检索结果-内蒙古大学图书馆

IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Frank Kulwa Oluwarotimi Williams Samuel Mojisola Grace Asogbon Tolulope Tofunmi Oyemakinde Olumide Olayinka Obe Guanglin Li CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) Shenzhen Guangdong China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen Guangdong China School of Computing and Engineering University of Derby Derby United Kingdom Department of Computer Science Federal University of Technology Akure Nigeria

A major barrier to the commercialization of pattern recognition (PR)-based myoelectric prostheses is the lack of robustness to confounding factors such as electrode shift which has been lingering for years. To overcome this challenge, a novel Duo-Stage Convolutional Neural Network (DS-CNN) is proposed. The DS-CNN is comprised of two cascaded stages in which the first stage deciphers the occurrence of a particular kind of shift upon which a requisite CNN model is triggered in the second stage for accurate decoding of individual motion intent, which is necessary for initiating robust control of the prostheses. The proposed scheme works on raw EMG signals as input which reduces the preprocessing time that would be required in conventional machine learning-based PR schemes, to effectively mitigate both transverse and longitudinal shifts using the same network architecture. This approach was validated for four distinct electrode shift conditions (with shifts in the range of 7.50mm-10.05mm) in a dataset obtained from 18 able-bodied subjects that performed 8 classes of targeted hand gestures. The experimental results show that the proposed dual-stage driven deep neural network model can adequately resolve the effects of electrode shift with classification accuracy near the No-shift scenario (< 1.70% difference between shift mitigation and No shift scenarios). These outcomes suggest that our method can provide a practical solution for adaptation to electrode shift, thus improving the robustness of the EMG pattern recognition systems in both clinical and commercial settings.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A decision aid for the port placement problem in robot-assisted hysterectomy

引用

Laparoscopic, Endoscopic and Robotic Surgery 2023年第2期6卷 43-56页

作者： Mohammad R.Maddah Jean-Marc Classe Isabelle Jaffre Keith A.Watson Katherine S.Lin Damien Chablat Cedric Dumas Caroline G.L.Cao Department of Biomedical Industrialand Human Factors EngineeringWright State University3640 Colonel Glenn HwyDaytonOHUSA Department of Automatique Productique et InformatiqueIMT Atlantique4 Rue Alfred KastlerNantesFrance Laboratoire des Sciences Du Numerique de Nantes(LS2N) 2 Chemin de La Houssini?ereNantesFrance Centre Rene Gauducheau ICO Institut de Cancerologie de L'Ouest BD Professeur Jacques MonodSaint-HerblainFrance Brethen Center for Surgical Advancement in Robotics and Minimally Invasive Surgery Miami Valley HospitalOne Wyoming StreetDaytonOHUSA Department of Computer Science IMT AtlantiqueTechnopole Brest-IroiseBrestFrance Laboratoire des Sciences et Techniques de L'information de La Communication et de La Connaissance(Lab-STICC) Technopole Brest-IroiseBrestFrance Future Industries Institute STEMUniversity of South AustraliaMawson Lakes BlvdMawson LakesAustralia

Objective:In robot-assisted minimally invasive surgery,proper port positioning ensures that surgical tools have adequate access to the surgical site and avoids mid-surgery collisions of robotic *** date,several guidelines have been proposed for more accurate port ***,challenges remain due to variations in patient morphology,anatomy,and,in particular,organ displacement due to insuf-flation in certain laparoscopic *** objective of this study was to design and develop a de-cision aid for optimal port placement in robot-assisted hysterectomy that accounts for patient variability and organ displacement due to ***:Three components were constructed:a robot model,a patient-specific model,and an opti-mization *** three components were integrated,and the system was verified using four different patients who underwent robotic *** verified,two expert surgeons were asked to evaluate the decision aid for face and construct validity.A usability test was conducted using a torso phantom with target organs located in three different *** expert surgeons performed a simulated hysterectomy task with and without the decision aid to evaluate performance and ***:The optimization algorithm was sensitive to individual differences in anatomy in the four *** surgeons successfully established face and construct *** test results showed a 28%-40% reduction in time to task completion with the optimized ports compared to expert-determined port locations without using the decision ***:The decision aid,based on an individualized patient-specific model,robot model,and optimization algorithm,was shown to be effective at addressing the challenges of displaced organs due to insufflation in robot-assisted *** face and construct validity of the decision aid was established by expert surgeons,while efficiency gains in task performance were demonstrated experim

