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arXiv 2024年

作者： Huang, Kai Zhao, Junqiao Lin, Jiaye Zhu, Zhongyang Song, Shuangfu Ye, Chen Feng, Tiantian The School of Surveying and Geo-Informatics Tongji University Shanghai China Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The MOE Key Lab of Embedded System and Service Computing Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China

Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function. While recent LIO systems address uncertainty related to range sensing, the impact of incident angle on uncertainty is often overlooked by the community. Moreover, the existing uncertainty propagation methods suffer from computational inefficiency. This paper proposes a comprehensive point uncertainty model that accounts for both the uncertainties from LiDAR measurements and surface characteristics, along with an efficient local uncertainty analytical method for LiDAR-based state estimation problem. We employ a projection operator that separates the uncertainty into the ray direction and its orthogonal plane. Then, we derive incremental Jacobian matrices of eigenvalues and eigenvectors w.r.t. points, which enables a fast approximation of uncertainty propagation. This approach eliminates the requirement for redundant traversal of points, significantly reducing the time complexity of uncertainty propagation from O(n) to O(1) when a new point is added. Simulations and experiments on public datasets are conducted to validate the accuracy and efficiency of our formulations. The proposed methods have been integrated into a LIO system, which is available at https://***/tiev-tongji/LOG-LIO2. Copyright © 2024, The Authors. All rights reserved.

关键词： Optical radar

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Attention-effective multiple instance learning on weakly stem cell colony segmentation

arXiv

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arXiv 2022年

作者： Yudistira, Novanto Kavitha, Muthu Subash Rajan, Jeny Kurita, Takio Intelligent System Lab Faculty of Computer Science Brawijaya University Indonesia School of Information and Data Sciences Nagasaki University Nagasaki Japan Department of Computer Science and Engineering National Institute of Technology Karnataka Surathkal India Graduate School of Advanced Science and Engineering Hiroshima University Hiroshima Japan

The detection of induced pluripotent stem cell (iPSC) colonies often needs the precise extraction of the colony features. However, existing computerized systems relied on segmentation of contours by preprocessing for classifying the colony conditions were task-extensive. To maximize the efficiency in categorizing colony conditions, we propose a multiple instance learning (MIL) in weakly supervised settings. It is designed in a single model to produce weak segmentation and classification of colonies without using finely labeled samples. As a single model, we employ a U-net-like convolution neural network (CNN) to train on binary image-level labels for MIL colonies classification. Furthermore, to specify the object of interest we used a simple post-processing method. The proposed approach is compared over conventional methods using five-fold cross-validation and receiver operating characteristic (ROC) curve. The maximum accuracy of the MIL-net is 95%, which is 15% higher than the conventional methods. Furthermore, the ability to interpret the location of the iPSC colonies based on the image level label without using a pixel-wise ground truth image is more appealing and cost-effective in colony condition recognition. © 2022, CC BY.

关键词： Learning systems

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A Three-Fingered Adaptive Gripper with Multiple Grasping Modes

A Three-Fingered Adaptive Gripper with Multiple Grasping Mod...

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2021 IEEE/RSJ International Conference on intelligent Robots and Systems, IROS 2021

作者： Kang, Long Yang, Yang Yang, Jian Yi, Byung-Ju Nanjing University of Science and Technology PCA Lab Key Lab. of Intelligent Percept. and Syst. for High-Dimensional Information of Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing210094 China School of Automation Nanjing University of Information Science and Technology Nanjing210044 China Department of the Electronic Systems Engineering Hanyang University Ansan426-791 Korea Republic of

ISBN: (纸本)9781665417143

This paper presents an underactuated robotic gripper that consists of three fingers. This gripper is driven by seven actuators and capable of grasping a wide range of objects in different working scenarios. A combination of a four-bar mechanism and parallelograms ensures that each finger can provide the basic pinch grasp and power grasp. Detailed fingertip grasping force analysis shows the large payload of this gripper. To fulfill multiple challenging grasping tasks, the fingertip orientation of each finger was designed to be decoupled from the finger flexion motion. Particular emphasis is placed on the environmental contact-based grasp and active transition from the pinch grasp to the power grasp. Detailed analysis shows that the contact-based fingertip grasp could be used to grasp thin objects lying on a flat surface with widths less than 168 mm safely and stably. To prevent over-squeezing of the grasped object in the active transition, the fingertip orientation and finger flexion motion were controlled coordinately. Moreover, a combination of the contact-based grasp and the direct power grasp was also allowed to grasp objects lying on a flat surface and having smooth surfaces robustly. Experimental results demonstrate the effectiveness of the proposed gripper in real-world applications. © 2021 IEEE.

