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GardnerNet: An Interpretable Deep Learning Model for Quantitative Human Blastocyst Evaluation - A Retrospective Model Development and Validation Study

SSRN

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SSRN 2024年

作者： Liu, Hang Chen, Longbin Shan, Guanqiao Sun, Chen Liao, Hongqing Lu, Changfu Zhang, Shuoping Dong, Shaonan Xu, Xinxin Yan, Qiuyun Gong, Fei Zhang, Zhuoran Dai, Changsheng Chen, Wenyuan Song, Haocong Chen, Lei Sun, Haixiang Wang, Shanshan Lin, Ge Sun, Yu Gu, Yifan Department of Mechanical and Industrial Engineering University of Toronto 5 King’s College Road TorontoONM5S 3G8 Canada Institute of Reproductive and Stem Cell Engineering School of Basic Medical Science Central South University 172 Tongzipo Road Hunan Province Changsha China Hengyang Nanhua-Xinghui Reproductive Health Hospital 30 Jiefang Road Hunan Province Hengyang China The second Affiliated Hospital Hengyang Medical School University of South China 30 Jiefang Road Hunan Province Hengyang City China Reproductive & Genetic Hospital of CITIC-Xiangya 567 Tongzipo Road Hunan Province Changsha China NHC Key Laboratory of Human Stem Cell and Reproductive Engineering School of Basic Medical Science Central South University 172 Tongzipo Road Hunan Province Changsha China Clinical Research Center for Reproduction and Genetics in Hunan Province Reproductive & Genetic Hospital of CITIC-Xiangya 567 Tongzipo Road Hunan Province Changsha China School of Science and Engineering The Chinese University of Hong Kong-Shenzhen 2001 Longxiang Boulevard Longgang District Shenzhen China Institute of Robotics and Intelligent Systems Dalian University of Technolgy 2 Linggong Road Liaoning Province Dalian China Department of Computer Science University of Toronto 40 St George Street TorontoONM5S 2E4 Canada Center for Reproductive Medicine and Obstetrics and Gynecology Nanjing Drum Tower Hospital Nanjing University Medical School 321 Zhongshan Road Jiangsu Province Nanjing China National Engineering and Research Center of Human Stem Cell 8 Luyun Road Jiangsu Province Changsha China Department of Electrical and Computer Engineering 10 King’s College Road TorontoONM5S 3G8 Canada Institute of Biomedical Engineering University of Toronto 164 College Street TorontoONM5S 3G9 Canada

Background: Selecting the blastocyst with the highest potential for live birth from a cohort is crucial for the success of in vitro fertilization (IVF). While the Gardner and Schoolcraft morphological grading system, commonly known as the Gardner grading system, is widely used by embryologists worldwide, blastocysts having similar or the same inner cell mass (ICM) and trophectoderm (TE) grades cause challenges for embryologists in decision-making. Furthermore, human assessment is subjective and inconsistent in predicting which blastocysts have higher potential to result in live birth. This study aims to develop an interpretable, quantitative method aligned with the Gardner grading system, providing continuous scores that correlate with live birth outcomes, thereby assisting embryologists in improving blastocyst selection. Methods: In this retrospective study, we developed GardnerNet, an interpretable deep learning model that outputs expansion degree grade and continuous scores quantifying a blastocyst's ICM morphology and TE morphology, based on the Gardner grading system. The continuous ICM and TE scores were calculated by weighting each base grade's predicted probability and summing the predicted probabilities. To represent each blastocyst's overall potential for live birth, we combined the ICM and TE scores using their odds ratios (ORs) for live birth. We further assessed the correlation between the ICM score, TE score, and the OR-combined score (adjusted for expansion degree) with live birth rates by applying GardnerNet to blastocysts with known live birth outcomes. To test its generalizability, we also applied GardnerNet to an external IVF institution, accounting for variations in imaging conditions, live birth rates, and embryologists' experience levels. Findings: GardnerNet was developed using data from 2760 blastocysts with majority-voted grades for expansion degree, ICM, and TE. The model achieved mean area under the receiver operating characteristic curve

关键词： Risk assessment

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Adaptive Backstepping of Synergistic Hybrid Feedbacks with Application to Obstacle Avoidance

Adaptive Backstepping of Synergistic Hybrid Feedbacks with A...

