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arXiv 2019年

作者： Fuhrman, Tino Schneider, David Altenberg, Felix Nguyen, Tung Blasen, Simon Constantin, Stefan Waibel, Alex Interactive Systems Lab Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76137 Germany School of Computer Science Carnegie Mellon 5000 Forbes Ave PittsburghPA15213 United States

With the rapid advance of sophisticated control algorithms, the capabilities of drones to stabilise, fly and manoeuvre autonomously have dramatically improved, enabling us to pay greater attention to entire missions and the interaction of a drone with humans and with its environment during the course of such a mission. In this paper, we present an indoor office drone assistant that is tasked to run errands and carry out simple tasks at our laboratory, while given instructions from and interacting with humans in the space. To accomplish its mission, the system has to be able to understand verbal instructions from humans, and perform subject to constraints from control and hardware limitations, uncertain localisation information, unpredictable and uncertain obstacles and environmental factors. We combine and evaluate the dialogue, navigation, flight control, depth perception and collision avoidance components. We discuss performance and limitations of our assistant at the component as well as the mission level. A 78% mission success rate was obtained over the course of 27 missions. Copyright © 2019, The Authors. All rights reserved.

关键词： Drones

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Learning to Generate Unambiguous Spatial Referring Expressions for Real-World Environments

Learning to Generate Unambiguous Spatial Referring Expressio...

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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Fethiye Irmak Doğan Sinan Kalkan Iolanda Leite Division of Robotics Perception and Learning from the School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KOVAN Research Lab Middle East Technical University Ankara Turkey

Referring to objects in a natural and unambiguous manner is crucial for effective human-robot interaction. Previous research on learning-based referring expressions has focused primarily on comprehension tasks, while generating referring expressions is still mostly limited to rule-based methods. In this work, we propose a two-stage approach that relies on deep learning for estimating spatial relations to describe an object naturally and unambiguously with a referring expression. We compare our method to the state of the art algorithm in ambiguous environments (e.g., environments that include very similar objects with similar relationships). We show that our method generates referring expressions that people find to be more accurate ( ~ 30% better) and would prefer to use ( ~ 32% more often).

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Cyclegen: Cyclic consistency based product review generator from attributes 11

Cyclegen: Cyclic consistency based product review generator ...

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11th International Natural Language Generation Conference, INLG 2018

作者： Sharma, Vasu Sharma, Harsh Bishnu, Ankita Patel, Labhesh School of Computer Science Carnegie Mellon University United States Robotics Institute Carnegie Mellon University United States Indian Institute of Technology Kanpur India Jumio Inc

ISBN: (纸本)9781948087865

In this paper we present an automatic review generator system which can generate personalized reviews based on the user identity, product identity and designated rating the user wishes to allot to the review. We combine this with a sentiment analysis system which performs the complimentary task of assigning ratings to reviews based purely on the textual content of the review. We introduce an additional loss term to ensure cyclic consistency of the sentiment rating of the generated review with the conditioning rating used to generate the review. The introduction of this new loss term constraints the generation space while forcing it to generate reviews adhering better to the requested rating. The use of ‘soft’ generation and cyclic consistency allows us to train our model in an end to end fashion. We demonstrate the working of our model on product reviews from Amazon dataset. © 2018 Association for Computational Linguistics

关键词： Sentiment analysis

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Improving the multi-class classification of Alzheimer's disease with machine learning-based techniques: An EEG-fNIRS hybridization study

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Alzheimer's & dementia : the journal of the Alzheimer's Association 2021年第S7期17卷 e057565-e057565页

作者： Thi Kieu Khanh Ho Minhee Kim YoungHoon Jeon Eunchan Na Zahid Ullah Byeong C Kim Kun Ho Lee Jong-In Song Jae Gwan Kim Jeonghwan Gwak Department of Software Korea National University of Transportation Republic of South Korea Department of Biomedical Science and Engineering Gwangju Institute of Science and Technology Republic of South KoreaGwangju South Korea School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology Republic of South KoreaGwangju South Korea Department of Neurology Chonnam National University Medical School Republic of South KoreaGwangju South Korea Gwangju Alzheimer's Disease and Related Dementia Cohort Research Center Chosun University Republic of South KoreaGwangju South Korea Aging Neuroscience Research Group Korea Brain Research Institute Republic of South KoreaDaegu South Korea Department of Biomedical Science Chosun University Republic of South KoreaGwangju South Korea Department of IT & Energy Convergence (BK21 FOUR) Korea National University of Transportation Republic of South Korea Department of AI Robotics Engineering Korea National University of Transportation Republic of South Korea Department of Biomedical Engineering Korea National University of Transportation Republic of South Korea

