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Machine learning predicts long-term mortality after acute myocardial infarction using systolic time intervals and routinely collected clinical data

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Intelligent Medicine 2024年第3期4卷 170-176页

作者： Bijan Roudini Boshra Khajehpiri Hamid Abrishami Moghaddam Mohamad Forouzanfar Department of Systems Engineering School of Advanced TechnologyUniversity of QuebecMontrealCanada Machine Vision and Medical Image Processing(MVMIP)Laboratory Faculty of Electrical and Computer EngineeringK.N.Toosi University of TechnologyTehranIran Research Center of the Montreal University Institute of Geriatrics MontrealCanada

Background Precise estimation of current and future comorbidities of patients with cardiovascular disease is an important factor in prioritizing continuous physiological monitoring and new *** learning(ML)models have shown satisfactory performance in short-term mortality prediction in patients with heart disease,whereas their utility in long-term predictions is *** study aimed to investigate the performance of tree-based ML models on long-term mortality prediction and effect of two recently introduced biomarkers on long-term *** This study used publicly available data from the Collaboration Center of Health Information Appli-cation at the Ministry of Health and Welfare,Taiwan,*** collected data were from patients admitted to the cardiac care unit for acute myocardial infarction(AMI)between November 2003 and September *** collected and analyzed mortality data up to December *** records were used to gather demo-graphic and clinical data,including age,gender,body mass index,percutaneous coronary intervention status,and comorbidities such as hypertension,dyslipidemia,ST-segment elevation myocardial infarction,and non-ST-segment elevation myocardial *** the data,collected from 139 patients with AMI,from medical and demographic records as well as two recently introduced biomarkers,brachial pre-ejection period(bPEP)and brachial ejection time(bET),we investigated the performance of advanced ensemble tree-based ML algorithms(random forest,AdaBoost,and XGBoost)to predict all-cause mortality within 14 years.A nested cross-validation was performed to evaluate and compare the performance of our developed models precisely with that of the conventional logistic regression(LR)as the baseline *** The developed ML models achieved significantly better performance compared to the baseline LR(C-Statistic,0.80 for random forest,0.79 for AdaBoost,and 0.78 for XGBoost,vs.0.77 for LR)(PRF<0.001,PAdaBoost<0.001,a

关键词： Electrocardiogram Predication Mortality prediction Machine learning

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Guest Editorial Introduction to the Special Section on Video and Language

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IEEE Transactions on Circuits and Systems for Video Technology 2022年第1期32卷 1-4页

作者： Mei, Tao Corso, Jason J. Kim, Gunhee Luo, Jiebo Shen, Chunhua Zhang, Hanwang Computer Vision and Multimedia Laboratory Jd Explore Academy *** Beijing100101 China Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States Department of Computer Science and Engineering Seoul National University Gwanak-gu Seoul08826 Korea Republic of Department of Computer Science University of Rochester RochesterNY14627 United States College of Computer Science and Technology Zhejiang University Hangzhou310058 China School of Computer Science and Engineering Nanyang Technological University 639798 Singapore

computer vision (CV) and Natural Language Processing (NLP) are two most fundamental disciplines under a broad area of artificial intelligence (AI). CV is regarded as a field of research that explores the techniques to teach computers to see and understand digital content such as images and videos. NLP is a branch of linguistics that enables computers to process, interpret, and even generate human language. With the rise and development of deep learning over the past decade, there has been a steady momentum of innovation and breakthroughs that convincingly push the limits and improve the state-of-the-art of both vision and language modeling. An interesting observation is that the research in the two areas starts to interact, with a significant growth in both the volume of publications and extensive applications. Meanwhile, many previous experiences have shown that this can naturally build up the circle of human intelligence.

关键词： Special issues and sections computer vision Question answering (information retrieval) Natural language processing Visual captioning

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FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field

IEEE Transactions on Field Robotics

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IEEE Transactions on Field robotics 2024年 1卷 1-26页

作者： Nikolaos Stathoulopoulos Björn Lindqvist Anton Koval Ali-Akbar Agha-Mohammadi George Nikolakopoulos Department of Computer Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Sweden Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

In this article, a novel approach for merging 3-D point cloud maps in the context of egocentric multirobot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned descriptors to efficiently detect overlap between maps, eliminating the need for the time-consuming global feature extraction and feature matching process. The estimated overlapping regions are used to calculate a homogeneous rigid transform, which serves as an initial condition for the general iterative closest point (GICP) point cloud registration algorithm to refine the alignment between the maps. The advantages of this approach include faster processing time, improved accuracy, and increased robustness in challenging environments. Furthermore, the effectiveness of the proposed framework is successfully demonstrated through multiple field missions of robot exploration in a variety of different underground environments.

