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Application of graph-curvature features in computer-aided diagnosis for histopathological image identification of gastric cancer

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intelligent Medicine 2024年第3期4卷 141-152页

作者： Ruilin He Chen Li Xinyi Yang Jinzhu Yang Tao Jiang Marcin Grzegorzek Hongzan Sun Microscopic Image and Medical Image Analysis Group College of Medicine and Biological Information EngineeringNortheastern UniversityShenyangLiaoning 110016China Key Laboratory of Intelligent Computing in Medical Image Ministry of EducationNortheastern UniversityShenyangLiaoning 110016China School of Intelligent Medicine Chengdu University of Traditional Chinese MedicineChengduSichuan 610075China International Joint Institute of Robotics and Intelligent Systems Chengdu University of Information TechnologyChengduSichuan 610225China Institute for Medical Informatics University of LuebeckLuebeckGermany Department of Knowledge Engineering University of Economics in KatowiceKatowicePoland Shengjing Hospital of China Medical University ShenyangLiaoning 110136China

Background Histopathology diagnosis is often regarded as the final diagnostic method for malignant tumors;however,it has some *** study explored a computer-aided diagnostic method that can be used to identify benign and malignant gastric cancer using histopathological *** The most suitable process was selected through multiple experiments by comparing multiple meth-ods and features for ***,the U-net was applied to segment the ***,the nucleus was extracted from the segmented image,and the minimum spanning tree(MST)diagram structure that can cap-ture the topological information was *** third step was to extract the graph-curvature features of the histopathological image according to the MST ***,by inputting the graph-curvature features into the classifier,the recognition results for benign or malignant cancer can be *** During the experiment,we used various methods for *** the image segmentation stage,U-net,watershed algorithm,and Otsu threshold segmentation methods were *** found that the U-net method,combined with multiple indicators,was the most suitable for segmentation of histopathological *** the feature extraction stage,in addition to extracting graph-edge and graph-curvature features,several basic im-age features were extracted,including the red,green and blue feature,gray-level co-occurrence matrix feature,histogram of oriented gradient feature,and local binary pattern *** the classifier design stage,we exper-imented with various methods,such as support vector machine(SVM),random forest,artificial neural network,K nearest neighbors,VGG-16,and *** comparison and analysis,it was found that classifica-tion results with an accuracy of 98.57%can be obtained by inputting the graph-curvature feature into the SVM classifier.

关键词： Gastric cancer Graph-curvature feature Image identification

Cs2K: Class-specific and Class-shared Knowledge Guidance for Incremental Semantic Segmentation

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arXiv 2024年

作者： Cong, Wei Cong, Yang Liu, Yuyang Sun, Gan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China College of Automation Science and Engineering South China University of Technology Guangzhou510640 China Peking University China

Incremental semantic segmentation endeavors to segment newly encountered classes while maintaining knowledge of old classes. However, existing methods either 1) lack guidance from class-specific knowledge (i.e., old class prototypes), leading to a bias towards new classes, or 2) constrain class-shared knowledge (i.e., old model weights) excessively without discrimination, resulting in a preference for old classes. In this paper, to trade off model performance, we propose the Class-specific and Class-shared Knowledge (Cs2K) guidance for incremental semantic segmentation. Specifically, from the class-specific knowledge aspect, we design a prototype-guided pseudo labeling that exploits feature proximity from prototypes to correct pseudo labels, thereby overcoming catastrophic forgetting. Meanwhile, we develop a prototype-guided class adaptation that aligns class distribution across datasets via learning old augmented prototypes. Moreover, from the class-shared knowledge aspect, we propose a weight-guided selective consolidation to strengthen old memory while maintaining new memory by integrating old and new model weights based on weight importance relative to old classes. Experiments on public datasets demonstrate that our proposed Cs2K significantly improves segmentation performance and is plug-and-play. Copyright © 2024, The Authors. All rights reserved.

