检索结果-内蒙古大学图书馆

IEEE International Conference on Mechatronics and Automation

作者： Debin Xia Shuxiang Guo Liwei Shi Huiming Xing Xihuan Hou Zan Li Mugen Zhou Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China School of Automation Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China Faculty of Engineering Kagawa University Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Novel Small-scale Turtle-inspired Amphibious Spherical Robot

A Novel Small-scale Turtle-inspired Amphibious Spherical Rob...

引用

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

作者： Huiming Xing Shuxiang Guo Liwei Shi Xihuan Hou Yu Liu Huikang Liu Yao Hu Debin Xia Zan Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China

This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A survey on deep learning of small sample in biomedical image analysis

arXiv

引用

arXiv 2019年

作者： Zhang, Pengyi Deng, Yulin Tang, Xiaoying Zhong, Yunxin Li, Xiaoqiong School of Life Science Beijing Institute of Technology Haidian District Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Haidian District Beijing China

The success of deep learning has been witnessed as a promising technique for computer-aided biomedical image analysis, due to end-to-end learning framework and availability of large-scale labelled samples. However, in many cases of biomedical image analysis, deep learning techniques suffer from the small sample learning (SSL) dilemma caused mainly by lack of annotations. To be more practical for biomedical image analysis, in this paper we survey the key SSL techniques that help relieve the suffering of deep learning by combining with the development of related techniques in computer vision applications. In order to accelerate the clinical usage of biomedical image analysis based on deep learning techniques, we intentionally expand this survey to include the explanation methods for deep models that are important to clinical decision making. We survey the key SSL techniques by dividing them into five categories: (1) explanation techniques, (2) weakly supervised learning techniques, (3) transfer learning techniques, (4) active learning techniques, and (5) miscellaneous techniques involving data augmentation, domain knowledge, traditional shallow methods and attention mechanism. These key techniques are expected to effectively support the application of deep learning in clinical biomedical image analysis, and furtherly improve the analysis performance, especially when large-scale annotated samples are not available. We bulid demos at https://***/PengyiZhang/MIADeepSSL. Copyright © 2019, The Authors. All rights reserved.

关键词： Surveys

来源：评论

学校读者我要写书评

暂无评论

Non-invasive biopsy diagnosis of diabetic kidney disease via deep learning applied to retinal images: a population-based study

引用

The Lancet Digital Health 2025年第5期7卷 100868页

作者： Meng, Ziyao Guan, Zhouyu Yu, Shujie Wu, Yilan Zhao, Yaoning Shen, Jie Lim, Cynthia Ciwei Chen, Tingli Yang, Dawei Ran, An Ran He, Feng Hamzah, Haslina Singh, Sarkaaj Abd Raof, Anis Syazwani Lee-Boey, Jian Wen Samuel Lim, Soo-Kun Sun, Xufang Ge, Shuwang Xu, Gang Su, Hua Cheng, Yang Lu, Feng Liao, Xiaofei Jin, Hai Deng, Chenxin Ruan, Lei Zhang, Cuntai Wu, Chan Dai, Rongping Jin, Yixiao Wang, Wenxiao Li, Tingyao Liu, Ruhan Li, Jiajia Shu, Jia Lu, Yuwei Wang, Xiangning Wu, Qiang Qin, Yiming Tang, Jin Sheng, Xiaohua Jiao, Qiong Yang, Xiaokang Guo, Minyi McKay, Gareth J Hogg, Ruth E Liew, Gerald Chee, Evelyn Yi Lyn Hsu, Wynne Lee, Mong Li Szeto, Simon Luk, Andrea O Y Chan, Juliana C N Cheung, Carol Y Tan, Gavin Siew Wei Tham, Yih-Chung Cheng, Ching-Yu Sabanayagam, Charumathi Lim, Lee-Ling Jia, Weiping Li, Huating Sheng, Bin Wong, Tien Yin Shanghai Belt and Road International Joint Laboratory of Intelligent Prevention and Treatment for Metabolic Diseases Department of Computer Science and Engineering School of Electronic Information and Electrical Engineering Institute for Proactive Healthcare Shanghai Jiao Tong University Department of Endocrinology and Metabolism Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai Diabetes Institute Shanghai Clinical Centre for Diabetes Shanghai Key Laboratory of Diabetes Mellitus Shanghai China MOE Key Laboratory of AI School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Beijing Tsinghua Changgung Hospital Eye Center School of Clinical Medicine Tsinghua Medicine Tsinghua University Beijing China Medical Records and Statistics Office Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai China Department of Renal Medicine Singapore General Hospital SingHealth-Duke Academic Medical Centre Singapore Singapore Department of Ophthalmology Shanghai Health and Medical Center Wuxi China Department of Ophthalmology and Visual Sciences The Chinese University of Hong Kong Hong Kong Special Administrative Region China Singapore Eye Research Institute Singapore National Eye Centre Singapore Department of Medicine Faculty of Medicine Universiti Malaya Kuala Lumpur Malaysia Department of Ophthalmology Tongji Hospital Tongji Medical College Huazhong University of Science and Technology Hubei Wuhan China Department of Nephrology Tongji Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China Department of Nephrology Union Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China Department of Ophthalmology Union Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China National Engineering Research Centre for Big Dat

