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Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery

Cyborg and Bionic Systems 2023年第1期4卷 121-135页

作者： Ling Li Xiaojian Li Bo Ouyang Hangjie Mo Hongliang Ren Shanlin Yang School of Management Hefei University of TechnologyHefeiChina Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of TechnologyHefeiChina Philosophy and Social Sciences Laboratory of Data Science and Smart Society Governance(Ministry of Education) Hefei University of TechnologyHefeiChina Department of Biomedical Engineering Faculty of EngineeringNational University of SingaporeSingaporeSingapore Department of Electronic Engineering Shun Hing Institute of Advanced EngineeringThe Chinese University of Hong KongHong KongChina National Engineering Laboratory for Big Data Distribution and Exchange Technologies ShanghaiChina

In the robot-assisted minimally invasive surgery,if a collision occurs,the robot system program could be damaged,and normal tissues could be *** avoid collisions during surgery,a 3-dimensional collision avoidance method is proposed in this *** proposed method is predicated on the design of 3 strategic vectors:the collision-with-instrument-avoidance(CI)vector,the collision-with-tissues-avoidance(CT)vector,and the constrained-control(CC)*** CI vector demarcates 3 specific directions to forestall collision among the surgical *** CT vector,on the other hand,comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget ***,the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position,ensuring precision in its movements,in alignment with the surgical *** results verify the proposed collision avoidance method for robot-assisted minimally invasive *** code and data are available at https://***/cynerelee/collision-avoidance.

关键词： collision desired verify

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Cosmology with fast radio bursts in the era of SKA

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Science China(Physics,Mechanics & Astronomy) 2023年第12期66卷 37-55页

作者： Ji-Guo Zhang Ze-Wei Zhao Yichao Li Jing-Fei Zhang Di Li Xin Zhang Department of Physics College of SciencesNortheastern UniversityShenyang 110819China Key Laboratory of Cosmology and Astrophysics(Liaoning) Northeastern UniversityShenyang 110819China National Astronomical Observatories Chinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China Research Center for Intelligent Computing Platforms Zhejiang LaboratoryHangzhou 311100China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Key Laboratory of Data Analytics and Optimization for Smart Industry(Ministry of Education) Northeastern UniversityShenyang 110819China

We present a forecast of the cosmological parameter estimation using fast radio bursts(FRBs)from the upcoming Square Kilometre Array(SKA),focusing on the issues of dark energy,the Hubble constant,and baryon *** simulate 105and 106localized FRBs from a 10-year SKA observation,and find that:(1)using 106FRB data alone can tightly constrain dark-energy equation of state parameters better than CMB+BAO+SNe,providing an independent cosmological probe to explore dark energy;(2)combining the FRB data with gravitational-wave standard siren data from 10-year observation with the Einstein Telescope,the Hubble constant can be constrained to a sub-percent level,serving as a powerful low-redshift probe;(3)using 106FRB data can constrain the baryon density?bh to a precision of~0.1%.Our results indicate that SKA-era FRBs will provide precise cosmological measurements to shed light on both dark energy and the missing baryon problem,and help resolve the Hubble tension.

关键词： fast radio burst cosmology dark energy the Hubble constant baryon density Square Kilometre Array

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STMAD:A Simple Multimodal Anomaly Detection for Thyroid Medical Information 17

STMAD:A Simple Multimodal Anomaly Detection for Thyroid Medi...

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17th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2024

作者： Xu, Wentong Fu, Chao Yu, Jing Si, Caifeng Li, Zuoyong Li, Chaochao Fan, Haoyi School of Computer and Artificial Intelligence Zhengzhou University Zhengzhou450001 China First Affiliated Hospital of Zhengzhou University Department of Ultrasound Henan Zhengzhou450052 China School of Computer and Big Data Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Fuzhou350121 China

ISBN: (纸本)9798331507398

Anomaly detection has been widely explored by training an out-of-distribution detector with only normal data. Medical image analysis, as a common tool, faces the challenge of how to further enhance the detection performance for thyroid cancer, especially with the application of various deep learning methods in the thyroid-related field. In this paper, we validate the effectiveness of sonographic feature descriptions (textual information) for thyroid cancer diagnosis. Building on this, we propose a simple multimodal self-supervised framework that leverages both textual and image modalities for thyroid cancer anomaly detection. Results on a private dataset demonstrate the effectiveness and superiority of our proposed method compared to advanced methods. © 2024 IEEE.

