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Formalisation of Motion Description in Microscopy Images 1

15th International Conference on Pattern Recognition and Information Processing, PRIP 2021

作者： Nedzved, Olga Gurevich, Igor Yashina, Vera Tiaojuan, Ren Fangfang, Ye Ablameyko, Sergey Belarusian State University Minsk Minsk Belarus Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences Moscow Moscow Russia Zhejiang Shuren University Hangzhou Hangzhou China United Institute of Informatics Problems of NASB Minsk Belarus

ISBN: (数字)9783030988838

ISBN: (纸本)9783030988821

In this paper, a formalization of the task of monitoring cell population movement in microscopic video-sequences is proposed. The method for solving the task is proposed that is based on integral optical flow and motion maps to identify different types of cell movements. Three types of motion are analyzed: directional motion, aggregation and dispersion. Integral optical flow is used to create motion maps and these maps are used to analyze and describe motions in any region of interest. The results of experiments for cell population analysis in video sequences obtained are presented. © 2022, Springer Nature Switzerland AG.

关键词： Optical flows

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Theory of phase reduction for systems with higher-order interactions: a route to Kuramoto models on hypergraphs

arXiv

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arXiv 2025年

作者： León, Iván Muolo, Riccardo Hata, Shigefumi Nakao, Hiroya Department of Applied Mathematics and Computer Science Universidad de Cantabria Santander39005 Spain Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Graduate School of Science and Engineering Kagoshima University Kagoshima890-0065 Japan Research Center for Autonomous Systems Materialogy Institute of Innovative Research Tokyo Institute of Technology Yokohama226-8501 Japan

Phase reduction is a powerful technique in the study of nonlinear oscillatory systems. Under certain assumptions, it allows us to describe each multidimensional oscillator by a single phase variable, giving rise to simple phase models such as the Kuramoto model. Classically, the method has been applied in the case where the interactions are only pairwise (two-body). However, increasing evidence shows that interactions in real-world systems are not pairwise but higher-order, i.e., many-body. Although synchronization in higher-order systems has received much attention, analytical results are scarce because of the highly nonlinear nature of the framework. In this paper, we fill the gap by presenting a general theory of phase reduction for the case of higher-order interactions. We show that the higher-order topology is preserved in the phase reduced model at the first order and that only odd couplings have an effect on the dynamics when certain symmetries are present. Additionally, we show the power and ductility of the phase reduction approach by applying it to a population of Stuart-Landau oscillators with an all-to-all configuration and with a ring-like hypergraph topology;in both cases, only the analysis of the phase model can provide insights and analytical results. © 2025, CC BY-NC-ND.

关键词： Topology

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MANEUVER DECISION-MAKING WITH TRAJECTORY STREAMS PREDICTION FOR AUTONOMOUS VEHICLES

arXiv

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arXiv 2024年

作者： Jamal, Mais Panov, Aleksandr Cognitive Modeling Center Moscow Institute of Physics and Technology Dolgoprudny141701 Russia Federal Research Center "Computer Science and Control" Russian Academy of Sciences Moscow119333 Russia AIRI Moscow123112 Russia

Decision-making, motion planning, and trajectory prediction are crucial in autonomous driving systems. By accurately forecasting the movements of other road users, the decision-making capabilities of the autonomous system can be enhanced, making it more effective in responding to dynamic and unpredictable environments and more adaptive to diverse road scenarios. This paper presents the FFStreams++ approach for decision-making and motion planning of different maneuvers, including unprotected left turn, overtaking, and keep-lane. FFStreams++ is a combination of sampling-based and search-based approaches, where iteratively new sampled trajectories for different maneuvers are generated and optimized, and afterward, a heuristic search planner is called, searching for an optimal plan. We model the autonomous diving system in the Planning Domain Definition Language (PDDL) and search for the optimal plan using a heuristic Fast-Forward planner. In this approach, the initial state of the problem is modified iteratively through streams, which will generate maneuver-specific trajectory candidates, increasing the iterating level until an optimal plan is found. FFStreams++ integrates a query-connected network model for predicting possible future trajectories for each surrounding obstacle along with their probabilities. The proposed approach was tested on the CommonRoad simulation framework. We use a collection of randomly generated driving scenarios for overtaking and unprotected left turns at intersections to evaluate the FFStreams++ planner. The test results confirmed that the proposed approach can effectively execute various maneuvers to ensure safety and reduce the risk of collisions with nearby traffic agents. © 2024, CC BY.