Background: Improving the accessibility of screening diabetic kidney disease (DKD) and differentiating isolated diabetic nephropathy from non-diabetic kidney disease (NDKD) are two major challenges in the field of diabetes care. We aimed to develop and validate an artificial intelligence (AI) deep learning system to detect DKD and isolated diabetic nephropathy from retinal fundus images. Methods: In this population-based study, we developed a retinal image-based AI-deep learning system, DeepDKD, pretrained using 734 084 retinal fundus images. First, for DKD detection, we used 486 312 retinal images from 121 578 participants in the Shanghai Integrated Diabetes Prevention and Care system for development and internal validation, and ten multi-ethnic datasets from China, Singapore, Malaysia, Australia, and the UK (65 406 participants) for external validation. Second, to differentiate isolated diabetic nephropathy from NDKD, we used 1068 retinal images from 267 participants for development and internal validation, and three multi-ethnic datasets from China, Malaysia, and the UK (244 participants) for external validation. Finally, we conducted two proof-of-concept studies: a prospective real-world study with 3 months' follow-up to evaluate the effectiveness of DeepDKD in screening DKD;and a longitudinal analysis of the effectiveness of DeepDKD in differentiating isolated diabetic nephropathy from NDKD on renal function changes with 4·6 years' follow-up. Findings: For detecting DKD, DeepDKD achieved an area under the receiver operating characteristic curve (AUC) of 0·842 (95% CI 0·838–0·846) on the internal validation dataset and AUCs of 0·791–0·826 across external validation datasets. For differentiating isolated diabetic nephropathy from NDKD, DeepDKD achieved an AUC of 0·906 (0·825–0·966) on the internal validation dataset and AUCs of 0·733–0·844 across external validation datasets. In the prospective study, compared with the metadata model, DeepDKD could detect DKD wit

关键词： Deep learning

来源：评论

学校读者我要写书评

暂无评论

Embedded system-based a portable upper limb rehabilitation robot 15

Embedded system-based a portable upper limb rehabilitation r...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Gao, Baofeng Wei, Chao Guo, Shuxiang Xiao, Nan Bu, Dongdong Xu, Hao Ma, Hongdao Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

As the third disease of death and disability in the world, stroke makes a huge difficulty to patients for activities of daily living. Traditional therapies not only is expensive but also caused a shortage of physiotherapist. Currently, the majority of multi-degree-of-freedom rehabilitation robot of upper limb are not suitable for home rehabilitation due to their heavy or bulky problems. We designed an upper limb rehabilitation robot based on embedded system. The rehabilitation robot can achieve three degrees of freedom motion including elbow flexion/extension, wrist rotation and wrist flexion/extension. And it uses a bilateral rehabilitation strategy. The mechanical structure of this rehabilitation device is a lightweight and portable exoskeleton. The sensor system uses a small gyroscope, and the part of control system uses an embedded system. It is very suitable for home rehabilitation. Finally, two experiments were carried out to test the stability and accuracy of the control system. The experimental result shows that the device is safe and reliable for rehabilitation therapy. © 2018 IEEE.