关键词： Grippers

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Health Care and management based on Block chain and Machine Learning

Health Care and Management based on Block chain and Machine ...

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Artificial Intelligence and knowledge Discovery in Concurrent engineering (ICECONF), International Conference on

作者： Ruhi Bakh VeenaNair Sarkar Jerlin Priya Lovelin Auguskani Galiveeti Poornima Monali N. Shetty Meerjumla Govind Raj Dr. Ambedkar Institute of Management Studies and Research IIHMR UNIVERSITY. Department of Nursing College Aldrab Jazan University Kingdom of Saudi Arabia. High Performance Computing Lab School of Computer Science and Information Science Presidency University Bengaluru Computer Science Engineering Fr. CRCE St. Martin's Engineering College Secunderabad Telangana

With the coming of technology, we currently have an immense measure of information accessible in each field, making it conceivable to offer responses to many issues. We will utilize machine learning and block chain technology to resolve issues with healthcare information the executives in this review. With the guide of machine learning, separating just the relevant information from the data is plausible. Using prepared calculations, this is finished. The reliability of information trade turns into a test after this information has been put away. This is where block chain technology is valuable. Block chain technology's agreement guarantees that information is credible and exchanges are secure. By putting the patient at the focal point of the healthcare framework and upgrading the security and interoperability of health information, block chain technology can possibly further develop health care organization. This article fundamentally centres around settling issues with healthcare information the board using Block chain technology and including a few urgent highlights utilizing Machine Learning. The freshest technology, block chain, offers a strong and secure groundwork. With these offices, block chain has gotten some momentum in an assortment of use areas, including the food business, store network the board, energy, government support offices, and healthcare.

关键词： Telemedicine Government Medical treatment Machine learning Medical services knowledge discovery Blockchains

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A Novel Sparse Adaptive Filter for Suppressing Impulsive Disturbance in Audio Signals

SSRN

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SSRN 2024年

作者： Zhou, Lei Liu, Hongqing Gan, Lu Zhou, Yi Niedźwiecki, Maciej Truong, Trieu-Kien School of Communications and Information Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Key Lab of Mobile Communications Technology and Intelligent Speech and Audio Research Lab Chongqing University of Posts and Telecommunications Chongqing400065 China College of Engineering Design and Physical Science Brunel University LondonUB8 3PH United Kingdom Department of Automatic Control Faculty of Electronics Telecommunications and Computer Science Gdansk University of Technology Gdansk80-233 Poland Department of Information Engineering I-Shou University 84001 Taiwan

This work studies the sparse adaptive filter designs in the presence of impulsive disturbance for audio signal recovery. By using the sparse representation of desired signal and compressibility of impulsive disturbance, a joint sparse least mean p-norm (JSLMP) optimization, in which p-norm (1 ≤ p ≤ 2) measures the data fidelity and q-norm (0 ≤ q ≤ 1) enforces sparse solutions, is developed, termed as q-JSLMP. The filter weights update is derived based on the gradient descent, and the Adam and variable step size (VSS) are integrated to accelerate convergence and avoid potential local minima. In the special case of q = 1, namely 1-JSLMP, its convergence condition and mean square deviation (MSD) analysis are derived. Finally, the frame of application to corrupted audio signals is designed. The results from experiments demonstrate that the proposed approach outperforms other approaches in terms of objective measures on numerical simulation and speech datasets. © 2024, The Authors. All rights reserved.

关键词： Adaptive filters

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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty

Experimental Validation of Sensitivity-Aware Trajectory Plan...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ali Srour Salvatore Marcellini Tommaso Belvedere Marco Cognetti Antonio Franchi Paolo Robuffo Giordano CNRS Univ Rennes Inria IRISA Rennes Cedex France Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse CNRS UPS Toulouse France LAAS-CNRS Robotics and Mechatronics Department Electrical Engineering Mathematics Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this work, we provide an experimental vali-dation of the recent concepts of closed-loop state and input sensitivity in the context of robust flight control for a quadrotor (UAV) equipped with the popular PX4 1 1 https://***/ controller. Our objective is to experimentally assess how the optimization of the reference trajectory w.r.t. these sensitivity metrics can improve the closed-loop system performance against model uncertainties commonly affecting the quadrotor systems. To accomplish this, we present a series of experiments designed to validate our optimization approach on two distinct trajectories, with the primary aim of assessing its precision in guiding the quadrotor through the center of a window at relatively high speeds. This approach provides some interesting insights for increasing the closed-loop robustness of the robot state and inputs against physical parametric uncertainties that may degrade the system's performance.

