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Correction: Deep learning radiomics of multimodal ultrasound for classifying metastatic cervical lymphadenopathy into primary cancer sites: a feasibility study

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Ultraschall in der Medizin - European Journal of Ultrasound 2024年第3期45卷 e2-e2页

作者： Yangyang Zhu Zheling Meng Hao Wu Xiao Fan Wenhao lv Jie Tian Kun Wang Fang Nie Medical Center of Ultrasound Lanzhou University Second Hospital Lanzhou China CAS Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of the Chinese Academy of Sciences School Beijing China Gansu Province Medical Engineering Research Center for Intelligence Ultrasound Lanzhou China

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Sparse Markov Decision Processes with Causal Sparse Tsallis Entropy Regularization for Reinforcement Learning

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IEEE Robotics and automation Letters 2018年第3期3卷 1466-1473页

作者： Lee, Kyungjae Choi, Sungjoon Oh, Songhwai Department of Electrical and Computer Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of

In this letter, a sparse Markov decision process (MDP) with novel causal sparse Tsallis entropy regularization is proposed. The proposed policy regularization induces a sparse and multimodal optimal policy distribution of a sparse MDP. The full mathematical analysis of the proposed sparse MDP is provided. We first analyze the optimality condition of a sparse MDP. Then, we propose a sparse value iteration method that solves a sparse MDP and then prove the convergence and optimality of sparse value iteration using the Banach fixed-point theorem. The proposed sparse MDP is compared to soft MDPs that utilize causal entropy regularization. We show that the performance error of a sparse MDP has a constant bound, while the error of a soft MDP increases logarithmically with respect to the number of actions, where this performance error is caused by the introduced regularization term. In experiments, we apply sparse MDPs to reinforcement learning problems. The proposed method outperforms existing methods in terms of the convergence speed and performance. © 2016 IEEE.

关键词： Markov processes

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An Adaptive Strategy via Reinforcement Learning for the Prisoner＇s Dilemma Game

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 301-310页

作者： Lei Xue Changyin Sun Donald Wunsch Yingjiang Zhou Fang Yu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing 210096 China Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO 65409 USA College of Automation Nanjing University of Posts and Telecommunications Nanjing 210023 China Institute of Logistics Science and Engineering Shanghai Maritime University Shanghai 210096 China IEEE

The iterated prisoner's dilemma(IPD) is an ideal model for analyzing interactions between agents in complex networks. It has attracted wide interest in the development of novel strategies since the success of tit-for-tat in Axelrod's tournament. This paper studies a new adaptive strategy of IPD in different complex networks, where agents can learn and adapt their strategies through reinforcement learning method. A temporal difference learning method is applied for designing the adaptive strategy to optimize the decision making process of the agents. Previous studies indicated that mutual cooperation is hard to emerge in the IPD. Therefore, three examples which based on square lattice network and scale-free network are provided to show two features of the adaptive strategy. First, the mutual cooperation can be achieved by the group with adaptive agents under scale-free network, and once evolution has converged mutual cooperation, it is unlikely to shift. Secondly, the adaptive strategy can earn a better payoff compared with other strategies in the square network. The analytical properties are discussed for verifying evolutionary stability of the adaptive strategy.

关键词： Complex network prisoner’s dilemma reinforcement learning temporal differences learning

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Global, regional, and national age-sex-specific burden of diarrhoeal diseases, their risk factors, and aetiologies, 1990-2021, for 204 countries and territories: a systematic analysis for the Global Burden of Disease Study 2021

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LANCET INFECTIOUS DISEASES 2025年第5期25卷 519-536页