关键词： Embedded systems

来源：评论

学校读者我要写书评

暂无评论

Magnetic driven wireless multiple capsule robots with different structures 15

Magnetic driven wireless multiple capsule robots with differ...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Yang, Qiuxia Bai, Luchang Zhao, Yan Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Magnetic driven microrobots, which travel in water or other aqueous mediums, have provided great potential and are urgently demanded in the biomedical field. Many advances in the self-propulsion mechanism suggest that these small robots are very suitable for using in channels. However, the spatial limitations of the internal environment and the size constraint of the millimeter robots are huge challenges in the medical applications. In this paper, a driven approach for multiple capsule robots with screw structure and propeller structure is explored. The two robots can be controlled by a rotational electromagnetic field generated by two pairs of three-axis Helmholtz coils. Mechanical model is set and hydrodynamics of multiple capsule robots is analyzed. Based on the non-overlapping driven frequencies, these robots are able to set off at different start frequencies and stop at different step-out frequencies. The verified experiments are conducted in pipe filled with water. Different movements such as docking and release are verified. The experimental results indicate that the multiple capsule robots would be a promising way to accomplish multifunctional manipulation and perform complex surgeries. © 2018 IEEE.

关键词： Screws

来源：评论

学校读者我要写书评

暂无评论

Pattern recognition of continuous elbow joint movements using bispectrum-based sEMG 15

Pattern recognition of continuous elbow joint movements usin...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Bu, Dongdong Guo, Shuxiang Ma, Hongdao Xu, Hao Wei, Chao Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Due to the fact the sEMG can directly reflect the human neuromuscular activity, motion pattern recognition with surface electromyographic signal (sEMG) have been used to achieve human joint motions tracking in the rehabilitation medical engineering filed. However, the sEMG signal is non-Gaussian signal and the non-Gaussian component contains rich information of sEMG signal. Time-domain and frequency-domain features based lower order statistics joint sEMG commonly used cannot characterize the non-Gaussian information of signal. In this paper, we utilized the bispectrum estimators containing non-Gaussian information and the integral of bispectrum slice combined with time-domain features is extracted as features to recognize the elbow motion intention hidden in the filtered sEMG signals from the biceps muscle with good performance compared to other mothods in terms of classification accuracy. © 2018 IEEE.

关键词： Gaussian distribution

来源：评论

学校读者我要写书评

暂无评论

Simulation analysis of catheter bending in vascular intervention robot based on ANSYS 15

Simulation analysis of catheter bending in vascular interven...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Cm, Jinxin Xiao, Nan Bao, Xianqiang Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Vascular interventional surgery has played an important role in the treatment of cardiovascular and cerebrovascular diseases. The corresponding vascular interventional robots are also developed. In our previous work, the interventional operation robot was developed to operate catheter or guidewire. However, in the process of conveying the catheter, the surgical accuracy will be affected by the inevitable bending deformation of the catheter in the sleeve. In this paper, in order to improve the accuracy of position control, we simulated the deformation of the catheter and obtains the displacement error caused by the catheter based on the ANSYS software. The results proved that the deformation of the catheter affects the precision of position control, and simulation results are prepared for the later compensation algorithm. © 2018 IEEE.