关键词： Self-supervised learning

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Balanced Adaptive Subspace Collaboration for Mixed Pareto-Lexicographic Multi-Objective Problems with Priority Levels 39

Balanced Adaptive Subspace Collaboration for Mixed Pareto-Le...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Hong, Wenjing National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China Shenzhen City Key Laboratory of Embedded System Design Shenzhen University Shenzhen China

ISBN: (纸本)157735897X

Multi-objective Optimization Problems (MOPs) where objectives have different levels of importance in decision-making, known as Mixed Pareto-Lexicographic MOPs with Priority Levels (PL-MPL-MOPs), are increasingly prevalent in real-world applications. General-purpose Multi-Objective Evolutionary Algorithms (MOEAs) that treat all objectives equally not only increase the workload of decision-making but also suffer from computational inefficiencies due to the necessity of generating many additional solutions. Conversely, strictly adhering to Priority Levels (PLs) during optimization can easily result in premature convergence within some PLs. To address this issue, we suggest an effective Balanced Adaptive Subspace Collaboration (BASC) method in this paper. Specifically, this method decomposes the search space into sub-fronts based on PLs and utilizes a sampling mechanism that operates exclusively within subspaces formed by sub-fronts at the same PL to generate new solutions, thereby emphasizing the exploitation of individual PLs. Furthermore, a set of parameters is employed to control the strictness of adherence to each PL, with these parameters adaptively adjusted to balance exploration across different PLs. The two mechanisms are then collaboratively integrated into MOEAs. Comprehensive experimental studies on benchmark problems and a set of complex job-shop scheduling problems in semiconductor manufacturing demonstrate the competitiveness of the proposed method over existing methods. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Multiobjective optimization

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Dfier: A Directed Vulnerability Verifier for Ethereum Smart Contracts

SSRN

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SSRN 2023年

作者： Wang, Zeli Dai, Weiqi Li, Ming Choo, Kim-Kwang Raymond Zou, Deqing Chongqing Key Laboratory of Computational Intelligence Key Laboratory of Big Data Intelligent Computing Key Laboratory of Cyberspace Big Data Intelligent Security Ministry of Education College of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing40065 China National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Hubei Engineering Research Center on Big Data Security Hubei Key Laboratory of Distributed System Security Hubei Engineering Research Center on Big Data Security School of Cyber Science and Engineering Huazhong University of Science and Technology Wuhan430074 China Department of Information Systems and Cyber Security University of Texas at San Antonio San Antonio United States

Existing smart contract vulnerability identification approaches mainly focus on complete program detection. Consequently, lots of known potentially vulnerable locations need manual verification, which is energy-exhaustive and error-prone. Fuzzing is an effective way to detect vulnerabilities. However, current fuzzers cannot effectively probe these suspicious targets because they overlook two key factors: exploring all paths toward the targets and providing high-quality directed seed inputs. This paper presents a Directed vulnerability veriFier (DFier), elaborating effective transaction sequences with directed inputs for the fuzzer, to focus on analyzing target paths and automatically detect whether the given locations are vulnerable. Specifically, DFier fuses the effectiveness of static analysis and the efficiency of fuzzing. The static analysis helps locate target paths and generate directed inputs for the fuzzer under three heuristic strategies. The first prefers inputs with the larger possibility of triggering potential vulnerabilities based on target features. The second guides the value mutation to satisfy the path constraints. The third adequately leverages execution information to help find exploits faster. Extensive experiments demonstrate that DFier is effective in verifying contract security, compared with three existing contract fuzzers (i.e., contractFuzzer, sFuzz, and conFuzzius). And the performance losses are in an acceptable range. © 2023, The Authors. All rights reserved.