作者： Kyu, Hmwe Hmwe Vongpradith, Avina Dominguez, Regina-Mae Villanueva Ma, Jianing Albertson, Samuel B. Novotney, Amanda Khalil, Ibrahim A. Troeger, Christopher E. Doxey, Matthew C. Ledesma, Jorge R. Sirota, Sarah Brooke Bender, Rose Grace Swetschinski, Lucien R. Cunningham, Matthew Spearman, Sandra Abate, Yohannes Habtegiorgis Abd Al Magied, Abdallah H. A. Abd ElHafeez, Samar Abdoun, Meriem Abera, Bayeh Abidi, Hassan Aboagye, Richard Gyan Abtew, Yonas Derso Abualruz, Hasan Abu-Gharbieh, Eman Abukhadijah, Hana J. Aburuz, Salahdein Addo, Isaac Yeboah Adekanmbi, Victor Adetunji, Charles Oluwaseun Oluwaseun Adeyeoluwa, Temitayo Esther Adhikary, Ripon Kumar Adnani, Qorinah Estiningtyas Sakilah Adra, Saryia Adzigbli, Leticia Akua Afolabi, Aanuoluwapo Adeyimika Afzal, Muhammad Sohail Afzal, Saira Agampodi, Suneth Buddhika Agide, Feleke Doyore Ahinkorah, Bright Opoku Ahmad, Aqeel Ahmad, Sajjad Ahmed, Ali Ahmed, Ayman Ahmed, Haroon Ahmed, Saeed Akinosoglou, Karolina Akter, Ema Al Awaidy, Salah Alajlani, Muaaz M. Alam, Khurshid Albakri, Almaza Albashtawy, Mohammed Aldhaleei, Wafa A. Algammal, Abdelazeem M. Al-Gheethi, Adel Ali Saeed Ali, Abid Syed Shujait Ali Ali, Waad Alif, Sheikh Mohammad Aljunid, Syed Mohamed Al-Marwani, Sabah Almazan, Joseph Uy Al-Mekhlafi, Hesham M. Almustanyir, Sami Alqahatni, Saleh A. Alrawashdeh, Ahmad Al-Rifai, Rami H. Alsabri, Mohammed A. Altaf, Awais Altirkawi, Khalid A. Alvis-Guzman, Nelson Alvis-Zakzuk, Nelson J. Alyahya, Mohammad Sharif Ibrahim Al-Zyoud, Walid A. Amugsi, Dickson A. Andrei, Catalina Liliana Antoni, Sebastien Anuoluwa, Boluwatife Stephen Anuoluwa, Iyadunni Adesola Anwari, Saleha Anwar Palwasha Apostol, Geminn Louis Carace Arabloo, Jalal Arafat, Mosab Aravkin, Aleksandr Y. Areda, Demelash Aregawi, Brhane Berhe Aremu, Abdulfatai Arndt, Michael Benjamin Asgedom, Akeza Awealom Ashraf, Tahira Athari, Seyyed Shamsadin Atreya, Alok Ayele, Firayad Azadi, Davood Azhar, Gulrez Shah Aziz, Shahkaar Azzam, Ahmed Y. Babu, Giridhara Rathnaiah Taghanaki, Pegah Bahrami Bahramian, Saeed Balakrishna Department of Health Metrics Sciences School of Medicine Institute for Health Metrics and Evaluation University of Washington Seattle 98195 WA United States Institute for Health Metrics and Evaluation University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Center for Biostatistics Ohio State University Columbus OH United States Department of Global Health University of Washington Seattle WA United States Urban Indian Health Institute Seattle Indian Health Board Seattle WA United States School of Medicine Yale University New Haven CT United States Department of Clinical Governance and Quality Improvement Aleta Wondo General Hospital Aleta Wondo Ethiopia College of Pharmacy Ajman University Ajman United Arab Emirates Department of Epidemiology Alexandria University Alexandria Egypt Department of Medicine University of Sétif Algeria Sétif Algeria Department of Health Sétif Algeria Department of Medical Microbiology Bahir Dar University Bahir Dar Ethiopia Department of Biology Ghent University Ghent Belgium Laboratory Technology Sciences Department Yasuj University of Medical Sciences Yasuj Iran Department of Family and Community Health University of Health and Allied Sciences Ho Ghana Department of Biomedical Science Arba Minch University Arba Minch Ethiopia Department of Nursing Al Zaytoonah University of Jordan Amman Jordan Amman Jordan Department of Clinical Sciences Sharjah United Arab Emirates Department of Biopharmaceutics and Clinical Pharmacy University of Jordan Amman Jordan Medical Research Center-Academic Health System Hamad Medical Corporation Doha Qatar College of Pharmacy University of Jordan Amman Jordan Department of Therapeutics United Arab Emirates University Al Ain United Arab Emirates School of Medicine University of Sydney Sydney NSW Australia Centre for Social Research in Health University of New South Wales Syd

