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15th Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2024

作者： Araújo, João C. G. Guerreiro, Bruno J. Oliveira, Luis B. da Silva, Filipe Ferreira CTS-UNINOVA and LASI Department of Electrical and Computer Engineering NOVA School of Science and Technology Caparica2829-516 Portugal Institute for Systems and Robotics LARSyS Lisbon1049-001 Portugal CEFITEC Department of Physics NOVA School of Science and Technology Caparica2829-516 Portugal

ISBN: (纸本)9783031638503

This work discusses the nonlinear modeling of healthy and cancer cell population growth under the influence of radiotherapy, and proposes predictive control techniques to determine the optimal dose for tumor control, while sparing surrounding healthy tissue. Radiation effects are modelled by a linear-quadratic formalism, coupled with a novel population-specific delayed dose response. Numerical simulations of the open- and closed-loop system are conducted, and robustness against model uncertainty is studied. Results illustrate the controller’s performance when dealing with imperfect information and unexpected system behavior, and how it can be tuned to produce the desired treatment outcome. However, optimal operation is conditioned by a limited prediction horizon, as well as strict adherence to treatment schedules and dose restrictions. © IFIP International Federation for Information Processing 2024.

关键词： Nonlinear systems

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Token Transformation Matters: Towards Faithful Post-Hoc Explanation for Vision Transformer

Token Transformation Matters: Towards Faithful Post-Hoc Expl...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Junyi Wu Bin Duan Weitai Kang Hao Tang Yan Yan Department of Computer Science Illinois Institute of Technology USA Robotics Institute Carnegie Mellon University USA

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

While Transformers have rapidly gained popularity in various computer vision applications, post-hoc explanations of their internal mechanisms remain largely unexplored. Vision Transformers extract visual information by representing image regions as transformed tokens and integrating them via attention weights. However, existing post-hoc explanation methods merely consider these attention weights, neglecting crucial information from the transformed tokens, which fails to accurately illustrate the rationales behind the models' predictions. To incorporate the influence of token transformation into interpretation, we propose TokenTM, a novel post-hoc explanation method that utilizes our introduced measurement of token transformation effects. Specifically, we quantify token transformation effects by measuring changes in token lengths and correlations in their directions pre- and post-transformation. Moreover, we develop initialization and aggregation rules to integrate both attention weights and token transformation effects across all layers, capturing holistic token contributions throughout the model. Experimental results on segmentation and perturbation tests demonstrate the superiority of our proposed TokenTM compared to state-of-the-art Vision Transformer explanation methods.

关键词： computer vision Visualization Correlation Computational modeling Perturbation methods Predictive models Length measurement

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Resilient Consensus in Opinion Dynamics Under Adversarial Epidemics

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IFAC-PapersOnLine 2023年第2期56卷 1841-1846页

作者： Tatsuya Masada Yuan Wang Hideaki Ishii Department of Computer Science Tokyo Institute of Technology Yokohama Japan Department of Robotics Hunan University Changsha China

In this paper, we discuss the opinion dynamics with bounded confidence in multi-agent systems under an infection spreading environment. The dynamics of the infection spreading processes follows the so-called susceptible-infected-recovered (SIR) model. Here, the infection induces faulty behaviors in the agents whose opinions may deviate from their true opinions. Cooperating with infection suppression policies and the resilient algorithm based on the mean sub-sequence reduced (MSR) approach, resilient consensus can be attained by the regular agents within a safe region. In particular, we establish sufficient conditions for resilient consensus of opinion dynamics with large bounded confidence. A numerical example is provided to verify the effectiveness of our proposed approach.

关键词： Multi-agent systems Opinion dynamics Resilient consensus SIR epidemic model

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PFAS Incineration: Known Unknowns, Reaction Simulation, and ML to Predict Product Properties

PFAS Incineration: Known Unknowns, Reaction Simulation, and ...

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2023 IEEE MIT Undergraduate Research Technology Conference, URTC 2023

作者： Soiffer, Duncan Pyorre, Tuomas Kenney, David Teixeira, Andrew Worcester Polytechnic Institute Department of Computer Science and Mathematical Sciences WorcesterMA United States Worcester Polytechnic Institute Department of Robotics Engineering WorcesterMA United States Worcester Polytechnic Institute Department of Chemical Engineering WorcesterMA United States

ISBN: (纸本)9798350308600

Per- and polyfluoroalkyl substances (PFAS) are a group of chemicals used for their impressive stability, a property which has also led them to be found polluting virtually every sector of the environment-including our own bodies. Presently, our ability to destroy PFAS is limited largely to incineration, whose products and side effects are poorly understood. Research on PFAS incineration is constrained by high experimental costs and difficulty in accurately measuring reaction products. This presents an opportunity for computer simulation and machine learning to provide valuable assistance. In this study, three kinds of thermal PFAS decomposition are simulated. Further, to broaden physical understanding of PFAS incineration products, a recent in-house machine learning model for predicting the octanol-water partition coefficient (LogP) of chemicals is improved and applied to simulation results. A decrease in LogP is observed in all treatments, with the most dramatic effect (-2 average LogP) observed in oxidative pyrolysis. © 2023 IEEE.