关键词： Smart contract

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Exploration of Engineering Practice Teaching Guided by Design Thinking 22

Exploration of Engineering Practice Teaching Guided by Desig...

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6th International Conference on Education and Multimedia Technology, ICEMT 2022

作者： Xu, Ke Cai, Yi School of Software Engineering South China University of Technology Guangzhou China Key Laboratory of Big Data and Intelligent Robot South China University of Technology Ministry of Education Guangzhou China

ISBN: (纸本)9781450396455

As a cutting-edge innovative method and tool, Design Thinking has effectively promoted many changes in global business, social and education fields in recent years. This work briefly introduces Design Thinking and related teaching reform, and then summarizes two problems in existing engineering practice teaching. In view of these problems, this work introduces Design Thinking into engineering practice teaching. As its core, Design Thinking Workshops are well designated and organized. Two-semesters explorations show that under the guidance of Design Thinking, engineering practice teaching is more attractive and effective. It can not only help engineering students learn to empathize with end-users and cultivate innovative thinking, but also improve their ability to identify and address real problems. © 2022 ACM.

关键词： Engineering education

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Subsampling Decomposition based k-Space Refinement for Accelerated MRI Reconstruction

Subsampling Decomposition based k-Space Refinement for Accel...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Xiaoyu Qiao Weisheng Li Bin Xiao Yuping Huang Lijian Yang Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecommunications Chongqing China Key Laboratory of Cyberspace Big Data Intelligent Security Chongqing University of Posts and Telecommunications Ministry of Education Chongqing China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

In accelerated MRI reconstruction problem, directly recovering all the missing k-space data from undersampled measurements is highly ill-posed and often leads to suboptimal performance. To address the problem, we propose a novel deep unfolding network (DUN) with subsampling decomposition (SD) based k-space refinement to mitigate the ill-posedness. Our method employs a parallel network architecture with a primary branch unfolded by gradient descent-inspired optimization process (GD-PB) for reconstruction. Additionally, we introduce an SD-based auxiliary branch (SD-AB) that decompose the inverse problem into moderately corrupted subproblems. We design a novel subsampling mask predictor that captures both global and local spatial correlations in k-space, ensuring the SD-AB effectively preserves the most well-reconstructed subsets as reliable region (RR). The RR in SD-AB is used to periodically refine the intermediate outputs of the GD-PB, achieving improved accuracy. Experimental results reveal that our method significantly outperforms conventional and SD-based DUN techniques, achieving superior PSNR and SSIM results compared with cutting-edge methods.

关键词： Correlation Inverse problems Magnetic resonance imaging Signal processing Network architecture Reliability engineering Sensors Speech processing Image reconstruction Optimization

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Dual Enhancement for Multi-Label Learning with Missing Labels 21

Dual Enhancement for Multi-Label Learning with Missing Label...

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4th International Conference on Machine Learning and Machine Intelligence, MLMI 2021

作者： Liu, Shengyuan Wang, Haobo Hu, Tianlei Chen, Ke Key Lab of Intelligent Computing Based Big Data of Zhejiang Province College of Computer Science and Technology Zhejiang University China

ISBN: (纸本)9781450384247

The goal of multi-label learning with missing labels (MLML) is assigning each testing instance multiple labels given training instances that have a partial set of labels. The most challenging issue is to complete the missing labels by leveraging input signals and given labels. Existing methods usually complete missing entries by utilizing label correlation, which, however, overlook knowledge from the object itself. To tackle this problem, we propose a dual enhancement framework that enhances missing entries from the label- perspective and instance-perspective. First, we develop a Long Short-Term Memory (LSTM) network that utilizes sequential label correlations to complete missing labels. Second, we expand the training dataset via a MixUp procedure to further enhance the label confidence. Extensive experiments on three multi-label image datasets clearly verify the superiority of our proposed method to the baselines. © 2021 ACM.

