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KartalOl: a new deep neural network framework based on transfer learning for iris segmentation and localization task—new dataset for iris segmentation

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Iran Journal of computer Science 2023年第4期6卷 307-319页

作者： Khiarak, Jalil Nourmohammadi Oskouei, Amin Golzari Nasab, Samaneh Salehi Jaryani, Farhang Moafinejad, Seyed Naeim Pourmohamad, Rana Amini, Yasin Noshad, Morteza Institute of Control and Computation Engineering Warsaw University of Technology Ul. Nowowiejska 15/19 Warsaw 00-665 Poland Department of Computer Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran School of Engineering Lorestan University Aleshtar Campus Aleshtar Iran Faculty of Engineering Arak University Arak Iran Department of Physics Shahid Beheshti University Tehran Iran School of Computing Informatics and Decision Systems Engineering Arizona State University AZ United States Faculty of Electrical and Computer Engineering University of Kharazmi Tehran Iran Stanford University Stanford United States

Iris segmentation and localization in unconstrained environments are challenging due to long distances, illumination variations, limited user cooperation, and moving subjects. Some existing methods in the literature have somehow mitigated some of the above-mentioned issues. In this paper, motivated by these weaknesses, we propose a framework that employs a deep neural network-based approach to iris segmentation and localization. The proposed framework is based on a U-Net architecture initialized with a pre-trained MobileNetV2 model. In addition, to better study the detectors in iris recognition scenarios, we have collected 1000 images. The provided dataset (KartalOl) is made publicly available for the research community. In the proposed framework, to have better generalization, we fine-tuned the MobileNetV2 model on the provided data for NIR-ISL 2021 from the CASIA-Iris-Asia, CASIA-Iris-M1, and CASIA-Iris-Africa and our dataset. Likewise, data augmentation techniques are applied on images. We chose the binarization threshold for the binary masks by iterating over the images in the provided dataset. The proposed framework is trained and tested in CASIA-Iris-Asia, CASIA-Iris-M1, and CASIA-Iris-Africa, along with the KartalOl dataset. The experimental results highlight that our method surpasses state-of-the-art methods on mobile-based benchmarks. The implementation source code of KartalOl is made publicly available at https://***/Jalilnkh/KartalOl-NIR-ISL2021031301. © The Author(s) 2023.

关键词： Iris segmentation Localization MobileNetV2 model Unconstrained environment

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Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundus Images with 3D UNet

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundu...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Tomasz Marciniak Agnieszka Stankiewicz Przemysław Zaradzki Department of Control Robotics and Electrical Engineering Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland

This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author’s publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score).

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Denoising Piecewise Constant Nanopore Signals

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IEEE Transactions on Signal Processing 2025年 73卷 1993-2007页

作者： Vidal, Adrian Viterbo, Emanuele Monash University Department of Electrical and Computer Systems Engineering MelbourneVIC3800 Australia University of the Philippines Electrical and Electronics Engineering Institute Diliman Quezon City1101 Philippines

Nanopore sequencing signals can be described as indirect noisy observations that reflect the instantaneous conductance of the nanopore channel as an analyte DNA molecule translocates through the pore in real time, with δ nucleotides (δ-mers) blocking the pore at any instant. The sequence of overlapping δ-mers along the ssDNA molecule are thus indirectly observed as a sequence of conductance levels (i.e., a signature) that is used to characterize its DNA sequence. In this paper, we denoise piecewise constant nanopore signals drawn from the same Gaussian-output, left-to-right hidden Markov model (HMM) and recover the unknown signature that is used to parameterize the HMM. We place a Gaussian prior on the signature and use importance sampling to approximate the minimum mean-square error estimate (MMSE) of the signature given the signals. To circumvent the difficulty of sampling from the true posterior, we construct a proposal distribution from which the joint segmentation of the observed signals can be efficiently sampled in O(Mn2k) time, where M is the number of signals, n is the average duration of each signal, and k is the length of the signature. Finally, we evaluate the performance of the algorithm using both simulated and experimental nanopore signals generated by Oxford Nanopore Technologies’ (ONT) R10.4.1 nanopore. The proposed method can be effective in constructing accurate δ-mer tables used to fully characterize all the 4δ states of any nanopore sequencer. © 1991-2012 IEEE.