BACKGROUND: As an incurable neurodegenerative disorder, Alzheimer's Disease (AD) is being projected to become one of the most expensive diseases for understanding the pathophysiological mechanism. Exploring alterations in the AD brain network is therefore of central importance for early and accurate diagnosis of cognitive deficits levels, yet diagnostic uncertainties exist merely confirmed by postmortem brain examination. The hybrid approach of two modalities, Electroencephalography (EEG) and functional Near-Infrared Spectroscopy (fNIRS) reveals an ideal technique-derived diagnosis due to the inexpensive and noninvasive experiments coupled with the reliability and versatility that make it highly desirable for AD multi-class classification tasks. METHODS: In this study, the hybrid EEG-fNIRS was employed in constructing the classification machine learning (ML)-based models to categorize four subject groups, including healthy controls (HC) and three AD patient classes. First, a concurrent EEG-fNIRS setup was utilized to record data from 41 subjects during the Oddball - a cognitive ability test and 1-back - a memory ability test. Second, while fNIRS features were computed and extracted, the event-related spectral perturbation (ERSP) features measuring the average dynamic changes in amplitude of three main EEG frequency bands were extracted. Third, a conventional neural network and a hybrid deep Convolutional Neural Network (CNN) - Long Short-Term Memory Network (LSTM) was built for the multi-class classification using the fNIRS and EEG features, respectively. To boost the classification accuracy, the output of different models was combined by majority voting methods. RESULTS: The hybrid EEG-fNIRS feature set was able to achieve a higher accuracy (71.01% ± 0.004) by combing their complementary properties, compared to using EEG (66.35% ± 0.016) or fNIRS (67.15% ± 0.017) alone. In addition, fNIRS and ERSP feature patterns displayed a significant difference between subject

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An Efficient Scheme for Path Planning in Internet of Drones

An Efficient Scheme for Path Planning in Internet of Drones

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IEEE Global Communications Conference

作者： Aditya Goyal Nikhil Kumar Amit Dua Neeraj Kumar Joel J. P. C. Rodrigues Dushantha Nalin K. Jayakody Computer Science and Information Systems Department Birla Institute of Technology and Science Pilani Computer science and Engineering Department Thapar Institute of Engineering and Technology Punjab National Institute of Telecommunications (INATEL) Brazil Instituto de Telecomunicações Portugal Federal University of Piauí (UFPI) Brazil Faculty of Engineering Sri Lanka Technological Campus Sri Lanka School of Computer Science & Robotics National Research Tomsk Polytechnic University Russia

ISBN: (数字)9781728109626

ISBN: (纸本)9781728109633

The Internet of Drones (IoD) is a multi-layered, control architecture to regulate and coordinate the navigation of Unmanned Aerial Vehicles (UAV) in a shared public airspace. UAVs have the potential to be employed in public space for purposes like surveillance, monitoring, package delivery, emergency services, etc. For proper operation, an efficient path planning among IoD is required so that they can adaptively decide their path for data dissemination. Most of the existing solutions for this problem have made unreasonable assumptions and do not offer scalability. The scheme proposed in the paper provides a network architecture for the scalable solution of UAVs in an urban environment addressing issues of path planning, safety, privacy, and network connectivity. The scheme has been tested using exhaustive simulation and results prove that the proposed scheme is efficient in terms of reducing the overall cost and delivery time with the increasing weight of payload in the drones.

关键词： Drones Path planning Internet Navigation Atmospheric modeling Scalability Companies

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Gaussian curvature filter on 3d mesh

arXiv

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arXiv 2020年

作者： Tang, Wenming Gong, Yuanhao Liu, Kanglin Liu, Jun Pan, Wei Liu, Bozhi Qiu, Guoping College of Information Engineering Shenzhen University Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of Mechanical & Automotive Engineering South China University of Technology Department of Research and Development OPT Machine Vision Tech Co. Ltd Jinsheng Road Changan Dongguan Guangdong523860 China School of Computer Science University of Nottingham NottinghamNG8 1BB United Kingdom

Minimizing Gaussian curvature of meshes is fundamentally important for obtaining smooth and developable surfaces. However, there is a lack of computationally efficient and robust Gaussian curvature optimization method. In this paper, we present a simple yet effective method that can efficiently reduce Gaussian curvature for 3D meshes. We first present the mathematical foundation of our method, which states that for any point on a developable surface there must be another point that lives on its tangent plane. Then, based on this theoretical insight, we introduce a simple and robust implicit Gaussian curvature optimization method named Gaussian Curvature Filter (GCF). GCF implicitly minimizes Gaussian curvature without the need to explicitly calculate the Gaussian curvature itself. GCF is highly efficient and is 20 times faster than the classical standard Gaussian curvature flow method. We present extensive experiments to demonstrate that GCF significantly outperforms state-of-the-art methods in minimizing Gaussian curvature, geometric feature preserving smoothing and mesh noise removal. This method can be used in a large range of applications that involve Gaussian curvature. Copyright © 2020, The Authors. All rights reserved.