关键词： Uncertainty Sensitivity Target tracking Trajectory planning Perturbation methods Autonomous aerial vehicles Robustness

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Rumor detection on twitter using multiloss hierarchical BILSTM with an attenuation factor

arXiv

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arXiv 2020年

作者： Sujana, Yudianto Li, Jiawen Kao, Hung-Yu Intelligent Knowledge Management Lab Department of Computer Science and Information Engineering National Cheng Kung University Tainan Taiwan

Social media platforms such as Twitter have become a breeding ground for unverified information or rumors. These rumors can threaten people's health, endanger the economy, and affect the stability of a country. Many researchers have developed models to classify rumors using traditional machine learning or vanilla deep learning models. However, previous studies on rumor detection have achieved low precision and are time consuming. Inspired by the hierarchical model and multitask learning, a multiloss hierarchical BiLSTM model with an attenuation factor is proposed in this paper. The model is divided into two BiLSTM modules: post level and event level. By means of this hierarchical structure, the model can extract deep in-formation from limited quantities of text. Each module has a loss function that helps to learn bilateral features and reduce the training time. An attenuation fac-tor is added at the post level to increase the accuracy. The results on two rumor datasets demonstrate that our model achieves better performance than that of state-of-the-art machine learning and vanilla deep learning models. Copyright © 2020, The Authors. All rights reserved.

关键词： Hierarchical systems

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Lens-to-Lens Bokeh Effect Transformation. NTIRE 2023 Challenge Report

Lens-to-Lens Bokeh Effect Transformation. NTIRE 2023 Challen...

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2023 IEEE/CVF Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Conde, Marcos V. Kolmet, Manuel Seizinger, Tim Bishop, Tom E. Timofte, Radu Kong, Xiangyu Zhang, Dafeng Wu, Jinlong Wang, Fan Peng, Juewen Pan, Zhiyu Liu, Chengxin Luo, Xianrui Sun, Huiqiang Shen, Liao Cao, Zhiguo Xian, Ke Liu, Chaowei Chen, Zigeng Yang, Xingyi Liu, Songhua Jing, Yongcheng Mi, Michael Bi Wang, Xinchao Yang, Zhihao Lian, Wenyi Lai, Siyuan Zhang, Haichuan Hoang, Trung Yazdani, Amirsaeed Monga, Vishal Luo, Ziwei Gustafsson, Fredrik K. Zhao, Zheng Sjölund, Jens Schön, Thomas B. Zhao, Yuxuan Chen, Baoliang Xu, Yiqing Niu, Jixiang Computer Vision Lab CAIDAS IFI University of Würzburg Germany Glass Imaging Inc. China Huazhong University of Science and Technology China Nanyang Technological University Singapore National University of Singapore Singapore University of Sydney Australia Huawei Uppsala University Sweden Department of Electrical Engineering Pennsylvania State University United States Department of Information Technology Uppsala University Sweden Key Laboratory of Intelligent Perception and Image Understanding of the Ministry of Education Xidian University Xi'an China North China University of Technology China

ISBN: (纸本)9798350302493

We present the new Bokeh Effect Transformation Dataset (BETD), and review the proposed solutions for this novel task at the NTIRE 2023 Bokeh Effect Transformation Challenge. Recent advancements of mobile photography aim to reach the visual quality of full-frame cameras. Now, a goal in computational photography is to optimize the Bokeh effect itself, which is the aesthetic quality of the blur in out-of-focus areas of an image. Photographers create this aesthetic effect by benefiting from the lens optical *** aim of this work is to design a neural network capable of converting the the Bokeh effect of one lens to the effect of another lens without harming the sharp foreground regions in the image. For a given input image, knowing the target lens type, we render or transform the Bokeh effect accordingly to the lens properties. We build the BETD using two full-frame Sony cameras, and diverse lens *** the best of our knowledge, we are the first attempt to solve this novel task, and we provide the first BETD dataset and benchmark for it. The challenge had 99 registered participants. The submitted methods gauge the state-of-the-art in Bokeh effect rendering and transformation. © 2023 IEEE.