Background Diarrhoeal diseases claim more than 1 million lives annually and are a leading cause of death in children younger than 5 years. Comprehensive global estimates of the diarrhoeal disease burden for specific age groups of children younger than 5 years are scarce, and the burden in children older than 5 years and in adults is also understudied. We used results from the Global Burden of Diseases, Injuries, and Risk Factors Study 2021 to assess the burden of, and trends in, diarrhoeal diseases overall and attributable to 13 pathogens, as well as the contributions of associated risk factors, in children and adults in 204 countries and territories from 1990 to 2021. Methods We used the Cause of Death Ensemble modelling strategy to analyse vital registration data, verbal autopsy data, mortality surveillance data, and minimally invasive tissue sampling data. We used DisMod-MR (version 2.1), a Bayesian meta-regression tool, to analyse incidence and prevalence data identified via systematic reviews, population-based surveys, and claims and inpatient data. We calculated diarrhoeal disability-adjusted life-years (DALYs) as the sum of years of life lost (YLLs) and years lived with disability (YLDs) for each location, year, and age-sex group. For aetiology estimation, we used a counterfactual approach to quantify population-attributable fractions (PAFs). Additionally, we estimated the diarrhoeal disease burden attributable to the independent effects of risk factors using the comparative risk assessment framework. Findings In 2021, diarrhoeal diseases caused an estimated 1.17 million (95% uncertainty interval 0.793-1.62) deaths globally, representing a 60.3% (50.6-69.0) decrease since 1990 (2.93 million [2.31-3.73] deaths). The most pronounced decline was in children younger than 5 years, with a 79.2% (72.4-84.6) decrease in diarrhoeal deaths. Global YLLs also decreased substantially, from 186 million (147-221) in 1990 to 51.4 million (39.9-65.9) in 2021. In 2021, an esti

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System modeling and simulation for flap system power drive unit of commercial aircraft

System modeling and simulation for flap system power drive u...

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CSAA/IET International Conference on Aircraft Utility systems (AUS 2020)

作者： T. Liu Y. Zhang Y. Qian J. Ju W. Yu Shanghai Aircraft Design and Research Institute Department of Flight Control System China Commercial Aircraft Corporation of China Ltd. Department of Science and Technology Management China University of Waterloo Department of Mechanical and Mechatronics Engineering Canada Shanghai Jiaotong University Department of Automation School of Electronic Information and Electrical Engineering China

This paper describes the use of mathematical modelling within flap system power driving unit for commercial aircraft. The modelling process is described from the architecture of flap system, the principle and mathematical model of electrical motors and its control loop structure. The model of power driving unit and its external load system are developed in Simulink. Basic retraction and deployment function of flap has been performed, and the response of power driving unit under a typical jam failure of the actuator is provided. This work highlights the advantages of system modelling and simulation to support the load analysis of driveline components (e.g. actuators, torque shafts, etc.) within the conceptual design phase.

关键词： mechanical engineering computing control engineering computing actuators aerospace components jamming design engineering aircraft power systems machine control computer simulation

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A Smartphone-Based Networked control Platform: Design and Implementation

A Smartphone-Based Networked Control Platform: Design and Im...