关键词： Machine learning

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REMOTELY CONTROLLABLE DNA MICROFLOW 26

REMOTELY CONTROLLABLE DNA MICROFLOW

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26th International Conference on Miniaturized Systems for Chemistry and Life sciences, MicroTAS 2022

作者： Udono, Hirotake Nomura, Shin-Ichiro M. Takinoue, Masahiro Department of Computer Science School of Computing Tokyo Institute of Technology Japan Department of Robotics Graduate School of Engineering Tohoku University Japan

ISBN: (纸本)9781733419048

Despite an emerging interest in fluid manipulation within confined environment such as biological cells and micro-scale biomimics, remotely controllable micro-scale flow remains unexplored. However, intracellular microfluidics is not compatible with established top-down microfluidic methods because of limited accessibility. Here, we demonstrate photoresponsive DNA fluid, condensate of DNA nanostructures (DNA motifs), as a versatile mechanistic tool for the remote control of microflow. Insertion site of azobenzene, introduced for photocontrollability, determines an extent of dynamic shift in binding enthalpy between DNA motifs, providing the underpinning mechanism for drastic and facile flow-mode switching. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized Systems for Chemistry and Life sciences. All rights reserved.

关键词： Remote control

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Robotic Anchoring System with Two Locomotion Modes for Preoperative Localization of Colorectal Cancer

Robotic Anchoring System with Two Locomotion Modes for Preop...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jiale Ren, Hao Yang, Liu Zhao, Haoxiang Zhang, Ruijia Shen, Yajing Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Kowloon Hong Kong City University of Hong Kong Department of Biomedical Engineering Kowloon Hong Kong Institute of Robotics and Automatic Information System Nankai University China

ISBN: (纸本)9781665481090

At present, colorectal cancer is one of the most prevalent cancers in the world. Colectomy serves as an effective treatment option for this disease. Preoperative localization plays a vital role in the colectomy procedure. However, traditional preoperative localization techniques have a greater risk of infection and lower accuracy. Moreover, it is difficult for the previous anchoring robots to adapt to the unstructured environment of the GI tract because of their limited movement abilities. To address these challenges, this work develops a robotic anchoring system with two locomotion modes which can anchor in the designated position. Driven by the external magnetic field, the robot can achieve slipping and flipping in the stomach. When the gradients of the field increase, the robot is triggered to deploy the anchoring mechanism in the intestine. Two in vitro experiments are conducted in the stomach and intestine phantoms. The first experiment demonstrates that the robot system can achieve both slipping and flipping in the stomach and its average position error is 2.96mm. The second experiment shows that the robot system can anchor in the designated position near the tumor and can resist a peristalsis force of 0.82N from the intestine wall. © 2024 IEEE.

关键词： Diseases

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MassSpecGym: A benchmark for the discovery and identification of molecules 38

MassSpecGym: A benchmark for the discovery and identificatio...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Bushuiev, Roman Bushuiev, Anton de Jonge, Niek F. Young, Adamo Kretschmer, Fleming Samusevich, Raman Heirman, Janne Wang, Fei Zhang, Luke Dührkop, Kai Ludwig, Marcus Haupt, Nils A. Kalia, Apurva Brungs, Corinna Schmid, Robin Greiner, Russell Wang, Bo Wishart, David S. Liu, Li-Ping Rousu, Juho Bittremieux, Wout Rost, Hannes Mak, Tytus D. Hassoun, Soha Huber, Florian van der Hooft, Justin J.J. Stravs, Michael A. Böcker, Sebastian Sivic, Josef Pluskal, Tomáš Institute of Organic Chemistry and Biochemistry The Czech Academy of Sciences Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Czech Republic Bioinformatics Group Wageningen University & Research Netherlands Department of Computer Science University of Toronto Canada Bioinformatics Institute for Computer Science Friedrich Schiller University Jena Germany Department of Computer Science University of Antwerp Belgium Department of computing science University of Alberta Canada Alberta Machine Intelligence Institute Canada Department of Molecular Genetics University of Toronto Canada Bright Giant GmbH Department of Computer Science Tufts University United States Department of Biological Sciences University of Alberta Canada Department of Computer Science Aalto University Finland Mass Spectrometry Data Center National Institute of Standards and Technology United States Department of Chemical and Biological Engineering Tufts University United States Centre for Digitalisation and Digitality University of Applied Sciences Düsseldorf Germany Department of Biochemistry University of Johannesburg South Africa Eawag Swiss Federal Institute of Aquatic Science and Technology Switzerland