关键词： Catheters

来源：评论

学校读者我要写书评

暂无评论

A novel master-slave robotic system with close loop control for vascular interventional surgery 15

A novel master-slave robotic system with close loop control ...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Wang, Yuxin Xiao, Nan Zhao, Yan Zeng, Yuwen Wu, Jiaqing Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Cardiovascular and cerebrovascular diseases have become the first threat of human health. With the development of interventional surgery, minor trauma, safety and high efficiency have become the focus of today's technological development. However, doctors are exposed to a large amount of X-ray radiation during surgery, which causes great damage to the doctors. So master-slave interventional surgical robot systems have developed rapidly. And the accuracy of the interventional robot directly determines the safety and reliability of the operation. Therefore, this paper designs a new type of slave device and control algorithm to improve the control accuracy of the interventional robot. This paper proposes a novel master-slave robotic system with close loop control for vascular interventional surgery. By adding a rotary encoder coaxial with the guide wire holder, it is used to detect the actual rotation angle of the guidewire and a linear position sensor fixedly connected with the guidewire clamper detects the axial displacement of the guide wire to form a closed-loop control to improve guidewire rotation and linear control accuracy. The results show that with the closed loop control of the guide wire, the average following error of the linear control of the guide wire is 0.912 mm, and the linear control average error is reduced by 63.96% compared to the system without feedback. The average following error of the rotation control is 1.311°, and the mean error of the rotation control is reduced by 43.47% compared to the non-feedback system. It indicates that the closed-loop control system has a good effect on improving the control accuracy of the surgery robot. © 2018 IEEE.

关键词： Robotic surgery

来源：评论

学校读者我要写书评

暂无评论

PERK Signaling Maintains Hematopoietic Stem Cell Pool Integrity under Endoplasmic Reticulum Stress by Promoting Proliferation

引用

Blood 2025年

作者： Manxi Zheng Qinlu Peng Erin M Kropp Zhejuan Shen Suxuan Liu Zhengyou Yin Sho Matono Takao Iwawaki Xiang Wang Ken Inoki Yang Mei Qing Li Lu Liu Hunan Key Laboratory of Animal Models and Molecular Medicine School of Biomedical Sciences Hunan University Changsha Hunan Province 410082 China Shenzhen Research Institute of Hunan University Shenzhen 518000 China Department of Internal Medicine University of Michigan Ann Arbor Michigan USA Veterans Affairs Ann Arbor Healthcare System Medicine Service (111) Ann Arbor Michigan USA Kanazawa Medical University Uchinada Japan School of Health Science and Engineering University of Shanghai for Science and Technology Shanghai China Department of Molecular and Integrative Physiology Ann Arbor Michigan USA Life Sciences Institute Ann Arbor Michigan USA Department of Cell and Developmental Biology University of Michigan Ann Arbor Michigan USA

The integrity of the hematopoietic stem cell (HSC) pool depends on effective long-term self-renewal and the timely elimination of damaged or differentiation-prone HSCs. While the PERK branch of the unfolded protein response (UPR) has been shown to initiate pro-apoptotic signaling in response to ER stress in vitro , its role in regulating HSC fate in vivo remains incompletely understood. Here, we demonstrate that PERK is dispensable for steady-state hematopoiesis and HSC self-renewal under homeostatic conditions. However, under ER stress induced by disruption of ER-associated degradation (ERAD), via knockout of key components such as Sel1L or Hrd1, PERK becomes activated and drives HSC proliferation and depletion. Notably, deletion of PERK or expression of a kinase-dead PERK mutant significantly rescues the HSC defects caused by Sel1L or Hrd1 loss. Mechanistically, ERAD deficiency does not lead to increased HSC apoptosis or elevated reactive oxygen species (ROS), and PERK knockout has minimal impact on HSC apoptosis. Instead, PERK activation promotes aberrant mTOR signaling and HSC hyperproliferation, ultimately compromising self-renewal capacity. This PERK-driven elimination of stressed HSCs may function as a protective mechanism to maintain overall HSC pool integrity. Collectively, our findings reveal a previously unrecognized, proliferative, and apoptosis-independent role for PERK in regulating HSC fate under ER stress, highlighting a novel mechanism for preserving HSC homeostasis.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：