关键词： Autonomous vehicles

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Dynamic Neural Potential Field: Online Trajectory Optimization in Presence of Moving Obstacles

arXiv

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arXiv 2024年

作者： Staroverov, Aleksey Alhaddad, Muhammad Narendra, Aditya Mironov, Konstantin Panov, Aleksandr The Artificial Intelligence Research Institute Moscow105064 Russia Federal Research Center "Computer Science and Control Moscow117312 Russia Center of Cognitive Modeling Moscow Institute of Physics and Technology Dolgoprudny141701 Russia Faculty of Electrical and Electronic Engineering University of Aleppo Syria Ufa University of Science and Technology Ufa450000 Russia

We address a task of local trajectory planning for the mobile robot in the presence of static and dynamic obstacles. Local trajectory is obtained as a numerical solution of the Model Predictive control (MPC) problem. Collision avoidance may be provided by adding repulsive potential of the obstacles to the cost function of MPC. We develop an approach, where repulsive potential is estimated by the neural model. We propose and explore three possible strategies of handling dynamic obstacles. First, environment with dynamic obstacles is considered as a sequence of static environments. Second, the neural model predict a sequence of repulsive potential at once. Third, the neural model predict future repulsive potential step by step in autoregressive mode. We implement these strategies and compare it with CIAO* and MPPI using BenchMR framework. First two strategies showed higher performance than CIAO* and MPPI while preserving safety constraints. The third strategy was a bit slower, however it still satisfy time limits. We deploy our approach on Husky UGV mobile platform, which move through the office corridors under proposed MPC local trajectory planner. The code and trained models are available at https://***/CognitiveAISystems/ Dynamic-Neural-Potential-Field. © 2024, CC BY.

关键词： Cost functions

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Sim2Real Grasp Pose Estimation for Adaptive Robotic Applications

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IFAC-PapersOnLine 2023年第2期56卷 5233-5239页

作者： Dániel Horváth Kristóf Bocsi Gábor Erdős Zoltán Istenes Centre of Excellence in Production Informatics and Control Institute for Computer Science and Control Eőtvős Loránd Research Network Budapest Hungary CoLocation Center for Academic and Industrial Cooperation Eőtvős Loránd University Budapest Hungary Department of Manufacturing Science and Engineering Budapest University of Technology and Economics Budapest Hungary

Adaptive robotics plays an essential role in achieving truly co-creative cyber physical systems. In robotic manipulation tasks, one of the biggest challenges is to estimate the pose of given workpieces. Even though the recent deep-learning-based models show promising results, they require an immense dataset for training. In this paper, two vision-based, multi-object grasp pose estimation models (MOGPE), the MOGPE Real-Time and the MOGPE High-Precision are proposed. Furthermore, a sim2real method based on domain randomization to diminish the reality gap and overcome the data shortage. Our methods yielded an 80% and a 96.67% success rate in a real-world robotic pick-and-place experiment, with the MOGPE Real-Time and the MOGPE High-Precision model respectively. Our framework provides an industrial tool for fast data generation and model training and requires minimal domain-specific data.

关键词： adaptive robotics robot vision sim2real knowledge transfer smart manufacturing cyber physical production systems

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Data-driven Optimal Cooperative Output Regulation of Unknown Linear Discrete-time Multi-agent Systems

Data-driven Optimal Cooperative Output Regulation of Unknown...

引用

第35届中国控制与决策会议

作者： Dong Liang Yi Dong Chaoli Wang Engang Tian Department of Control Science and Engineering School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University

The cooperative output regulation problem has been extensively studied on the basis of the distributed observer ***,the majority of the existing research assumes that the dynamics is known *** remove this condition,the cooperative output regulation problem is further solved via the data-driven framework where the dynamics of the plant is ***,a data-driven distributed observer is established to estimate the state of the leader with unknown dynamics subject to external ***,the unknown regulator equations are solved using the iterative recurrent neural network ***,the state-based data-driven distributed control law is synthesized to solve the *** optimal gains are derived by solving convex optimization problems using input and state ***,a numerical example is presented to verify the feasibility of the proposed framework.

关键词： Linear systems multi-agent systems cooperative output regulation data-driven control optimal control

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A Cloud-Native Serverless Approach for Implementation of Batch Extract-Load Processes in Data Lakes 22nd

A Cloud-Native Serverless Approach for Implementation of Bat...

引用

22nd International Conference on Data Analytics and Management in Data Intensive Domains, DAMDID/RCDL 2020

作者： Bryzgalov, Anton Stupnikov, Sergey Lomonosov Moscow State University Moscow Russia Institute of Informatics Problems Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9783030811990

The paper presents an approach to deal with batch extract-load processes for cloud data lakes. The approach combines multiple data ingestion techniques, provides advanced failover strategies and adopts cloud-native implementation. The suggested approach. The prototype implementation utilizes Amazon Web Services platform and is based on its serverless features. The approach can be implemented also using other cloud platforms like Google Cloud Platform or Microsoft Azure. © 2021, Springer Nature Switzerland AG.