关键词： Hidden Markov models

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Contrast enhancement of optical videoscope images

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Iran Journal of computer Science 2023年第3期6卷 261-275页

作者： Ammar, Reda Aboshosha, Sahar El-Hag, Noha A. Saifeldeen, Reda El-Shafai, Walid El-Banby, Ghada M. Ashiba, Huda I. Khalaf, Ashraf A. M. Elazm, Atef Abou El-Rabaie, El-Sayed M. Abd El-Samie, Fathi E. El-Safrawey, Amir Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf 32952 Egypt Department of Electronics and Electrical Comm. Faculty of Engineering Minia University Minya Egypt Department of Management of Information Systems Higher Institute of Commercial Science El-Mahala El-Kobra Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf 32952 Egypt Department of Electronics and Electrical Communications Engineering Bilbis Higher Institute of Engineering Sharqia Bilbis Egypt Security Engineering Laboratory Computer Science Department Prince Sultan University Riyadh 11586 Saudi Arabia Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh 11671 Saudi Arabia

The videoscope (VS) images have poor quality and low contrast. Hence, in this paper, three proposed frameworks to improve the quality of VS images are presented. The first framework depends on contrast-limited adaptive histogram equalization (CLAHE) with adaptive gamma correction. The second framework depends on homomorphic processing. The third framework is based on the homomorphic enhancement with histogram equalization. The first one is superior from the entropy perspective, while the third one is superior from the contrast perspective. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2023.

关键词： Fuzzy enhancement Histogram equalization Homomorphic enhancement Spectral entropy

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PROSPECT: Precision Robot Spectroscopy Exploration and Characterization Tool

PROSPECT: Precision Robot Spectroscopy Exploration and Chara...

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

作者： Nathaniel Hanson Gary Lvov Vedant Rautela Samuel Hibbard Ethan Holand Charles DiMarzio Taşkın Padır Institute for Experiential Robotics Lincoln Laboratory Massachusetts Institute of Technology Lexington Massachusetts USA Robotics Institute Carnegie Mellon University Pittsburgh Pennsylvania USA Electrical and Computer Engineering Department Northeastern University Boston Massachusetts USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Near Infrared (NIR) spectroscopy is widely used in industrial quality control and automation to test the purity and grade of items. In this research, we propose a novel sensorized end effector and acquisition strategy to capture spectral signatures from objects and register them with a 3D point cloud. Our methodology first takes a 3D scan of an object generated by a time-of-flight depth camera and decomposes the object into a series of planned viewpoints covering the surface. We generate motion plans for a robot manipulator and end-effector to visit these viewpoints while maintaining a fixed distance and surface normal. This process is enabled by the spherical motion of the end-effector and ensures maximal spectral signal quality. By continuously acquiring surface reflectance values as the end-effector scans the target object, the autonomous system develops a four-dimensional model of the target object: position in an R 3 coordinate frame, and a reflectance vector denoting the associated spectral signature. We demonstrate this system in building spectral-spatial object profiles of increasingly complex geometries. We show the proposed system and spectral acquisition planning produce more consistent spectral signals than naïve point scanning strategies. Our work represents a significant step towards high-resolution spectral-spatial sensor fusion for automated quality assessment.

关键词： Reflectivity Point cloud compression Geometry Spectroscopy Three-dimensional displays Robot kinematics Robot sensing systems End effectors Planning Surface treatment

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Fast Walking of Position-Controlled Biped Robot Based on Whole-Body Compliance Control 16th

Fast Walking of Position-Controlled Biped Robot Based on Who...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhu, Yiting Xie, Ye Gao, Chengzhi Liang, Dingkun Kong, Lingyu Wang, Xin Xie, Anhuan Gu, Jianjun Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

When a biped robot walks at a high speed, only relying on the open-loop gait trajectory based on the linear inverted pendulum model (LIPM), the robot cannot maintain stability. Sudden contact with the ground when landing may cause the robot to be unstable. Simultaneously, when the robot walks faster, the horizontal position of the center of mass (CoM) varies greatly during a walk cycle, and the expected CoM trajectory cannot be accurately tracked, resulting in a deviation from the zero-moment point (ZMP). Aiming at the above situation that may occur in fast walking, a whole-body compliance controller with emphasis on making robot’s walking more stable and faster is presented in this paper. The whole-body compliance controller consists of three parts: the CoM compliance controller, the vertical compliance controller and the foot compliance controller, which are used to improve the tracking effect of CoM, reduce the force impact of foot, and adjust the posture of the foot respectively. The simulation results show that with the whole-body compliance controller proposed in this paper, the tracking accuracy of the CoM becomes better, the posture of the robot is more stable during walking, and the landing compliance during landing are greatly improved. Finally, the walking speed of the robot can reach 1.8m/s. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Compliance control

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Producing Lunar Steel and Oxygen using Molten Lunar Regolith Electrolysis

Producing Lunar Steel and Oxygen using Molten Lunar Regolith...

