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Spotlight-based 3D instrument guidance for retinal surgery

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arXiv 2020年

作者： Zhou, Mingchuan Wu, Jiahao Ebrahimi, Ali Patel, Niravkumar He, Changyan Gehlbach, Peter Taylor, Russell H. Knoll, Alois Nasseri, M. Ali Iordachita, Iulian Department of Mechanical Engineering and Laboratoryfor Computational Sensing and Robotics The Johns Hopkins University BaltimoreMD21218 United States Chair of Robotics Artificial Intelligence and Real-time Systems Technische Universität München München85748 Germany T Stone Robotics Institute The Department of Mechanical and Automation Engineering The Chinese University of HongKong Hong Kong The Wilmer Eye Institute Johns Hopkins Hospital BaltimoreMD21287 United States Augenklinik und Poliklinik Klinikum rechts der Isar der Technische Universität München München81675 Germany

Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance. © 2020, CC BY.

关键词： Ophthalmology

Force Prediction in Robotized Ultrasonic Sheet Metal Forming Based on Finite Element Analysis and Artificial Neural Networks

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Research Square

Research Square 2021年

作者： Ostasevicius, Vytautas Paulauskaite-Taraseviciene, Agne Paleviciute, Ieva Jurenas, Vytautas Griskevicius, Paulius Eidukynas, Darius Kizauskiene, Laura Institute of Mechatronics Kaunas University of Technology Studentu 56-122 KaunasLT-51424 Lithuania Department of Applied Informatics Kaunas University of Technology Studentu 50-214 KaunasLT-51368 Lithuania Institute of Mechatronics Kaunas University of Technology Studentu 56-105 KaunasLT-51424 Lithuania Institute of Mechatronics Kaunas University of Technology Studentu 56-107 KaunasLT-51368 Lithuania Department of Mechanical Engineering Kaunas University of Technology Studentu 56-301 KaunasLT-51424 Lithuania Institute of Mechatronics Kaunas University of Technology Studentu 56-125 KaunasLT-51424 Lithuania Centre of Real Time Computer Systems Kaunas University of Technology Barsausko 59-51423 KaunasLT-51368 Lithuania

The forces acting in the process of single point incremental forming (SPIF) change the geometry of the sheet metal. The tool-workpiece interaction process is non-linear due to the large deformations of the sheet metal, which determine the plastic behaviour, as well as the evolutionary boundary conditions resulting from the contact between the tool and the sheet. Instead of lubricating the contact surface of the forming tool and the sheet metal, an innovative environmentally friendly method to reduce the coefficient of friction by vibrating the sheet has been proposed. The finite element method (FEM) allowed a virtual evaluation of the deformation parameters of the SPIF process in order to determine the destructive loads. The FEM was chosen as a deterministic numerical tool to evaluate the set of defect parameters induced by forming forces. The paper also proposes a method for predicting the formation force using an artificial neural network (ANN), assuming that such a model is generalized to implicit data. In this context, an empirical analysis of the implementation of the ANN technique is performed. © 2021, CC BY.

关键词： Sheet metal

Digital Contact Tracing Service: An improved decentralized design for privacy and effectiveness

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arXiv 2020年

作者： Holzapfel, Kilian Karl, Martina Lotz, Linus Carle, Georg Djeffal, Christian Fruck, Christian Haack, Christian Heckmann, Dirk Kindt, Philipp H. Köppl, Michael Krause, Patrick Shtembari, Lolian Marx, Lorenz Meighen-Berger, Stephan Neumair, Birgit Neumair, Matthias Pollmann, Julia Pollmann, Tina Resconi, Elisa Schönert, Stefan Turcati, Andrea Wiesinger, Christoph Zattera, Giovanni Allan, Christopher Barco, Esteban Bitterschulte, Kai Buchwald, Jörn Fischer, Clara Gampe, Judith Häcker, Martin Islami, Jasin Pomplun, Anatol Preisner, Sebastian Quast, Nele Romberg, Christian Steinlehner, Christoph Ziehm, Tjark Department of Physics Technical University of Munich Garching bei München Germany Max Planck Institute for Physics Munich Germany Department of Informatics Technical University of Munich Garching bei München Germany TUM School of Governance Munich Center for Technology in Society Technical University of Munich Munich Germany TUM School of Governance Department of Informatics Chair of Law and Security in Digital Transformation Technical University of Munich Munich Germany Department of Electrical and Computer Engineering Chair of Real-Time Computer Systems Technical University of Munich Munich Germany ito-app Ober-Olm Germany

We propose a decentralized digital contact tracing service that preserves the users’ privacy by design while complying to the highest security standards. Our approach is based on Bluetooth and measures actual encounters of people, the contact time period, and estimates the proximity of the contact. We trace the users’ contacts and the possible spread of infectious diseases while preventing location tracking of users, protecting their data and identity. We verify and improve the impact of tracking based on epidemiological models. We compare a centralized and decentralized approach on a legal perspective and find a decentralized approach preferable considering proportionality and data minimization. Copyright © 2020, The Authors. All rights reserved.