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American Control Conference

作者： Pedro Casau Ricardo G. Sanfelice Carlos Silvestre Institute for Systems and Robotics (ISR) Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal University of California Santa Cruz CA 95064 USA Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macau China

ISBN: (纸本)9781538679012;9781538679265

In this paper, we show that the hybrid controller that is induced by a Synergistic Lyapunov Function and Feedback (SLFF) pair relative to a compact set, can be extended to the case where the original affine control system is subject to a class of additive disturbances known as matched uncertainties, provided that the estimator dynamics do not add new equilibria to the closed-loop system. We also show that the proposed adaptive hybrid controller is amenable to backstepping. Finally, we apply the proposed hybrid control strategy to the problem of global asymptotic stabilization of a compact set in the presence of an obstacle and we illustrate this application by means of simulation results.

关键词： Obstacle avoidance Backstepping Feedback Collision avoidance Liapunov function control systems Closed loop systems Self tuning Controllers

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Twin Kinematics Approach for Robotic-Assisted Tele-Echography

Twin Kinematics Approach for Robotic-Assisted Tele-Echograph...

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

作者： Luis Santos Rui Cortesão João Quintas Luís Santos is with the Institute of Systems and Robotics University of Coimbra Portugal Rui Cortesão is with the Electrical and Computer Engineering Department Institute of Systems and Robotics University of Coimbra Portugal João Quintas is with the Instituto Pedro Nunes Coimbra Portugal

This paper discusses a new teleoperation approach for robotic-assisted tele-echography. A teleoperation architecture in the joint space is presented, taking advantage of kinematic similarity between master and slave manipulators. Haptic force feedback is provided based on the slave control command torque, without using force/torque sensing data. The slave manipulator is controlled in the joint space using computed torque techniques and featuring Kalman Active Observers (AOBs). Experiments in a typical telemedice scenario, assess and validate the teleoperation architecture in a clinical context, with a radiologist performing a robotic-assisted abdominal ultrasound examination on a healthy volunteer.

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Correction to: SleepBoost: a multi‑level tree‑based ensemble model for automatic sleep stage classification

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Medical & biological engineering & computing 2024年第9期62卷 2785页

作者： Akib Zaman Shiu Kumar Swakkhar Shatabda Iman Dehzangi Alok Sharma Computer Science and Artificial Intelligence Laboratory (CSAIL) Electrical Engineering and Computer Science Department Massachusetts Institute of Technology Cambridge MA USA. School of Electrical & Electronics Engineering Fiji National University Suva Fiji. shiu.kumar@fnu.ac.fj. Centre for Artificial Intelligence and Robotics (CAIR) United International University Dhaka Bangladesh. Department of Computer Science Rutgers University Camden NJ USA. Center for Computational and Integrative Biology Rutgers University Camden USA. Laboratory for Medical Science Mathematics RIKEN Center for Integrative Medical Sciences Yokohama 230‑0045 Japan. Institute for Integrated and Intelligent Systems Griffith University Nathan Brisbane QLD Australia.

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Robot-Assisted Navigation for a Robotic Walker with Aided User Intent

Robot-Assisted Navigation for a Robotic Walker with Aided Us...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Luis Garrote Joao Paulo Joao Perdiz Paulo Peixoto Urbano J. Nunes Institute of Systems and Robotics (ISR-UC) Electrical and Computer Engineering Department (DEEC-UC) University of Coimbra

ISBN: (纸本)9781538679814

This paper presents an approach to robot-assisted navigation on a mobility assistance context, by learning from the user while helping him navigate efficiently and safely in complex environments. Assistive robots such as robotic walkers provide the ability to support a user's body weight on the upper limbs while walking. However, walkers can add an extra layer of distress due to their specific manipulation constraints. For the users of such devices, lack of dexterous upper limb control can be a considerable problem as it means they may be unable to operate these devices efficiently;users may also have visual impairments that reduce their navigational efficiency. The proposed approach uses a Reinforcement Learning (RL) model and a dynamic window-based local motion planning algorithm. It aims to learn needed corrections in the motion command based on the surrounding environment and the user's intent. The proposed solution handles corrections and guides the user through the environment without collisions while learning and aiding the user when he is unable to operate the device efficiently. The RL based approach was tested in indoor scenarios with a robotic walker platform showing preliminary promising results.