关键词： Mesh generation

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A Scalable Deep Attention Mechanism of Instance Segmentation for the Investigation of Chromosome

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SLAS technology 2025年 33卷 100306页

作者： Neelam Umbreen Sara Ali Hasan Sajid Yasar Ayaz Shrooq Alsenan Yunyoung Nam So Yeon Kim Muhammad Baber Sial National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: neelamumbreen.phd@smme.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan Suzhou Industrial Park (SIP) Monash Research Institute of Science and Technology Monash University 8Q9C+R6W Suzhou Jiangsu China. School of Mechanical and Manufacturing Engineering (SMME) National University of Sciences and Technology (NUST) Islamabad NUST-COVENTRY Human-Robot Interaction (NC-HRI) Laboratory Pakistan Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: sarababer@smme.nust.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: hasan.sajid@smme.nust.edu.pk. Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: yasar@smme.nust.edu.pk. Information Systems Department College of Computer and Information Sciences Princess Nourah bint Abdulrahman University P.O. Box 84428 Riyadh 11671 Saudi Arabia. Electronic address: shalsenan@pnu.edu.sa. Emotional and Intelligent Child Care Convergence Research Center Soonchunhyang University Asan 31538 Korea. Electronic address: ynam@sch.ac.kr. Department of Artificial Intelligence Department of Software and Computer Engineering Ajou University. Electronic address: jebi1771@ajou.ac.kr. School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China. Electronic address: babersial@***.

Chromosome segmentation in metaphase images is a critical yet challenging task in cytogenetics and genomics due to the inherent complexity, variability in chromosome shapes, and the scarcity of high-quality annotated datasets. This study proposes a robust instance segmentation framework that integrates an automated annotation pipeline with an enhanced deep learning architecture to address these challenges. A novel dataset is introduced, comprising metaphase images and corresponding karyograms, annotated with precise instance segmentation information across 24 chromosome classes in COCO format. To overcome the labor-intensive manual annotation process, a feature-based image registration technique leveraging SIFT and homography is employed, enabling the accurate mapping of chromosomes from karyograms to metaphase images and significantly improving annotation quality and segmentation performance. The proposed framework includes a custom Mask R-CNN model enhanced with an Attention-based Feature Pyramid Network (AttFPN), spatial attention mechanisms, and a LastLevelMaxPool block for superior multi-scale feature extraction and focused attention on critical regions of the image. Experimental evaluations demonstrate the model's efficacy, achieving a mean average precision (mAP) of 0.579 at IoU = 0.50:0.95, surpassing the baseline Mask R-CNN and Mask R-CNN with AttFPN by 3.94% and 5.97% improvements in mAP and AP50, respectively. Notably, the proposed architecture excels in segmenting small and medium-sized chromosomes, addressing key limitations of existing methods. This research not only introduces a state-of-the-art segmentation framework but also provides a benchmark dataset, setting a new standard for chromosome instance segmentation in biomedical imaging. The integration of automated dataset creation with advanced model design offers a scalable and transferable solution, paving the way for tackling similar challenges in other domains of biomedical and cytogenetic imagi

关键词： Chromosome segmentation Instance segmentation, cytogenetics Mask R-CNN attention mechanism biomedical imaging multi-scale feature fusion

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PitVis-2023 Challenge: Workflow Recognition in videos of Endoscopic Pituitary Surgery