关键词： Image recognition

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DEGSTalk: Decomposed Per-Embedding Gaussian Fields for Hair-Preserving Talking Face Synthesis

DEGSTalk: Decomposed Per-Embedding Gaussian Fields for Hair-...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Kaijun Deng Dezhi Zheng Jindong Xie Jinbao Wang Weicheng Xie Linlin Shen Siyang Song Computer Vision Institute School of Computer Science and Software Engineering Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Guangdong Provincial Key Laboratory of Intelligent Information Processing Department of Computer Science University of Exeter

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Accurately synthesizing talking face videos and capturing fine facial features for individuals with long hair presents a significant challenge. To tackle these challenges in existing methods, we propose a decomposed per-embedding Gaussian fields (DEGSTalk), a 3D Gaussian Splatting (3DGS)-based talking face synthesis method for generating realistic talking faces with long hairs. Our DEGSTalk employs Deformable Pre-Embedding Gaussian Fields, which dynamically adjust pre-embedding Gaussian primitives using implicit expression coefficients. This enables precise capture of dynamic facial regions and subtle expressions. Additionally, we propose a Dynamic Hair-Preserving Portrait Rendering technique to enhance the realism of long hair motions in the synthesized videos. Results show that DEGSTalk achieves improved realism and synthesis quality compared to existing approaches, particularly in handling complex facial dynamics and hair preservation. Our code is available at https://***/CVI-SZU/DEGSTalk.

关键词： Hair Training Three-dimensional displays Dynamics Signal processing Rendering (computer graphics) Noise measurement Speech processing Faces Videos

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Rockburst prediction using artificial intelligence techniques:A review

Rock Mechanics Bulletin

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Rock Mechanics Bulletin 2024年第3期3卷 1-13页

作者： Yu Zhang Kongyi Fang Manchao He Dongqiao Liu Junchao Wang Zhengjia Guo School of Electrical and Information Engineering Beijing University of Civil Engineering and ArchitectureBeijing100044China Beijing Key Laboratory of Intelligent Processing for Building Big Data Beijing University of Civil Engineering and ArchitectureBeijing100044China State Key Laboratory for Geomechanics and Deep Underground Engineering China University of Mining and TechnologyBeijing100083China Thomas Lord Department of Computer Science University of Southern CaliforniaLos Angeles90007CAUSA

Rockburst is a phenomenon where sudden,catastrophic failure of the rock mass occurs in underground deep regions or areas with high tectonic stress during the excavation *** disasters endanger the safety of people's lives and property,national energy security,and social interests,so it is very important to accurately predict *** rockburst prediction has not been able to find an effective prediction method,and the study of the rockburst mechanism is facing a *** the development of artificial intelligence(AI)techniques in recent years,more and more experts and scholars have begun to introduce AI techniques into the study of the rockburst *** previous research,several scholars have attempted to summarize the application of AI techniques in rockburst ***,these studies either are not specifically focused on reviews of the application of AI techniques in rockburst prediction,or they do not provide a comprehensive *** on the advantages of extensive interdisciplinary research and a deep understanding of AI techniques,this paper conducts a comprehensive review of rockburst prediction methods leveraging AI ***,pertinent definitions of rockburst and its associated hazards are ***,the applications of both traditional prediction methods and those rooted in AI techniques for rockburst prediction are summarized,with emphasis placed on the respective advantages and disadvantages of each ***,the strengths and weaknesses of prediction methods leveraging AI are summarized,alongside forecasting future research trends to address existing challenges,while simultaneously proposing directions for improvement to advance the field and meet emerging demands effectively.

关键词： Rockburst Rockburst prediction Artificial intelligence techniques

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