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Accelerating Space Commerce, Exploration, and New Discovery Conference, ASCEND 2023

作者： Patel, Palak B. Soto, Jose Adams, Zachary K. Koller, Scarlett Latyshev, Kir Boothe, Evan Cooper, Amber Fontanez, Jonatan Jalil, Laman Ma, Beverly Meza, Cesar Misquitta, Kristoff Na, Hyein Nguyen, Tom Pendley, Hezekiah Sangabattula, Lokesh Usey, Helena Zehner, Alice Allanore, Antoine Culpepper, Martin De Weck, Olivier Lordos, George Hoffman, Jeffrey Bergman, Dean Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Aeronautics and Astronautics Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States Department of Aeronautics and Astronautics Massachusetts Institute of Technology Sloan School of Management CambridgeMA02139 United States Department of Chemical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Material Science and Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Honeybee Robotics Exploration Systems AltadenaCA91001 United States

ISBN: (纸本)9781624107054

With the current Artemis missions planned, by 2028, NASA and its international and commercial partners may be establishing a permanent presence at the lunar South pole. The Artemis Base Camp will be the locus of international and public-private collaboration under the Artemis Accords, helping to bootstrap a lunar economy. As the lunar economy grows, traffic of people and goods will grow with it. Thus, we envision that NASA and its international and commercial partners will have increasing long-term needs for producing metal from in situ resources such as lunar regolith. These metals can be used to produce many end products on the moon including large pressure vessels, both for spacious habitats and industrial-scale storage and operations. In this paper, as a part of the NASA 2023 BIG Idea Challenge ‘Lunar Forge: Producing Metal Products on the Moon’, we design and manufacture a molten regolith electrolysis (MRE) reactor capable of producing various alloys of steel and other metal products from lunar regolith, with oxygen as a useful byproduct. We have built ARTEMIS Steelworks (Advancing Reactor Technologies for Electrolytic Manufacturing of In situ Steel), which consists of an electrolytic reactor, supporting the addition of alloying elements to produce molten steel from lunar regolith simulant. To prepare for a lunar technology demonstration, a preliminary test of the reaction on Earth was performed in a vacuum, a sonicator was tested to dislodge oxygen bubbles from the anode to increase electrode life, and an automated iron and slag collector was made to reduce the need for astronaut operation. The project’s technical objectives are to demonstrate steel-making capability while also quantifying energy efficiency, steel quality, and the expected useful life of the electrodes and vessel under different configurations relative to the state of the art. The comprehensive testing plan presented here includes functional subsystem and integrated testing in ambient conditio

关键词： Electrolysis

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Nonlinear Optimal Regulation of SIR Epidemic Model via Finite-Horizon SDRE

Nonlinear Optimal Regulation of SIR Epidemic Model via Finit...

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International Conference on computer and Information Technology (ICCIT)

作者： Sudipta Paul Samiul Islam Desineni Subbaram Naidu Md. Abu Hanif Pramanik Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute New York USA Department of Electrical & Computer Engineering Rajshahi University of Engineering & Technology Bangladesh Department of Electrical Engineering University of Minnesota Duluth USA

A Susceptible-Infectious-Recovered (SIR) model is a popular and fundamental epidemiological model often used to assess the efficacy of disease prevention and control measures. SIR disease model, with the implementation of various optimal control methods, is investigated to determine the optimal ways to lessen the effects of an infectious disease. In this research work, a non-linear, closed-loop, finite-horizon, optimal regulation with state-dependent Riccati equation (FH-SDRE) is implemented in an epidemic model called SIR model with vaccination to minimize the infected and susceptible population. Given the nonlinear dynamics of the SIR epidemic model, initially, this method converts the nonlinear equations into a state-dependent coefficient (SDC) matrix, which holds the nonlinearities of the dynamical system. After that, SDRE is solved at every small time instant over a specified finite time period. The core idea here is to utilize an approximate analytical approach that transforms the differential Riccati equation (DRE) into a differential Lyapunov equation (DLE) during every time period. Then, the real-time solution of the DLE at each of these time steps will result in the control law required to achieve the desired system performance. The effectiveness of the FH-SDRE regulation for the SIR model is demonstrated by minimizing the infected and susceptible population within a desired 30-day time period.

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Phase- and Angle-Sensitive Terahertz Hot-Electron Bolometric Plasmonic Detectors Based on Fets with Graphene Channel and Composite H-BN/Black-P/H-BN Gate Layer

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International Journal of High Speed Electronics and systems 2024年第4期33卷

作者： Ryzhii, Victor Tang, Chao Otsuji, Taiichi Shur, Michael S. Ryzhii, Maxim Mitin, Vladimir Research Institute For Electrical Communication Tohoku University Miyagi Sendai980-8577 Japan Department Of Electrical Computer And Systems Engineering Rensselaer Polytechnic Institute TroyNY United States Department Of Computer Science And Engineering University Of Aizu Aizu-Wakamatsu Fukushima965-8580 Japan Department Of Electrical Engineering University At Buffalo Suny BuffaloNY United States

In this paper, we propose and analyze the terahertz (THz) bolometric vector detectors based on the graphene-channel field-effect transistors (GC-FET) with the black-P gate barrier layer or with the composite b-BN/black-P/b-BN gate layer. The phase difference between the signal received by the FET source and drain substantially affects the plasmonic resonances. This results in a resonant variation of the detector response on the incoming THz signal phase shift and the THz radiation angle of incidence. © 2024 World Scientific Publishing Company.

关键词： Graphene

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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

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IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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