关键词： Consumers Walkers Learning Upper Extremity Visual Impairment ambient environment navigation Pedestrians Distress Stressing Environments

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Age of Information for Single Buffer systems with Vacation Server

arXiv

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arXiv 2020年

作者： Xu, Jin Hou, I-Hong Gautam, Natarajan School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China University of Science and Technology of China Anhui Hefei China Department of Electrical and Computer Engineering Texas A&M University College StationTX United States Department of Industrial and Systems Engineering Texas A&M University College StationTX United States

In this research, we study the information freshness in M/G/1 queueing system with a single buffer and the server taking multiple vacations. This system has wide applications in communication systems. We aim to evaluate the information freshness in this system with both i.i.d. and non-i.i.d. vacations under three different scheduling policies, namely Conventional Buffer System (CBS), Buffer Relaxation System (BRS), and Conventional Buffer System with Preemption in Service (CBS-P). For the systems with i.i.d. vacations, we derive the closed-form expressions of information freshness metrics such as the expected Age of Information (AoI), the expected Peak Age of Information (PAoI), and the variance of peak age under each policy. For systems with non-i.i.d. vacations, we use the polling system as an example and provide the closed-form expression of its PAoI under each policy. We explore the conditions under which one of these policies has advantages over the others for each information freshness metric. We further perform numerical studies to validate our results and develop insights. Copyright © 2020, The Authors. All rights reserved.

关键词： Electric circuit breakers

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Author Correction: Super-resolution multicolor fluorescence microscopy enabled by an apochromatic super-oscillatory lens with extended depth-of-focus

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Nature communications 2024年第1期15卷 1510页

作者： Wenli Li Pei He Dangyuan Lei Yulong Fan Yangtao Du Bo Gao Zhiqin Chu Longqiu Li Kaipeng Liu Chengxu An Weizheng Yuan Yiting Yu Ningbo Institute of Northwestern Polytechnical University College of Mechanical Engineering Northwestern Polytechnical University Xi'an 710072 China. Key Laboratory of Micro/Nano Systems for Aerospace (Ministry of Education) Northwestern Polytechnical University Xi'an 710072 China. Shaanxi Province Key Laboratory of Micro and Nano Electro-Mechanical Systems Northwestern Polytechnical University Xi'an 710072 China. Department of Materials Science and Engineering City University of Hong Kong Hong Kong 999077 China. dangylei@cityu.edu.hk. Department of Materials Science and Engineering City University of Hong Kong Hong Kong 999077 China. The Institute of AI and Robotics Fudan University Shanghai 200433 China. Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences Xi'an Institute of Optics and Precision Mechanics Chinese Academy of Sciences Xi'an 710119 China. Department of Electrical and Electronic Engineering Joint Appointment with School of Biomedical Sciences The University of Hong Kong Hong Kong 999077 China. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China. Ningbo Institute of Northwestern Polytechnical University College of Mechanical Engineering Northwestern Polytechnical University Xi'an 710072 China. yyt@***. Key Laboratory of Micro/Nano Systems for Aerospace (Ministry of Education) Northwestern Polytechnical University Xi'an 710072 China. yyt@***. Shaanxi Province Key Laboratory of Micro and Nano Electro-Mechanical Systems Northwestern Polytechnical University Xi'an 710072 China. yyt@***.

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Existence and uniqueness of global Koopman eigenfunctions for stable fixed points and periodic orbits

arXiv

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arXiv 2019年

作者： Kvalheim, Matthew D. Revzen, Shai Department of Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA19104 United States Department of Electrical Engineering and Computer Science Ecology and Evolutionary Biology Department Robotics Institute University of Michigan Ann ArborMI48109 United States