关键词： Lakes

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Database for storing and accessing diabetes related data in a standardized way 23

Database for storing and accessing diabetes related data in ...

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23rd IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2023

作者： Siket, Mate Kis, Andras Nandor Denes-Fazakas, Lehel Eigner, Gyorgy Kovacs, Levente Óbuda University Physiological Controls Research Center Hungary Institute for Computer Science and Control Kende utca 13-17 BudapestH-1111 Hungary Óbuda University Applied Informatics and Applied Mathematics Doctoral School Bécsi street 96/B BudapestH-1034 Hungary Biomatics and Applied Artificial Intelligence Institute John von Neumann Faculty of Informatics Óbuda University Hungary

ISBN: (纸本)9798350342949

Real-world data has a major importance in diabetes related research, especially considering the widespread applications of machine learning algorithms. There are several existing datasets of real-world data in the literature;however, they all have their specific formats, applied devices and file structures. The different charachteristics make it cumbersome to use multiple datasets for research purposes. We developed a pipeline for efficiently storing and accessing diabetes related data in a standardized way. We defined a standardized JSON format for the records and stored them in a MongoDB database. The pipeline is capable of uploading data from various sources by implementing a corresponding transformer script;also it is possible to extend it with algorithms which are called automatically for new entries in the database. The source code for constructing the pipeline is given in https://***/NeuroDiab/CINTI2023Diabdatabase. © 2023 IEEE.

关键词： Pipelines

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Real-time Job control: Models and Algorithms 3

Real-time Job Control: Models and Algorithms

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3rd International Conference on control Systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2021

作者： Kononov, Dmitry Furugyan, Meran Russ. State Univ. for the Humanities Institute of Control Sciences of Russian Academy of Sciences Moscow Russia Federal Research Center Computer Science and Control of Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9781665439817

The problems of designing real-time computing systems are considered. Models and methods for the realization of tasks for performing complex work are proposed. This is the basis for the development of mathematical support for real-time systems. The developed tools allow solving the problems of compiling an admissible schedule for the execution of processes, synchronizing computations, dynamic memory allocation, etc. We present new algorithms for constructing an admissible (a) uniprocessor schedule with interruptions in the presence of precedence relations between jobs are presented;(b) multiprocessor schedule with interrupts at given directive intervals without precedence relations;(c) multi-processor schedule, taking into account the costs of processing interrupts and switches. © 2021 IEEE.

关键词： Real time systems

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Method for Biomedical Information Extraction of Immunosuppressive Cell Properties

Method for Biomedical Information Extraction of Immunosuppre...

引用

2021 IEEE Ural-Siberian Conference on Computational Technologies in Cognitive science, Genomics and Biomedicine, CSGB 2021

作者： Alisa, Gisina Dmitry, Devyatkin Anton, Lukin Alexey, Lupatov Alexey, Molodchenkov Irina, Kholodenko Institute of Biomedical Chemistry Moscow Russia Federal Research Centre Computer Science and Control Ras Moscow Russia Peoples' Friendship University of Russia Moscow Russia

ISBN: (纸本)9781665431491

Automated extraction of cell populations' immunosuppressive properties from research articles is a basic problem, which requires specialized methods and tools for meta-analysis of publications. It is necessary to extract information about specific types of cells, their roles in the text, detect the immunosuppressive properties of cell populations, and certain types of relationships. It is also crucial to filter out those texts, which describe immunosuppressive features of different chemical compounds or drugs. Typically, efficient automatic information extraction requires a relatively large set of samples or marked-up texts. The paper presents a novel information extraction method that can be useful for such an analysis. This method uses external linguistic resources and can be trained on limited corpora. Namely, the method combines medical ontologies, rich unsupervised lexis representations (Fasttext word embeddings) with rule-based entity and relationship extraction, and supervised machine learning-based post-filtering. The developed method allows one to extract information about the target cells (for 'in vitro' experiments), effector cells, diseases ("in vivo'), and arbitrary descriptions of immune suppression. In the paper, we also present a manually labeled corpus to train immunosuppressive information extraction methods. That corpus contains texts of 330 PubMed Central abstracts. The experiments on that corpus show the method has relatively high evaluation scores on the labeled dataset. Therefore, the proposed method makes it possible to identify descriptions of the immunosuppressive properties of cell populations in biomedical texts with sufficiently high quality. In the future, the method can be applied to perform an automatic meta-analysis of research in immunosuppressive cell therapy. © 2021 IEEE.

关键词： Cell culture

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