关键词： Robots Point cloud compression Feature extraction Three-dimensional displays Robot sensing systems Robot kinematics Accuracy

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A Cooperative Security Monitoring Mechanism Aided by Optimal Multiple Slave Cluster Heads for UASNs

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China Communications 2023年第5期20卷 148-169页

作者： Yougan Chen Wei Wang Xiang Sun Yi Tao Zhenwen Liu Xiaomei Xu Key Laboratory of Underwater Acoustic Communication and Marine Information Technology Xiamen UniversityXiamen 361005China Shenzhen Research Institute of Xiamen University Shenzhen 518000China Dongshan Swire Marine Station College of Ocean and Earth SciencesXiamen UniversityXiamen 361102China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering University of New MexicoAlbuquerqueNM 87131USA College of Harbour and Coastal Engineering Jimei UniversityXiamen 361021China

As each cluster head(CH)sensor node is used to aggregate,fuse,and forward data from different sensor nodes in an underwater acoustic sensor network(UASN),guaranteeing the data security in a CH is very *** this paper,a cooperative security monitoring mechanism aided by multiple slave cluster heads(SCHs)is proposed to keep track of the data security of a *** designing a low complexity“equilateral triangle algorithm(ETA)”,the optimal SCHs(named as ETA-based multiple SCHs)are selected from the candidate SCHs so as to improve the dispersion and coverage of SCHs and achieve largescale data security *** addition,by analyzing the entire monitoring process,the close form expression of the probability of the failure attack identification for the SCHs with respect to the probability of attack launched by ordinary nodes is *** simulation results show that the proposed optimal ETA-based multiple SCH cooperation scheme has lower probability of the failure attack identification than that of the existing *** addition,the numerical simulation results are consistent with the theoretical analysis results,thus verifying the effectiveness of the proposed scheme.

关键词： underwater acoustic sensor networks data security cluster head nodes optimal location distribution of multiple slave cluster head nodes

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Data-Driven Analysis of Skin Cancer Classification with Convolutional Neural Networks for E-Health Applications

Data-Driven Analysis of Skin Cancer Classification with Conv...

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Ahmed, Imran Ahmad, Misbah Chehri, Abdellah Jeon, Gwanggil Anglia Ruskin University School of Computing and Information Science Cambridge United Kingdom Hartpury University Animal and Agriculture Department Gloucester United Kingdom University of the West of England Centre for Machine Vision Bristol Robotics Laboratory Bristol United Kingdom Department of Mathematics and Computer Science Canada Incheon National University Department of Embedded Systems Engineering Incheon Korea Republic of

ISBN: (纸本)9798350351255

This study explores the effectiveness of Convolutional Neural Networks (CNNs) in automatically classifying skin cancer for e-health applications. The trained model showcases impressive performance by leveraging the HAM10000 dataset, which includes a wide range of skin lesion images from seven different classes. The parameters and architecture of the CNN model are presented in a systematic manner, providing valuable insights into the reasoning behind its design. The model is optimized using the Adam optimizer and annealing techniques to ensure efficient convergence. The model's performance is assessed on validation and test datasets, showcasing an accuracy of 78.55% and 76.49%, respectively, for skin cancer classification. This study highlights the significant potential of CNN as a powerful tool for automating the diagnosis of skin cancer, which is in line with the growing trend of using deep learning for medical image analysis. © 2024 IEEE.

关键词： Electronic health record

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Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization

Gait Optimization for Legged Systems Through Mixed Distribut...

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IEEE-RAS International Conference on Humanoid Robots

作者： Ioannis Tsikelis Konstantinos Chatzilygeroudis Computer Engineering and Informatics Department University of Patras Patras Greece Department of Electrical & Computer Engineering Laboratory of Automation and Robotics (LAR) University of Patras Patras Greece Department of Mathematics Computational Intelligence Laboratory (CILab) University of Patras Patras Greece