We consider C1 dynamical systems having an attracting hyperbolic fixed point or periodic orbit and prove existence and uniqueness results for Ck (actually Clock,α) linearizing semiconjugacies-of which Koopman eigenfunctions are a special case-defined on the entire basin of attraction. Our main results both generalize and sharpen Sternberg's Ck linearization theorem for hyperbolic sinks, and in particular our corollaries include uniqueness statements for Sternberg linearizations and Floquet normal forms. Using our main results we also prove new existence and uniqueness statements for Ck Koopman eigenfunctions, including a complete classification of C∞ eigenfunctions assuming a C∞ dynamical system with semisimple and nonresonant linearization. We give an intrinsic definition of "principal Koopman eigenfunctions" which generalizes the definition of Mohr and Mezić for linear systems, and which includes the notions of "isostables" and "isostable coordinates" appearing in work by Ermentrout, Mauroy, Mezić, Moehlis, Wilson, and others. Our main results yield existence and uniqueness theorems for the principal eigenfunctions and isostable coordinates and also show, e.g., that the (a priori non-unique) "pullback algebra" defined in [MM16b] is unique under certain conditions. We also discuss the limit used to define the "faster" isostable coordinates in [WE18, MWMM19] in light of our main *** Codes 37C05, 37C10, 37C15, 37C27, 34C15, 34C20, 37D99 Copyright © 2019, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Online multi-object tracking and segmentation with GMPHD filter and mask-based affinity fusion

arXiv

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arXiv 2020年

作者： Song, Young-Min Yoon, Young-Chul Yoon, Kwangjin Jeon, Moongu Lee, Seong-Whan Pedrycz, Witold The School of Electrical Engineering and Computer Science Gwangju Institute of Technology Gwangju61005 Korea Republic of The Robotics Laboratory Hyundai Motor Company Gyeonggi-do 16082 Korea Republic of SI Analytics Co. Ltd. Daejeon34051 Korea Republic of The Department of Artificial Intelligence Korea University Seoul02841 Korea Republic of The Department of Brain and Cognitive Engineering Korea University Seoul02841 Korea Republic of The Department of Electrical and Computer Engineering University of Alberta EdmontonABT6R 2H5 Canada The Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia The Systems Research Institute Polish Academy of Sciences Warsaw01-447 Poland

In this paper, we propose a highly practical fully online multi-object tracking and segmentation (MOTS) method that uses instance segmentation results as an input. The proposed method is based on the Gaussian mixture probability hypothesis density (GMPHD) filter, a hierarchical data association (HDA), and a mask-based affinity fusion (MAF) model to achieve high-performance online tracking. The HDA consists of two associations: segment-to-track and track-to-track associations. One affinity, for position and motion, is computed by using the GMPHD filter, and the other affinity, for appearance is computed by using the responses from a single object tracker such as a kernalized correlation filter. These two affinities are simply fused by using a score-level fusion method such as min-max normalization referred to as MAF. In addition, to reduce the number of false positive segments, we adopt mask IoU-based merging (mask merging). The proposed MOTS framework with the key modules: HDA, MAF, and mask merging, is easily extensible to simultaneously track multiple types of objects with CPU-only execution in parallel processing. In addition, the developed framework only requires simple parameter tuning unlike many existing MOTS methods that need intensive hyperparameter optimization. In the experiments on the two popular MOTS datasets, the key modules show some improvements. For instance, ID-switch decreases by more than half compared to a baseline method in the training sets. In conclusion, our tracker achieves state-of-the-art MOTS performance in the test sets. Copyright © 2020, The Authors. All rights reserved.

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Assis - cicerone robot with visual obstacle avoidance using a stack of odometric data

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2018年第1期45卷 219-227页

作者： Mendesy, Mateus Coimbray, A. Paulo Crisóstomo, Manuel M. ESTGOH Polytechnic Institute of Coimbra Portugal ISR - Institute of Systems and Robotics Dept. of Electrical and Computer Engineering University of Coimbra Portugal

Modern research has shown that intelligent behaviour is, to a great extent, strongly supported on the use of a sophisticated memory. Additionally, vision is the main source of information for the average human. Constant increase of sensing and processing power and constant decrease of the cost of memory have made vision-based approaches in robotics more attractive. ASSIS is a prototype of an assistant robot which uses vision and memory-based navigation, including intelligent obstacle avoidance. ASSIS uses a parallel implementation of a Sparse Distributed Memory to store images and use them later for localisation and navigation. Obstacle avoidance is achieved using a stack-based method and odometric data. Users can command the robot through a web-based interface. ASSIS implements behaviours such as courier or cicerone.

关键词： Navigation

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