关键词： Economic and social effects

PFS3F: Probabilistic Fusion of Superpixel-wise and Semantic-aware Structural Features for Hyperspectral Image Classification

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IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Zhang, Ying Duan, Puhong Liang, Lianhui Kang, Xudong Li, Jun Plaza, Antonio Hunan University of Technology College of Railway Transportation Zhuzhou412007 China Hunan University School of Robotics Changsha410082 China Guangxi University School of Electrical Engineering Nanning530004 China China University of Geosciences Hubei Key Laboratory of Intelligent Geo-Information Processing the School of Computer Science Wuhan430078 China Hyperspectral Computing Laboratory Department of Technology of Computers and Communications Escuela Politecnica University of Extremadura CaceresE-10071 Spain

Processing high-dimensional data cubes and developing high-performance classifiers are core objectives in the field of hyperspectral image classification (HSIC). Superpixel-based methods are widely used in HSIC due to their efficacy in reducing redundant information and enhancing local features. However, imprecise segmentation, especially in complex structures and textures of hyperspectral images (HSIs), may lead to inconsistencies in the regions extracted by superpixels and the boundaries between different ground objects. Such inconsistencies significantly degrade the classification performance of HSIs. Alternatively, when parameter settings are inaccurate, edge-aware feature extraction methods often introduce sharpening artifacts at the image boundaries, resulting in a decrease in classification accuracy. To effectively address these challenges, we propose a novel probabilistic fusion method for HSIC. This method consists of the following stages. First, spatial information is extracted by a multiscale superpixel segmentation method and then probabilistically optimized by the extended random walk (ERW) method. Next, semantic-aware structural features (S2Fs) are extracted along with edge information of different objects. Lastly, a probabilistic framework is proposed to fuse the class probabilities of superpixel-based spatial information and semantic-aware structural features. Experimental results on three real datasets show state-of-the-art classification performance, even with limited training sets. ©1991-2012 IEEE.

关键词： Superpixels

Highly sensitive and fast response strain sensor based on evanescently coupled micro/nanofibers

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Opto-Electronic Advances 2022年第9期5卷 34-42页

作者： Wen Yu Ni Yao Jing Pan Wei Fang Xiong Li Limin Tong Lei Zhang State Key Laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China Research Center for Intelligent Sensing Zhejiang LabHangzhou 311121China Tencent Robotics X Lab Tencent Technology(Shenzhen)Co.LtdShenzhen 518054China

Flexible strain sensors play an important role in electronic skins,wearable medical devices,and advanced ***,a highly sensitive and fast response optical strain sensor with two evanescently coupled optical micro/nanofibers(MNFs)embedded in a polydimethylsiloxane(PDMS)film is *** strain sensor exhibits a gauge factor as high as 64.5 for strain≤0.5%and a strain resolution of 0.0012%which corresponds to elongation of 120 nm on a 1 cm long *** a proof-of-concept,highly sensitive fingertip pulse measurement is *** properties of fast temporal frequency response up to 30 kHz and a pressure sensitivity of 102 kPa^(−1) enable the sensor for sound *** versatile sensor could be of great use in physiological signal monitoring,voice recognition and micro-displacement detection.

关键词： optical micro/nanofiber strain sensor pressure sensor micro-displacement directional coupler

Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks

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arXiv 2024年

作者： Ou, Ni Chen, Zhuo Luo, Shan The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China The Robot Perception Lab. Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However, this uni-modal selection means the sensor is only suitable for either manipulation or perception tasks. While markers are vital for manipulation, they can also obstruct the camera, thereby impeding perception. The dilemma of selecting between marker and markerless modes presents a significant obstacle. To address this issue, we propose a novel mode-switchable optical tactile sensing approach that facilitates transitions between the two modes. The marker-to-markerless transition is achieved through a generative model, whereas its inverse transition is realized using a sparsely supervised regressive model. Our approach allows a single-mode optical sensor to operate effectively in both marker and markerless modes without the need for additional hardware, making it well-suited for both perception and manipulation tasks. Extensive experiments validate the effectiveness of our method. For perception tasks, our approach decreases the number of categories that include misclassified samples by 2 and improves contact area segmentation IoU by 3.53%. For manipulation tasks, our method attains a high success rate of 92.59% in slip detection. Code, dataset and demo videos are available at the project website https://***/Marker-Markerless-Transition/ Copyright © 2024, The Authors. All rights reserved.