关键词： Color photography

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Robust Generalization against Photon-Limited Corruptions via Worst-Case Sharpness Minimization

arXiv

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arXiv 2023年

作者： Huang, Zhuo Zhu, Miaoxi Xia, Xiaobo Shen, Li Yu, Jun Gong, Chen Han, Bo Du, Bo Liu, Tongliang Syndey Ai Centre The University of Sydney Australia National Engineering Research Center for Multimedia Software Institute of Artificial Intelligence School of Computer Science Hubei Key Laboratory of Multimedia and Network Communication Engineering Wuhan University China Jd Explore Academy China Department of Automation University of Science and Technology of China China Key Lab. of Intelligent Percept. and Syst. for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology China Department of Computer Science Hong Kong Baptist University Hong Kong

Robust generalization aims to tackle the most challenging data distributions which are rare in the training set and contain severe noises, i.e., photon-limited corruptions. Common solutions such as distributionally robust optimization (DRO) focus on the worst-case empirical risk to ensure low training error on the uncommon noisy distributions. However, due to the over-parameterized model being optimized on scarce worst-case data, DRO fails to produce a smooth loss landscape, thus struggling on generalizing well to the test set. Therefore, instead of focusing on the worst-case risk minimization, we propose SharpDRO by penalizing the sharpness of the worst-case distribution, which measures the loss changes around the neighbor of learning parameters. Through worst-case sharpness minimization, the proposed method successfully produces a flat loss curve on the corrupted distributions, thus achieving robust generalization. Moreover, by considering whether the distribution annotation is available, we apply SharpDRO to two problem settings and design a worst-case selection process for robust generalization. Theoretically, we show that SharpDRO has a great convergence guarantee. Experimentally, we simulate photon-limited corruptions using CIFAR10/100 and ImageNet30 datasets and show that SharpDRO exhibits a strong generalization ability against severe corruptions and exceeds well-known baseline methods with large performance gains. Copyright © 2023, The Authors. All rights reserved.

关键词： Optimization

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Real-Time Data Collection of Wsn Based on Trajectory Optimization of Laser-Charged Uav

SSRN

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SSRN 2023年

作者： Luo, Chuanwen Hong, Yi Hou, Yunan Zhu, Yuqing Li, Deying Yu, Dongxiao Wu, Weili School of Information Science and Technology Beijing Forestry University Beijing100083 China Engineering Research Center for Forestry-oriented Intelligent Information Processing of National Forestry and Grassland Administration Beijing100083 China Research Center of Applied Mathematics and Machine Intelligence Zhejiang Lab Zhejiang Hangzhou311121 China Department of Computer Science California State University Los AngelesCA90032 United States School of Information Renmin University of China Beijing100872 China School of Computer Science and Technology Institute of Intelligent Computing Shandong University Qingdao266510 China Department of Computer Science The University of Texas at Dallas RichardsonTX75080 United States

Unmanned Aerial Vehicle (UAV) can be used as wireless aerial mobile base station for collecting data from sensors in UAV-based Wireless Sensor Networks (WSNs), which is crucial for providing seamless services and improving the performance in the next generation wireless networks. However, since the UAV are powered by batteries with limited energy capacity, the UAV can not complete data collection tasks of all sensors without energy replenishment when a large number of sensors are deployed over large monitoring areas. To overcome this problem, this paper study the Real-time Data Collection with Laser-charging UAV (RDCL) problem, where the UAV is used to collect data from a given WSN and replenished energy by Laser Beam Directors (LBDs). The problem aims at optimizing the flight trajectory of UAV for ensuring the real-time performance of data, which is to design the detailed hovering and traveling plans of UAV for collecting data from sensors and charged by LBDs such that all sensory data of WSN are collected by UAV and transported to the base *** prove that the RDCL problem is NP-hard. To solve the problem, we first study two sub-problems, the Trajectory Optimization of UAV for Data Collection (TODC) problem and the Charging Trajectory Optimization of UAV (CTO) problem, whose objectives are to find the optimal flight plans of UAV in the data collection areas and charging areas, respectively. Then we propose an approximation algorithm to solve each of them with the constant factor. Afterwards, we propose an approximation algorithm to solve the RDCL problem based on TODC and CTO problems. Finally, the proposed algorithm is verified by extensive simulations. © 2023, The Authors. All rights reserved.

关键词： Wireless sensor networks

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