arXiv

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arXiv 2024年

作者： Das, Adrito Khan, Danyal Z. Psychogyios, Dimitrios Zhang, Yitong Hanrahan, John G. Vasconcelos, Francisco Pang, You Chen, Zhen Wu, Jinlin Zou, Xiaoyang Zheng, Guoyan Qayyum, Abdul Mazher, Moona Razzak, Imran Li, Tianbin Ye, Jin He, Junjun Plotka, Szymon Kaleta, Joanna Yamlahi, Amine Jund, Antoine Godau, Patrick Kondo, Satoshi Kasai, Satoshi Hirasawa, Kousuke Rivoir, Dominik Pérez, Alejandra Rodriguez, Santiago Arbeláez, Pablo Stoyanov, Danail Marcus, Hani J. Bano, Sophia Wellcome EPSRC Centre for Interventional and Surgical Sciences University College London London United Kingdom Department of Neurosurgery National Hospital for Neurology and Neurosurgery London United Kingdom HKISI CAS China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China National Heart and Lung Institute Faculty of Medicine Imperial College London United Kingdom Centre for Medical Image Computing University College London London United Kingdom University of New South Wales Sydney Australia Shanghai AI Lab Shanghai China Informatics Institute University of Amsterdam Amsterdam Netherlands Department of Biomedical Engineering and Physics Amsterdam University Medical Center University of Amsterdam Amsterdam Netherlands Sano Center for Computational Medicine Krakow Poland Heidelberg Division of Intelligent Medical Systems Germany NCT Heidelberg a partnership between DKFZ University Hospital Heidelberg Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Muroran Institute of Technology Hokkaido Japan Niigata University of Health and Welfare Niigata Japan Konica Minolta Inc. Osaka Japan National Center for Tumor Diseases Dresden Germany Centre for Tactile Internet TUD Dresden Germany Universidad de los Andes Bogota Colombia DKFZ UKDD TUD Germany

The field of computer vision applied to videos of minimally invasive surgery is ever-growing. Workflow recognition pertains to the automated recognition of various aspects of a surgery: including which surgical steps are performed;and which surgical instruments are used. This information can later be used to assist clinicians when learning the surgery;during live surgery;and when writing operation notes. The Pituitary Vision (PitVis) 2023 Challenge tasks the community to step and instrument recognition in videos of endoscopic pituitary surgery. This is a unique task when compared to other minimally invasive surgeries due to the smaller working space, which limits and distorts vision;and higher frequency of instrument and step switching, which requires more precise model predictions. Participants were provided with 25-videos, with results presented at the MICCAI-2023 conference as part of the Endoscopic Vision 2023 Challenge in Vancouver, Canada, on 08-Oct-2023. There were 18-submissions from 9-teams across 6-countries, using a variety of deep learning models. A commonality between the top performing models was incorporating spatio-temporal and multi-task methods, with greater than 50% and 10% macro-F1-score improvement over purely spacial single-task models in step and instrument recognition respectively. The PitVis-2023 Challenge therefore demonstrates state-of-the-art computer vision models in minimally invasive surgery are transferable to a new dataset, with surgery specific techniques used to enhance performance, progressing the field further. Benchmark results are provided in the paper, and the dataset is publicly available at: https://***/10.5522/04/26531686. Copyright © 2024, The Authors. All rights reserved.

关键词： Endoscopy

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Eager to Learn vs. Quick to Complain? How a socially adaptive robot architecture performs with different robot personalities

Eager to Learn vs. Quick to Complain? How a socially adaptiv...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ana Tanevska Francesco Rea Giulio Sandini Lola Cañamero Alessandra Sciutti Department of Robotics Brain and Cognitive Science Italian Institute of Technology (IIT) Genova Italy Embodied Emotion Cognition and (Inter-)Action (EECAiA) Lab School of Computer Science University of Hertfordshire Hatfield United Kingdom Cognitive Architecture for Collaborative Technologies Unit Italian Institute of Technology (IIT) Genova Italy

A social robot that is aware of our needs and continuously adapts its behaviour to them has the potential of creating a complex, personalized, human-like interaction of the kind we are used to have with our peers in our everyday lives. We are interested in exploring how would an adaptive architecture function and personalize to different users when given different initial values of its variables, i.e. when implementing the same adaptive framework with different robot personalities. Would an architecture that learns very quickly outperform a slower but steadier learning profile? To further explore this, we propose a cognitive architecture for the humanoid robot iCub supporting adaptability and we attempt to validate its functionality and test different robot profiles.

关键词： Robots computer architecture Face Testing Skin Torso Visualization

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Path planning of mobile robot based on improved DDQN

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Yang yunxiao Wangjun Zhang Hualiang Dai shilong School of Computer Science Shenyang University of Chemical Technology Shenyang 110142 China. Industrial Control Network and System Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

Aiming at the problem of overestimation and sparse rewards of deep Q network algorithm in mobile robot path planning in reinforcement learning, an improved algorithm HERDDQN is proposed. Through the deep convolutional neural network model, the original RGB image is used as input, and it is trained through an end-to-end method. The improved deep reinforcement learning algorithm and the deep Q network algorithm are simulated in the same two-dimensional environment. The experimental results show that the HERDDQN algorithm solves the problem of overestimation and sparse reward better than the DQN algorithm in terms of success rate and reward convergence speed, Which shows that the improved algorithm finds a better strategy than the DQN algorithm.

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