关键词： Tactile sensors

Energy Efficiency Optimization for Full-Duplex D2D Communications Underlaying Distributed Antenna Systems

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IEEE Transactions on Green Communications and Networking

IEEE Transactions on Green Communications and Networking 2024年

作者： Liu, Zhan Liao, Zhiyuan Li, Chunquan Zhang, Zhijun Yu, Junzhi Liu, P.X. Hunan University of Humanities Science and Technology School of Information Loudi417000 China Nanchang University School of Information Engineering Nanchang330031 China Jiangxi Provincial Key Laboratory of Intelligent Systems and Human-Machine Interaction Nanchang330031 China South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Carleton University Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

In this paper, we investigate the total system energy efficiency (EE) of full-duplex (FD) device-to-device (D2D) communications underlaying distributed antenna systems (DAS), where remote access units (RAUs), D2D users (DUs), and cellular users (CUs) are all capable of FD operation. Specifically, we jointly optimize subcarrier assignment and power allocation under the quality of service (QoS) requirements of CUs and DUs and the maximum power constraints of RAUs, CUs, and DUs. In addition, we propose a novel spectrum sharing strategy that allows each subcarrier to be assigned to multiple CUs and/or multiple D2D pairs (DPs) for flexibility. To solve the formulated non-convex optimization problem, we first employ fractional programming to transform the objective function in the optimization problem from the fractional form into the equivalent subtractive form. Then, an efficient iterative resource allocation algorithm is proposed, which needs to solve an inner problem in each iteration. After relaxing the variables and introducing penalty factors, the non-convex inner problem is transformed into a convex problem through the successive convex approximation (SCA) method and solved by iterative algorithm. Simulation results demonstrate that the proposed algorithm can considerably improve the system EE compared to other benchmark schemes. Furthermore, the proposed spectrum sharing strategy is superior to the existing sharing strategies. © 2017 IEEE.

关键词： Convex optimization

Intention-Aware Planner for Robust and Safe Aerial Tracking

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arXiv 2023年

作者： Ren, Qiuyu Yu, Huan Dai, Jiajun Zheng, Zhi Meng, Jun Xu, Li Xu, Chao Gao, Fei Cao, Yanjun The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Huzhou Laboratory of Autonomous Intelligent Systems Huzhou313000 China The Robotics Institute Zhejiang University Yuyao315400 China College of Electrical Engineering Zhejiang University Hangzhou310027 China

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the widely used constant velocity or constant rotation assumption can not fully capture the dynamics of the target. The tracker may fail when the target happens to move aggressively, such as sudden turn or deceleration. In this paper, we propose an intention-aware planner by additionally considering the intention of the target to enhance safety and robustness in aerial tracking applications. Firstly, a designated intention prediction method is proposed, which combines a user-defined potential assessment function and a state observation function. A reachable region is generated to specifically evaluate the turning intentions. Then we design an intention-driven hybrid A* method to predict the future possible positions for the target. Finally, an intention-aware optimization approach is designed to generate a spatial-temporal optimal trajectory, allowing the tracker to perceive unexpected situations from the target. Benchmark comparisons and real-world experiments are conducted to validate the performance of our method. Copyright © 2023, The Authors. All rights reserved.

关键词： Aircraft detection

Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

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Design of a Novel Autonomous Docking System With a Supportin...

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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Dual Auction Mechanism for Transaction Relay and Validation in Complex Wireless Blockchain Network

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arXiv 2023年

作者： Wang, Weiyi Jiao, Yutao Chen, Jin Dai, Wenting Kang, Jiawen Xu, Yuhua The College of Communications Engineering Army Engineering University of PLA Nanjing210007 China The School of Communications and Information Engineering Nanjing University of Posts and Telecommunications Nanjing210003 China The School of Automation Guangdong University of Technology Guangzhou510006 China The Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangzhou510006 China

In traditional public blockchain networks, transaction fees are only allocated to full nodes (i.e., miners). However, the lack of relay rewards reduces the willingness of light nodes to relay transactions, especially in the energy-constrained complex wireless network. This paper proposes a novel dual auction mechanism to allocate transaction fees for relay and validation behaviors in the wireless blockchain network. The dual auction mechanism consists of two sub-auction stages: the relay sub-auction and the validation sub-auction. In the relay sub-auction, relay nodes choose transactions based rewards to forward. Besides, relay nodes adjust the relaying probability through a no-regret algorithm to improve efficiency. In the validation sub-auction, full nodes select transactions using Vickrey-Clarke-Grove (VCG) mechanism to construct the block. We prove that the designed dual auction mechanism is Incentive Compatibility (IC), Individual Rationality (IR), and Computational Efficiency (CE). We also derive the upper bound of the social welfare difference between the social optimal auction and our proposed one. Extensive simulation results demonstrate that the proposed dual auction mechanism decreases energy and bandwidth resource consumption and effectively improves social welfare without sacrificing the throughput and the security of the wireless blockchain network. Copyright © 2023, The Authors. All rights reserved.

关键词： Complex networks