关键词： Bluetooth

Refining Task Specifications using Model Checking

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Refining Task Specifications using Model Checking

IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： Anand Yeolekar Ravindra Metta R. Venkatesh Samarjit Chakraborty TCS Research Pune India TCS ResearchPune India Institute for Real-Time Computer Systems TU Munich Germany

The problem of schedulability analysis, i.e., determining whether a given task set meets its deadline constraints, has been extensively studied in the real-time systems literature. However, if a task set is not schedulable, then the schedulability analysis results using known techniques (such as utilization-based tests) offer little insight into which task parameters could be changed or refined, in order to make the task set schedulable. To address this problem, we encode the schedulability analysis problem as an equivalent model checking problem. By analyzing the counterexamples reported by the model checker, we discover subsets of values of task parameters that lead to timing violations. We propose a procedure that iteratively refines the task specification by rejecting these subsets, thereby converging towards schedulability. We believe that this approach would be useful for timing debugging of real-time systems, which has received relatively less attention in the literature, especially given its practical relevance.

关键词： Task analysis Timing Model checking Processor scheduling Jitter Analytical models Debugging

BIRA-NET: BILINEAR ATTENTION NET FOR DIABETIC RETINOPATHY GRADING

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arXiv 2019年

作者： Zhao, Ziyuan Zhang, Kerui Hao, Xuejie Tian, Jing Chua, Matthew Chin Heng Chen, Li Xu, Xin Institute of Systems Science National University of Singapore Singapore University of Electronic Science and Technology of China China School of Computer Science and Technology Wuhan University of Science and Technology China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Wuhan China

Diabetic retinopathy (DR) is a common retinal disease that leads to blindness. For diagnosis purposes, DR image grading aims to provide automatic DR grade classification, which is not addressed in conventional research methods of binary DR image classification. Small objects in the eye images, like lesions and microaneurysms, are essential to DR grading in medical imaging, but they could easily be influenced by other objects. To address these challenges, we propose a new deep learning architecture, called BiRA-Net, which combines the attention model for feature extraction and bilinear model for fine-grained classification. Furthermore, in considering the distance between different grades of different DR categories, we propose a new loss function, called grading loss, which leads to improved training convergence of the proposed approach. Experimental results are provided to demonstrate the superior performance of the proposed approach. Copyright © 2019, The Authors. All rights reserved.

关键词： Eye protection

The virtual lover： variable and easily guided 3D fish animations as an innovative tool inmate-choice experiments with sailfinmollies-II. Validation

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Current Zoology 2017年第1期63卷 65-74页

作者： Stefanie GIERSZEWSKI Klaus MuLLER levgen SMIELIK Jan-Marco HUTWOHL Klaus-Dieter KUHNERT Klaudia WITTE Research Group of Ecology and Behavioral Biology Institute of Biology University of Siegen Adolf-Reichwein- StraBe 2 Siegen 57068 Germany Institute of Real-Time Learning Systems Department of ElectricalEngineering & Computer Science University of Siegen HSIderlinstraBe 3 Siegen 57076 Germany

The use of computer animation in behavioral research is a state-of-the-art method for designing andpresenting animated animals to live test animals. The major advantages of computer animations are：（1） the creation of animated animal stimuli with high variability of morphology and even behavior; （2）animated stimuli provide highly standardized, controlled and repeatable testing procedures; and （3）they allow a reduction in the number of live test animals regarding the 3Rs principle. But the use of ani-mated animals should be attended by a thorough validation for each test species to verify that behaviormeasured with live animals toward virtual animals can also be expected with natural stimuli. Here wepresent results on the validation of a custom-made simulation for animated 3D sailfin mollies Poecilialatipinna and show that responses of live test females were as strong to an animated fish as to a videoor a live male fish. Movement of an animated stimulus was important but female response was stron-ger toward a swimming 3D fish stimulus than to a ＂swimming＂ box. Moreover, male test fish wereable to discriminate between animated male and female stimuli; hence, rendering the animated 3D fisha useful tool in mate-choice experiments with sailfin mollies.

关键词： computer animation, fish behavior, mate-choice experiment, validation, virtual fish model.