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility and payload capacity, excelling in diverse environments while maintaining efficiency in transporting heavy loads. However, planning and optimizing gaits and gait sequences for these robots presents significant challenges due to the complexity of their dynamic motion and the numerous optimization variables involved. Traditional trajectory optimization methods address these challenges by formulating the problem as an optimization task, aiming to minimize cost functions, and to automatically discover contact sequences. Despite their structured approach, optimization-based methods face substantial difficulties, particularly because such formulations result in highly nonlinear and difficult to solve problems. To address these limitations, we propose CrEGOpt, a bi-level optimization method that combines traditional trajectory optimization with a black-box optimization scheme. CrEGOpt at the higher level employs the Mixed Distribution Cross-Entropy Method to optimize both the gait sequence and the phase durations, thus simplifying the lower level trajectory optimization problem. This approach allows for fast solutions of complex gait optimization problems. Extensive evaluation in simulated environments demonstrates that CrEGOpt can find solutions for biped, quadruped, and hexapod robots in under 10 seconds. This novel bi-level optimization scheme offers a promising direction for future research in automatic contact scheduling.

关键词： Pipelines Closed box Humanoid robots Graphics processing units Real-time systems Planning Quadrupedal robots Optimization Trajectory optimization Convergence

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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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HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re-Identification Implemented on Tour-Guide Robot

HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Lin, Zheyuan Huang, Min Wang, Wen Qin, Mengjie Li, Te Wan, Minhong Gu, Jason Zhu, Shiqiang 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

For service robots, person re-identification (ReID) and multi-pedestrian tracking (MPT) are vital to get a person's location and link identities across frames. Though their accuracy keeps improving, most work lacks consideration of the application scenario, haunted by limited space, constrained power supply, and demands of the real-time response during human-robot interaction. Some ReID models learn trivial or unrelated features, inhibiting the downstream tasks. To solve these issues, the efficient and light-weighted Head-Shoulder Mask aided ResNet (HSMR) is proposed. This model applies multi-task learning to enhance the feature extraction performance in the training stage without extra computational load during inference. The auxiliary task fully uses head-shoulder information to guide the network and focuses on the head region, which contains the identity information. In experiments on the Tour-Guide Robot Data Base (TGRDB), HSMR earned results better than ResNet-18 on the ReID task and was superior to the recent two-stream method on the MPT task. On the mobile hardware, inference reaches an average of 15.2 FPS, three times faster than the two-stream method. The code is released at https://***/ZhYLin99/HSMR. © 2022 IEEE.

关键词： Human robot interaction

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Data-Efficient Control Barrier Function Refinement

arXiv

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arXiv 2023年

作者： Dai, Bolun Huang, Heming Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computationally efficient way to obtain safe controls from a possibly unsafe performance controller. Despite its conceptual simplicity, constructing a valid CBF is well known to be challenging, especially for high-relative degree systems under nonconvex constraints. Recently, work has been done to learn a valid CBF from data based on a handcrafted CBF (HCBF). Even though the HCBF gives a good initialization point, it still requires a large amount of data to train the CBF network. In this work, we propose a new method to learn more efficiently from the collected data through a novel prioritized data sampling strategy. A priority score is computed from the loss value of each data point. Then, a probability distribution based on the priority score of the data points is used to sample data and update the learned CBF. Using our proposed approach, we can learn a valid CBF that recovers a larger portion of the true safe set using a smaller amount of data. The effectiveness of our method is demonstrated in simulation on a unicycle and a two-link arm. © 2023, CC BY.

关键词： Controllers

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Low-cost Mars Terrain Classification System Based on Coarse-grained Annotation

Low-cost Mars Terrain Classification System Based on Coarse-...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Jian Chen, Yeheng Zhu, Shiqiang Li, Yuehua Xie, Tian Gu, Jason 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

Due to communication latency with remote ground sites, automatic recognition of Mars terrain is essential for the path-planning of rovers. Currently, most vision-based terrain classification require thousands of fine-grained training samples, while the undefined terrains on Mars are difficult to be classified or fine-grained labeled. Actually, most of the terrain categories can only be coarse-grained labeled due to several limitations, such as overlapped sub-regions, blurred borders, etc. To solve this problem, CACMT (Coarse-grained Annotation-based Classification for Mars Terrain) is proposed to generate the global fine-grained classification map from the local coarse-grained data. Specifically, the complete pipeline is decomposed into (i) annotation rules with unique design, (ii) hierarchical feature fusion network for predicting sub-features of terrain (iii) and a generator for outputting dense terrain categories of Mars. Finally, the results of actual data on Mars demonstrate that the terrain sub-features can be successfully recognized and a dense terrain classification map can be generated applying only coarse-grained labeled images. © 2022 IEEE.

关键词： Motion planning

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