetogram systems, and is required for physically-meaningful photospheric magnetic field vectors. We approach the problem by robustly fitting geometric models on correspondences between images from each instrument’s pipeline. This technique is common in computer vision, but several critical details are required when using scanning slit spectrograph data like Hinode/SOT-SP. We apply this technique to data spanning a decade of the Hinode mission. Our results suggest corrections to the published Level 2 Hinode/SOT-SP data. First, an analysis on approximately 2,700 scans suggests that the reported pixel size in Hinode/SOT-SP Level 2 data is incorrect by around 1%. Second, analysis of over 12,000 scans show that the pointing information is often incorrect by dozens of arcseconds with a strong bias. Regression of these corrections indicates that thermal effects have caused secular and cyclic drift in Hinode/SOT-SP pointing data over its mission. We offer two solutions. First, direct co-alignment with SDO/HMI data via our procedure can improve alignments for many Hinode/SOT-SP scans. Second, since the pointing errors are predictable, simple post-hoc corrections can substantially improve the pointing. We conclude by illustrating the impact of this updated calibration on derived physical data products needed for research and interpretation. Among other things, our results suggest that the pointing errors induce a hemispheric bias in estimates of radial current density. Copyright © 2022, The Authors. All rights reserved.

关键词： Calibration

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A Filtering Approach Based on MMAE for a SINS/CNS Integrated Navigation System

引用

IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1113-1120页

作者： Fangfang Zhao Cuiqiao Chen Wei He Shuzhi Sam Ge School of Computer Science and Engineering and Center for RoboticsUniversity of Electronic Science and Technology of ChinaChengdu 611731China School of Automation and Electrical Engineering University of Science and Technology of BeijingBeijing 100083China Social Robotics Laboratory Interactive Digital Media Instituteand Department of Electrical and Computer EngineeringNational University of SingaporeSingapore 117576Singapore Singapore 117576 Singapore

This paper explores multiple model adaptive estimation(MMAE) method, and with it, proposes a novel filtering algorithm. The proposed algorithm is an improved Kalman filter— multiple model adaptive estimation unscented Kalman filter(MMAE-UKF) rather than conventional Kalman filter methods,like the extended Kalman filter(EKF) and the unscented Kalman filter(UKF). UKF is used as a subfilter to obtain the system state estimate in the MMAE method. Single model filter has poor adaptability with uncertain or unknown system parameters,which the improved filtering method can overcome. Meanwhile,this algorithm is used for integrated navigation system of strapdown inertial navigation system(SINS) and celestial navigation system(CNS) by a ballistic missile's motion. The simulation results indicate that the proposed filtering algorithm has better navigation precision, can achieve optimal estimation of system state, and can be more flexible at the cost of increased computational burden.

关键词： Celestial navigation integrated navigation multiple model adaptive estimation unscented Kalman filter （MMAEUKF） strap-down inertial navigation

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Plastic Contaminant Detection in Aerial Imagery of Cotton Fields with Deep Learning

arXiv

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arXiv 2022年

作者： Yadav, Pappu Kumar Alex Thomasson, J. Hardin, Robert G. Searcy, Stephen W. Braga-Neto, Ulisses Popescu, Sorin C. Rodriguez, Roberto Martin, Daniel E. Enciso, Juan Meza, Karem White, Emma L. Department of Biological & Agricultural Engineering Texas A&M University College StationTX United States Department of Agricultural & Biological Engineering Mississippi State University Mississippi StateMS United States Department of Electrical & Computer Engineering Texas A&M University College StationTX United States Department of Ecology & Conservation Biology Texas A&M University College StationTX United States U.S.D.A.- APHIS PPQ S&T Insect Management and Molecular Diagnostics Laboratory EdinburgTX United States Aerial Application Technology Research U.S.D.A. Agriculture Research Service College StationTX United States Department of Civil & Environmental Engineering Utah State University LoganUT United States