Dense dilated network with probability regularized walk for vessel detection

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arXiv 2019年

作者： Mou, Lei Chen, Li Cheng, Jun Gu, Zaiwang Zhao, Yitian Liu, Jiang School of Computer Science and Technology Wuhan University of Science and Technology Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan430081 China Cixi Institute of Biomedical Engineering Chinese Academy of Sciences Zhejiang315201 China UBTech Research UBTech Robotics Corp Ltd Guangdong518055 China Department of Computer Science and Engineering Southern University of Science and Technology Guangdong518055 China Cixi Institute of Biomedical Engineering Ningbo Institute of Industrial Technology Chinese Academy of Sciences Zhejiang315201 China

The detection of retinal vessel is of great importance in the diagnosis and treatment of many ocular diseases. Many methods have been proposed for vessel detection. However, most of the algorithms neglect the connectivity of the vessels, which plays an important role in the diagnosis. In this paper, we propose a novel method for retinal vessel detection. The proposed method includes a dense dilated network to get an initial detection of the vessels and a probability regularized walk algorithm to address the fracture issue in the initial detection. The dense dilated network integrates newly proposed dense dilated feature extraction blocks into an encoder-decoder structure to extract and accumulate features at different scales. A multi-scale Dice loss function is adopted to train the network. To improve the connectivity of the segmented vessels, we also introduce a probability regularized walk algorithm to connect the broken vessels. The proposed method has been applied on three public data sets: DRIVE, STARE and CHASE_DB1. The results show that the proposed method outperforms the state-of-the-art methods in accuracy, sensitivity, specificity and also area under receiver operating characteristic curve. Copyright © 2019, The Authors. All rights reserved.

关键词： Diagnosis

The virtual lover： variable and easily guided 3D fish animations as an innovative tool inmate-choice experiments with sailfin mollies-I,Design and implementation

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Current Zoology 2017年第1期63卷 55-64页

作者： Klaus MuLLER Jevgen SMIELIK Jan-Marco HOTWOHL Stefanie GIERSZEWSKI Klaudia WITTE Klaus-Dieter KUHNERT Department of Electrical Engineering & Computer Science Institute of Real-Time Learning Systems University of Siegen HSIderlinstraBe 3 Siegen 57076 Germany Research Group of Ecology and Behavioral Biology Institute of Biology University of Siegen Adolf-Reichwein-Stral~e 2 Siegen 57068 Germany

Animal behavior researchers often face problems regarding standardization and reproducibility oftheir experiments. This has led to the partial substitution of live animals with artificial virtual stim-uli. In addition to standardization and reproducibility, virtual stimuli open new options for re-searchers since they are easily changeable in morphology and appearance, and their behavior canbe defined. In this article, a novel toolchain to conduct behavior experiments with fish is presentedby a case study in sailfin mollies Poecilia latipinna. As the toolchain holds many different and novelfeatures, it offers new possibilities for studies in behavioral animal research and promotes thestandardization of experiments. The presented method includes options to design, animate, andpresent virtual stimuli to live fish. The designing tool offers an easy and user-friendly way to definesize, coloration, and morphology of stimuli and moreover it is able to configure virtual stimuli ran-domly without any user influence. Furthermore, the toolchain brings a novel method to animatestimuli in a semiautomatic way with the help of a game controller. These created swimming pathscan be applied to different stimuli in real time. A presentation tool combines models and swim-ming paths regarding formerly defined playlists, and presents the stimuli onto 2 *** with live sailfin mollies validated the usage of the created virtual 3D fish models inmate-choice experiments.

关键词： computer animation, fish behavior, mate-choice experiment, research tool, virtual fish model.

Scene Classification via Learning a Multi-Branch Convolutional Network

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Scene Classification via Learning a Multi-Branch Convolution...

IEEE International Conference on systems, Man and Cybernetics

作者： Xiaoyong Bian Chunfang Chen Yang Chen Xiongjun Fei Jingshan Tang Intelligent Information Processing and Real-time Industrial Systems Hubei Province Key Laboratory School of Computer Science and Technology Wuhan University of Science and Technology and Institute of Big Data Science and Engineering Wuhan University of Science and Technology Wuhan China School of Information Science and Engineering and Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China School of Technology Michigan Technological University Michigan USA

Efficient and accurate classification of high-resolution scene remains a challenge of within-class diversity and between-class similarity due to rich image variations in viewpoint, object pose, spatial resolution and background. To address these issues, we propose a multi-branch convolutional neural network (MB-CNN), which focuses on tackling the problem of learning the appropriate representation of a high-resolution scene that is rich enough to discriminate between different semantic classes. First, pyramid scene parsing network (PSPNet) with minor modification is introduced to gather global object information. Then, an attention net is proposed to highlight transformation invariance and key regions for attention feature extraction. Finally, above two branches are fused with original input branch to learn consistently semantic class information and generate powerful predictions. Our approach achieves better performance favorably against state-of-the-arts on two publicly available scene datasets.

关键词： Conferences Cybernetics