The discovery and identification of molecules in biological and environmental samples is crucial for advancing biomedical and chemical sciences. Tandem mass spectrometry (MS/MS) is the leading technique for high-throughput elucidation of molecular structures. However, decoding a molecular structure from its mass spectrum is exceptionally challenging, even when performed by human experts. As a result, the vast majority of acquired MS/MS spectra remain uninterpreted, thereby limiting our understanding of the underlying (bio)chemical processes. Despite decades of progress in machine learning applications for predicting molecular structures from MS/MS spectra, the development of new methods is severely hindered by the lack of standard datasets and evaluation protocols. To address this problem, we propose MassSpecGym - the first comprehensive benchmark for the discovery and identification of molecules from MS/MS data. Our benchmark comprises the largest publicly available collection of high-quality labeled MS/MS spectra and defines three MS/MS annotation challenges: de novo molecular structure generation, molecule retrieval, and spectrum simulation. It includes new evaluation metrics and a generalization-demanding data split, therefore standardizing the MS/MS annotation tasks and rendering the problem accessible to the broad machine learning community. MassSpecGym is publicly available at https://***/pluskal-lab/MassSpecGym. © 2024 Neural information processing systems foundation. All rights reserved.

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Fabrication of Sensorsless Automated Guided Vehicle for Small Warehouse Rack Management

Fabrication of Sensorsless Automated Guided Vehicle for Smal...

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2025 IEEE International Conference on Computational, Communication and Information Technology, ICCCIT 2025

作者： Sahu, Neelesh Kumar Chaturvedi, Piyush Gupta, Vaishali Patel, Ruchi Verma, Ashok Shrivastava, Megha Gyan Ganga Institute of Technology and Sciences Artificial Intelligence and Robotics MP Jabalpur India IPS Academy Institute of Engineering & Science Department of Computer Sc. & Engg. MP Indore India Gyan Ganga Institute of Technology and Sciences MP Jabalpur India Medicaps University Department of Mathematics MP Indore India

ISBN: (纸本)9798331512965

Automated guided vehicles (AGVs) are an essential part of today's logistics networks because they save time, reduce wear and maintenance expenses, and maximize efficiency in route *** creation of AGVthat is capable of effectively managing warehouse racks without the utilization of sensors is the primary emphasis of this project. In order to travel and carry out duties, the AGVruns on predetermined pathways and makes use of a button-based interface. For the purpose of offering an efficient and costeffective solution for the automation of small warehouses, it is outfitted with a lever mechanism that is operated by a servo motor and features the ability to connect and move racks. © 2025 IEEE.

关键词： Automatic guided vehicles

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Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning

Learning Generalizable Manipulation Policy with Adapter-Base...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kai Lu Kim Tien Ly William Hebberd Kaichen Zhou Ioannis Havoutis Andrew Markham Department of Computer Science University of Oxford Oxford Robotics Institute University of Oxford Oxford UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This study investigates the use of adapters in reinforcement learning for robotic skill generalization across multiple robots and tasks. Traditional methods are typically reliant on robot-specific retraining and face challenges such as efficiency and adaptability, particularly when scaling to robots with varying kinematics. We propose an alternative approach where a disembodied (virtual) hand manipulator learns a task (i.e., an abstract skill) and then transfers it to various robots with different kinematic constraints without retraining the entire model (i.e., the concrete, physical implementation of the skill). Whilst adapters are commonly used in other domains with strong supervision available, we show how weaker feedback from robotic control can be used to optimize task execution by preserving the abstract skill dynamics whilst adapting to new robotic domains. We demonstrate the effectiveness of our method with experiments conducted in the SAPIEN ManiSkill environment, showing improvements in generalization and task success rates. All code, data, and additional videos are at this GitHub link: https://***/genrob.

关键词： Training Hands Adaptation models Kinematics Reinforcement learning Manipulators Robots Intelligent robots Videos Software development management

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A deep convolutional neural network for diabetic retinopathy detection via mining local and long-range dependence

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CAAI Transactions on Intelligence Technology 2024年第1期9卷 153-166页

作者： Xiaoling Luo Wei Wang Yong Xu Zhihui Lai Xiaopeng Jin Bob Zhang David Zhang Shenzhen Key Laboratory of Visual Object Detection and Recognition Harbin Institute of TechnologyShenzhenChina Peng Cheng Laboratory ShenzhenChina Shenzhen Institute of Artificial Intelligence and Robotics for Society ShenzhenChina College of Big Data and Internet Shenzhen Technology UniversityShenzhenChina The Department of Computer and Information Science University of MacaoMacaoMacaoChina The Chinese University of Hong Kong(Shenzhen) ShenzhenChina

Diabetic retinopathy(DR),the main cause of irreversible blindness,is one of the most common complications of *** present,deep convolutional neural networks have achieved promising performance in automatic DR detection *** convolution operation of methods is a local cross-correlation operation,whose receptive field de-termines the size of the local neighbourhood for ***,for retinal fundus photographs,there is not only the local information but also long-distance dependence between the lesion features(*** and exudates)scattered throughout the whole *** proposed method incorporates correlations between long-range patches into the deep learning framework to improve DR ***-wise re-lationships are used to enhance the local patch features since lesions of DR usually appear as *** Long-Range unit in the proposed network with a residual structure can be flexibly embedded into other trained *** experimental results demon-strate that the proposed approach can achieve higher accuracy than existing state-of-the-art models on Messidor and EyePACS datasets.

关键词： image classification medical image processing pattern recognition

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