关键词： Optimization Planning tool Patient model Robotic hysterectomy

来源：评论

学校读者我要写书评

暂无评论

Temporal memory relation network for workflow recognition from surgical video

arXiv

引用

arXiv 2021年

作者： Jin, Yueming Long, Yonghao Chen, Cheng Zhao, Zixu Dou, Qi Heng, Pheng-Ann Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering T Stone Robotics Institute Chinese University of Hong Kong Hong Kong Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

Automatic surgical workflow recognition is a key component for developing context-aware computer-assisted systems in the operating theatre. Previous works either jointly modeled the spatial features with short fixed-range temporal information, or separately learned visual and long temporal cues. In this paper, we propose a novel end-to-end temporal memory relation network (TMRNet) for relating long-range and multi-scale temporal patterns to augment the present features. We establish a long-range memory bank to serve as a memory cell storing the rich supportive information. Through our designed temporal variation layer, the supportive cues are further enhanced by multi-scale temporal-only convolutions. To effectively incorporate the two types of cues without disturbing the joint learning of spatio-temporal features, we introduce a non-local bank operator to attentively relate the past to the present. In this regard, our TMRNet enables the current feature to view the long-range temporal dependency, as well as tolerate complex temporal extents. We have extensively validated our approach on two benchmark surgical video datasets, M2CAI challenge dataset and Cholec80 dataset. Experimental results demonstrate the outstanding performance of our method, consistently exceeding the state-of-the-art methods by a large margin (e.g., 67.0% v.s. 78.9% Jaccard on Cholec80 dataset). Copyright © 2021, The Authors. All rights reserved.

关键词： Surgery

来源：评论

学校读者我要写书评

暂无评论

Symbolic Models for Interconnected Impulsive Systems

Symbolic Models for Interconnected Impulsive Systems

引用

IEEE Conference on Decision and Control

作者： Sadek Belamfedel Alaoui Adnane Saoud Pushpak Jagtap Abdalla Swikir School of Computer Science at Mohammed VI Polytechnical University Benguerir Morocco Centrale-Supelec University Paris-Saclay Gif-sur-Yvette France Robert Bosch Center for Cyber-Physical Systems Indian Institute of Science Bangalore Chair of Robotics and Systems Intelligence and MIRMI Technical University Munich (TUM) Munich Germany Department of Electrical and Electronic Engineering Omar Al-Mukhtar University (OMU) Albaida Libya Centre for Tactile Internet with Human-in-the-Loop (CeTI) Dresden Germany

In this paper, we present a compositional method-ology for constructing symbolic models of nonlinear interconnected impulsive systems. Our approach relies on the concept of “alternating simulation function” to establish a relation-ship between concrete subsystems and their symbolic models. Assuming some small-gain type conditions, we develop an alternating simulation function between the symbolic models of individual subsystems and those of the nonlinear interconnected impulsive systems. To construct symbolic models of nonlinear impulsive subsystems, we propose an approach that depends on incremental input-to-state stability and forward completeness properties. Finally, we demonstrate the advantages of our framework through a case study.

关键词：

来源：评论

学校读者我要写书评

暂无评论

AnyTSR: Any-Scale Thermal Super-Resolution for UAV

arXiv

引用

arXiv 2025年

作者： Li, Mengyuan Fu, Changhong Lu, Ziyu Zhang, Zijie Zuo, Haobo Yao, Liangliang School of Mechanical Engineering Tongji University Shanghai201804 China Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University Shanghai201804 China Department of Computer Science University of Hong Kong Hong Kong999077 Hong Kong

Thermal imaging can greatly enhance the application of intelligent unmanned aerial vehicles (UAV) in challenging environments. However, the inherent low resolution of thermal sensors leads to insufficient details and blurred boundaries. Super-resolution (SR) offers a promising solution to address this issue, while most existing SR methods are designed for fixed-scale SR. They are computationally expensive and inflexible in practical applications. To address above issues, this work proposes a novel any-scale thermal SR method (AnyTSR) for UAV within a single model. Specifically, a new image encoder is proposed to explicitly assign specific feature code to enable more accurate and flexible representation. Additionally, by effectively embedding coordinate offset information into the local feature ensemble, an innovative any-scale upsampler is proposed to better understand spatial relationships and reduce artifacts. Moreover, a novel dataset (UAV-TSR), covering both land and water scenes, is constructed for thermal SR tasks. Experimental results demonstrate that the proposed method consistently outperforms state-of-the-art methods across all scaling factors as well as generates more accurate and detailed high-resolution images. The code is located at https:// ***/vision4robotics/AnyTSR. Copyright © 2025, The Authors. All rights reserved.