Plastic shopping bags that get carried away from the side of roads and tangled on cotton plants can end up at cotton gins if not removed before the harvest. Such bags may not only cause problem in the ginning process but might also get embodied in cotton fibers reducing its quality and marketable value. Therefore, it is required to detect, locate, and remove the bags before cotton is harvested. Manually detecting and locating these bags in cotton fields is labor intensive, time-consuming and a costly process. To solve these challenges, we present application of four variants of YOLOv5 (YOLOv5s, YOLOv5m, YOLOv5l and YOLOv5x) for detecting plastic shopping bags using Unmanned Aircraft Systems (UAS)-acquired RGB (Red, Green, and Blue) images. We also show fixed effect model tests of color of plastic bags as well as YOLOv5-variant on average precision (AP), mean average precision (mAP@50) and accuracy. In addition, we also demonstrate the effect of height of plastic bags on the detection accuracy. It was found that color of bags had significant effect (p Copyright © 2022, The Authors. All rights reserved.

关键词： computer vision

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Towards long-tailed, multi-label disease classification from chest X-ray: Overview of the CXR-LT challenge

arXiv

引用

arXiv 2023年

作者： Holste, Gregory Zhou, Yiliang Wang, Song Jaiswal, Ajay Lin, Mingquan Zhuge, Sherry Yang, Yuzhe Kim, Dongkyun Nguyen-Mau, Trong-Hieu Tran, Minh-Triet Jeong, Jaehyup Park, Wongi Ryu, Jongbin Hong, Feng Verma, Arsh Yamagishi, Yosuke Kim, Changhyun Seo, Hyeryeong Kang, Myungjoo Celi, Leo Anthony Lu, Zhiyong Summers, Ronald M. Shih, George Wang, Zhangyang Peng, Yifan Department of Electrical and Computer Engineering The University of Texas at Austin AustinTX78712 United States Department of Population Health Sciences Weill Cornell Medicine New YorkNY10065 United States School of Information Systems Carnegie Mellon University PittsburghPA15213 United States Department of Electrical Engineering and Computer Science Massachussetts Institute of Technology CambridgeMA02139 United States School of Computer Science Carnegie Mellon University PittsburghPA15213 United States University of Science VNU-HCM Ho Chi Minh City70000 Viet Nam KT Research & Development Center KT Corporation Seoul06763 Korea Republic of Department of Software and Computer Engineering Ajou University Suwon16499 Korea Republic of Cooperative Medianet Innovation Center Shanghai Jiao Tong University Shanghai200240 China Wadhwani Institute for Artificial Intelligence Mumbai400079 India Division of Radiology and Biomedical Engineering Graduate School of Medicine The University of Tokyo Tokyo113-0033 Japan BioMedical AI Team AIX Future R&D Center SK Telecom Seoul04539 Korea Republic of Seoul National University Seoul02504 Korea Republic of Department of Mathematical Sciences Seoul National University Seoul02504 Korea Republic of Laboratory for Computational Physiology Massachusetts Institute of Technology CambridgeMA02139 United States Division of Pulmonary Critical Care and Sleep Medicine Beth Israel Deaconess Medical Center BostonMA02215 United States Department of Biostatistics Harvard T.H. Chan School of Public Health BostonMA02115 United States National Center for Biotechnology Information National Library of Medicine BethesdaMD20894 United States Clinical Center National Institutes of Health BethesdaMD20892 United States Department of Radiology Weill Cornell Medicine New YorkNY10065 United States

Many real-world image recognition problems, such as diagnostic medical imaging exams, are "long-tailed" – there are a few common findings followed by many more relatively rare conditions. In chest radiography, diagnosis is both a long-tailed and multi-label problem, as patients often present with multiple findings simultaneously. While researchers have begun to study the problem of long-tailed learning in medical image recognition, few have studied the interaction of label imbalance and label co-occurrence posed by long-tailed, multi-label disease classification. To engage with the research community on this emerging topic, we conducted an open challenge, CXR-LT, on long-tailed, multi-label thorax disease classification from chest X-rays (CXRs). We publicly release a large-scale benchmark dataset of over 350,000 CXRs, each labeled with at least one of 26 clinical findings following a long-tailed distribution. We synthesize common themes of top-performing solutions, providing practical recommendations for long-tailed, multi-label medical image classification. Finally, we use these insights to propose a path forward involving vision-language foundation models for few- and zero-shot disease classification. © 2023, CC BY-NC-SA.

关键词： computer aided diagnosis

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