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第三十九届中国控制会议

作者： Dong-Liang Chen Guo-Ping Liu College of Mechanical and Electronic Engineering Dalian Minzu University Center for Control Theory and Guidance Technology Harbin Institute of Technology Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission Department of Artificial Intelligence and Automation Wuhan University

The rapid development of embedded systems and IT makes electrical devices functional and tiny. This progress is especially reflected in the smartphone industry. In this paper, a novel applicable wireless control platform based on smartphones is proposed. The system is of high value due to the advantages of smartphones such as mobility, resourcefulness, tiny and *** are designed in this paper to guarantee the real-timeness of the controller. To ease the controller implementation,code auto-generation technique is integrated to the platform, which is able to convert Simulink block diagrams to executable files for Android smartphones. In addition, protocols are designed to transfer data to remote workstations such that the control system can be supervised and monitored on-line. At last, the control platform is tested on a spacecraft simulator. The experimental results validate the effectiveness and reliability of the designed platform.

关键词： Networked control Platform Smartphones Real Time control

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Unsupervised learning of depth, optical flow and pose with occlusion from 3D geometry

arXiv

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arXiv 2020年

作者： Wang, Guangming Zhang, Chi Wang, Hesheng Wang, Jingchuan Wang, Yong Wang, Xinlei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Beijing Institute of Control Engineering Beijing100080 China DeepBlue Academy of Sciences Shanghai200240 China

—In autonomous driving, monocular sequences contain lots of information. Monocular depth estimation, camera ego-motion estimation and optical flow estimation in consecutive frames are high-profile concerns recently. By analyzing tasks above, pixels in the first frame are modeled into three parts: the rigid region, the non-rigid region, and the occluded region. In joint unsupervised training of depth and pose, we can segment the occluded region explicitly. The occlusion information is used in unsupervised learning of depth, pose and optical flow, as the image reconstructed by depth, pose and flow will be invalid in occluded regions. A less-than-mean mask is designed to further exclude the mismatched pixels which are interfered with motion or illumination change in the training of depth and pose networks. This method is also used to exclude some trivial mismatched pixels in the training of the flow net. Maximum normalization is proposed for smoothness term of depth-pose networks to restrain degradation in textureless regions. In the occluded region, as depth and camera motion can provide more reliable motion estimation, they can be used to instruct unsupervised learning of flow. Our experiments in KITTI dataset demonstrate that the model based on three regions, full and explicit segmentation of occlusion, rigid region and non-rigid region with corresponding unsupervised losses can improve performance on three tasks significantly. Copyright © 2020, The Authors. All rights reserved.

关键词： Unsupervised learning

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A Guide for Human Walking Model and control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

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第32届中国控制与决策会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

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Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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Three-Dimensional Path Following control of an Underactuated Robotic Dolphin Using Deep Reinforcement Learning

Three-Dimensional Path Following Control of an Underactuated...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jincun Liu Zhenna Liu Zhengxing Wu Junzhi Yu State Key Laboratory for Turbulence and Complex Systems BIC-ESAT College of Engineering Peking University Beijing China Shandong Labor Vocational and Technical College Jinan China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In this paper, a novel improved deep reinforcement learning (DRL) strategy is utilized to solve the three-dimensional path-following control problem for an underactuated robotic dolphin in order to meet the complex and intractable hydrodynamic model. Firstly, a brief overview of the developed robotic dolphin consisting of two-degree-of-freedom paired pectoral fins and the slider-crank-based flapping two-joint tail is introduced. After that, path-following controller includes a novel lookahead-based guidance law, decoupling motion strategy, and a deep deterministic policy gradient algorithm based on the the prior knowledge is proposed. The novel lookahead based 3-D LOS guidance law is employed to transform the 3-D waypoints to the desired heading and pitch angles with its simplicity, intuitiveness, and small computational footprint. Finally, the effectiveness of the proposed controller is demonstrated after numerous simulations. It will offer a rich vein of insight for the real-time task execution in bioinspired underwater robots.

关键词： Robots Dolphins Sports Oscillators Biological system modeling Turning Aerospace electronics

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