关键词： Drones

来源：评论

学校读者我要写书评

暂无评论

Intelligent upper-limb exoskeleton integrated with soft wearable bioelectronics and deep-learning for human intention-driven strength augmentation based on sensory feedback

arXiv

引用

arXiv 2023年

作者： Lee, Jinwoo Kwon, Kangkyu Soltis, Ira Matthews, Jared Lee, Yoon-Jae Kim, Hojoong Romero, Lissette Zavanelli, Nathan Kwon, Youngjin Kwon, Shinjae Lee, Jimin Na, Yewon Lee, Sung Hoon Yu, Ki Jun Shinohara, Minoru Hammond, Frank L. Yeo, Woon-Hong Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul04620 Korea Republic of IEN Center for Human-Centric Interfaces and Engineering Institute for Electronics and Nanotechnology Georgia Institute of Technology AtlantaGA30332 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States School of Industrial Design Georgia Institute of Technology AtlantaGA30332 United States School of Electrical and Electronic Engineering Yonsei University Seoul03722 Korea Republic of School of Biological Sciences Georgia Institute of Technology AtlantaGA30332 United States Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of Medicine AtlantaGA30332 United States Institute for Materials Parker H. Petit Institute for Bioengineering and Biosciences Neural Engineering Center Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332 United States

The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper extremities. Here, we introduce an intelligent upper-limb exoskeleton system that uses cloud-based deep learning to predict human intention for strength augmentation. The embedded soft wearable sensors provide sensory feedback by collecting real-time muscle signals, which are simultaneously computed to determine the user's intended movement. The cloud-based deep-learning predicts four upper-limb joint motions with an average accuracy of 96.2% at a 500-550 millisecond response rate, suggesting that the exoskeleton operates just by human intention. In addition, an array of soft pneumatics assists the intended movements by providing 897 newton of force while generating displacement of 87 millimeter at maximum. Collectively, the intent-driven exoskeleton can reduce human muscle activities by 3.7 times on average compared to the unassisted *** Codes 68T40 (Primary) 92C55, 68T99 (Secondary) Copyright © 2023, The Authors. All rights reserved.

关键词： Sensory feedback

来源：评论

学校读者我要写书评

暂无评论

Efficient State Abstraction using Object-centered Predicates for Manipulation Planning

arXiv

引用

arXiv 2020年

作者： Agostini, Alejandro Lee, Dongheui Human-centered Assistive Robotics Department of Electrical and Computer Engineering Technical University of Munich Munich80333 Germany Intelligent and Interactive Systems Department of Computer Science University of Innsbruck Innsbruck6020 Austria Institute of Robotics and Mechatronics Wessling Germany

The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done from an observer perspective of a finite set of object relations and orientations that only satisfy geometrical constraints to execute experiments in laboratory conditions. This restricts the possible changes with manipulation actions in the object configuration space to those compatible with that particular external reference definitions, which greatly limits the spectrum of possible manipulations. To tackle these limitations we propose an object-centered representation that permits characterizing a much wider set of possible changes in configuration spaces than the traditional observer perspective counterpart. Based on this representation, we define universal planning operators for picking and placing actions that permits generating plans with geometric and force consistency in manipulation tasks. This object-centered description is directly obtained from the poses and bounding boxes of objects using a novel learning mechanisms that permits generating signal-symbols relations without the need of handcrafting these relations for each particular scenario. Copyright © 2020, The Authors. All rights reserved.

关键词： Wave functions

来源：评论

学校读者我要写书评

暂无评论

BrainIB: Interpretable Brain Network-based Psychiatric Diagnosis with Graph Information Bottleneck

arXiv

引用

arXiv 2022年

作者： Zheng, Kaizhong Yu, Shujian Li, Baojuan Jenssen, Robert Chen, Badong National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China The Department of Computer Science Vrije Universiteit Amsterdam Amsterdam and the Machine Learning Group UiT - Arctic University of Norway Tromsø Norway The Machine Learning Group UiT - Arctic University of Norway Tromsø Norway The School of Biomedical Engineering Fourth Military Medical University Xi’an China

Developing a new diagnostic models based on the underlying biological mechanisms rather than subjective symptoms for psychiatric disorders is an emerging consensus. Recently, machine learning-based classifiers using functional connectivity (FC) for psychiatric disorders and healthy controls are developed to identify brain markers. However, existing machine learning-based diagnostic models are prone to over-fitting (due to insufficient training samples) and perform poorly in new test environment. Furthermore, it is difficult to obtain explainable and reliable brain biomarkers elucidating the underlying diagnostic decisions. These issues hinder their possible clinical applications. In this work, we propose BrainIB, a new graph neural network (GNN) framework to analyze functional magnetic resonance images (fMRI), by leveraging the famed Information Bottleneck (IB) principle. BrainIB is able to identify the most informative edges in the brain (i.e., subgraph) and generalizes well to unseen data. We evaluate the performance of BrainIB against 3 baselines and 7 state-of-the-art brain network classification methods on three psychiatric datasets and observe that our BrainIB always achieves the highest diagnosis accuracy. It also discovers the subgraph biomarkers which are consistent to clinical and neuroimaging findings. The source code and implementation details of BrainIB are freely available at GitHub repository (https://***/SJYuCNEL/brain-and-Information-Bottleneck/). Copyright © 2022, The Authors. All rights reserved.

关键词： Graph neural networks

来源：评论

学校读者我要写书评

暂无评论

Investigating an effective character-level embedding in Korean sentence classification 33

Investigating an effective character-level embedding in Kore...

引用

33rd Pacific Asia Conference on Language, Information and Computation, PACLIC 2019

作者： Cho, Won Ik Kim, Seok Min Kim, Nam Soo Human Interface Laboratory Department of Electrical and Computer Engineering and INMC Seoul National University 1 Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of

Different from the writing systems of many Romance and Germanic languages, some languages or language families show complex conjunct forms in character composition. For such cases where the conjuncts consist of the components representing consonant(s) and vowel, various character encoding schemes can be adopted beyond merely making up a one-hot vector. However, there has been little work done on intra-language comparison regarding performances using each representation. In this study, utilizing the Korean language which is character-rich and agglutinative, we investigate an encoding scheme that is the most effective among Jamo1-level one-hot, character-level one-hot, character-level dense, and character-level multi-hot. Classification performance with each scheme is evaluated on two corpora: one on binary sentiment analysis of movie reviews, and the other on multiclass identification of intention types. The result displays that the character-level features show higher performance in general, although the Jamo-level features may show compatibility with the attention-based models if guaranteed adequate parameter set size. Copyright © 2019 Won Ik Cho, Seok Min Kim and Nam Soo Kim.

关键词： Sentiment analysis

来源：评论

学校读者我要写书评

暂无评论

Accurate grid keypoint learning for efficient video prediction

arXiv

引用

arXiv 2021年

作者： Gao, Xiaojie Jin, Yueming Dou, Qi Fu, Chi-Wing Heng, Pheng-Ann The Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong The CUHK T Stone Robotics Institute Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

Video prediction methods generally consume substantial computing resources in training and deployment, among which keypoint-based approaches show promising improvement in efficiency by simplifying dense image prediction to light keypoint prediction. However, keypoint locations are often modeled only as continuous coordinates, so noise from semantically insignificant deviations in videos easily disrupt learning stability, leading to inaccurate keypoint modeling. In this paper, we design a new grid keypoint learning framework, aiming at a robust and explainable intermediate keypoint representation for long-term efficient video prediction. We have two major technical contributions. First, we detect keypoints by jumping among candidate locations in our raised grid space and formulate a condensation loss to encourage meaningful keypoints with strong representative capability. Second, we introduce a 2D binary map to represent the detected grid keypoints and then suggest propagating keypoint locations with stochasticity by selecting entries in the discrete grid space, thus preserving the spatial structure of keypoints in the long-term horizon for better future frame generation. Extensive experiments verify that our method outperforms the state-of-the-art stochastic video prediction methods while saves more than 98% of computing resources. We also demonstrate our method on a robotic-assisted surgery dataset with promising results. Our code is available at https://***/ xjgaocs/Grid-Keypoint-Learning. Copyright © 2021, The Authors. All rights reserved.

关键词： Location

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：