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OCEANS - Europe

作者： F.B. Louza J. Osowsky F.C. Xavier E.E. Vale L.P. Maia R.P. Vio M.V.S. Simões V. Barroso S.M. Jesus Brazilian Navy Institute of Sea Studies Admiral Paulo Moreira Brazil Laboratory of. Robotic Systems in Engineering and Science (LARSyS) Univ. Algarve Faro Portugal

This work presents the results of an experiment aiming at acoustically characterizing, in a long term, the biological activity and its correlation with the upwelling regime in Cabo Frio Island Bay, and other biotic and abiotic factors. Moreover, to develop a signaling scheme using local bioacoustics characteristics for covert communications and to understand the impact of noise and ocean stratification on broadband communications. Previous long-term soundscape monitoring has identified marine life noise temporal patterns correlated to ocean temperature stratification and to light intensity. This work also shows results obtained with a vector sensor, in an attempt to characterize particle motion due to noise sources in terms of amplitude and directional spectrum, and presents developed communication codes performance, in terms of Bit Error Rate versus Signal to Noise Ratio or Eb/N0.

关键词： Biological information theory Acoustics Monitoring Sonar equipment Signal to noise ratio Accelerometers Ocean temperature

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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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Distributed algorithms that solve boolean equations with local and differential privacies

arXiv

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arXiv 2020年

作者： Qi, Hongsheng Li, Bo Jing, Rui-Juan Wang, Lei Proutiere, Alexandre Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Faculty of Science Jiangsu University Zhenjiang212013 China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Department of Automatic Control Kth Royal Institute of Technology Stockholm100-44 Sweden

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable using existing distributed linear equation algorithms as a subroutine. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability. Furthermore, we present an algorithm for distributed verification of the satisfiability of Boolean equations, and prove its correctness. Finally, we show that by utilizing linear equation solvers with differential privacy to replace the in-network computing routines, the overall distributed Boolean equation algorithms can be made differentially private. Under the standard Laplace mechanism, we prove an explicit level of noises that can be injected in the linear equation steps for ensuring a prescribed level of differential privacy. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear equations

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A 350 C piezoresistive n-type 4H-SiC pressure sensor for hydraulic and pneumatic pressure tests

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Journal of Micromechanics and Microengineering 2020年第5期30卷

作者： Fang, Xudong Wu, Chen Zhao, Yulong Jiang, Zhuangde Rong, Weibing Feng, Zhihong Lv, Yuanjie State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Collaborative Innovation Center of Suzhou Nano Science and Technology Xi'an Jiaotong University Xi'an710049 China School of Mechanical Engineering Xi'an Jiaotong University Xi'an710049 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China National Key Laboratory of Application Specific Integrated Circuit Hebei Semiconductor Research Institute Shijiazhuang050051 China

It has been a challenge to develop pressure sensors that can work in harsh environments. In this work, a piezoresistive n-type 4H-SiC pressure sensor is demonstrated, capable of working at 350 C under hydraulic and pneumatic pressure. The pressure measuring range of this sensor is 7 MPa and the chip dimension is 2.5 mm 2.5 mm 0.23 mm. A reliable Ti/TaSi2/Pt metal ohmic contact is used in the sensor and experimental results show that the metal combination can withstand a wide temperature range of 30 C-350 C. In order to avoid thermal stress induced by the mismatch of thermal expansion coefficients of different packaging materials when increasing temperature, a double-layer bonding scheme of cement glue and epoxy is proposed. The inner layer of the chip and the kovar alloy base are directly bonded with the epoxy, while the outer layer is wrapped with the high-temperature cement glue. Experiments confirm that this method can achieve reliable packaging with temperatures up to 350 C for 5 h. Based on the above key technologies, the sensitivity of this sensor can reach 13.2 mV V-1 kPa-1 and the test data exhibit high linearity and repeatability. Static tests prove that the sensor has good media compatibility which can operate under a hydraulic pressure load at 220 C and a barometric pressure load under 350 C. The sensor in this work can provide a reference for pressure measurements at high temperature and in complex media environments. © 2020 IOP Publishing Ltd.

关键词： Pressure sensors

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Controllability and accessibility on graphs for bilinear systems over lie groups

arXiv

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arXiv 2020年

作者： Wang, Xing Li, Bo Li, Jr-Shin Petersen, Ian R. Shi, Guodong Key Laboratory of Mathematics Mechanization Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical and Systems Engineering Washington University St. LouisMO63130 United States Research School of Electrical Energy and Materials Engineering Australian National University CanberraACT0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia

This paper presents graph theoretic conditions for the controllability and accessibility of bilinear systems over the special orthogonal group, the special linear group and the general linear group, respectively, in the presence of drift terms. Such bilinear systems naturally induce two interaction graphs: one graph from the drift, and another from the controlled dynamics. As a result, the system controllability or accessibility becomes a property of the two graphs in view of the classical Lie algebra rank condition. We establish a systemic way of transforming the Lie bracket operations in the underlying Lie algebra, into specific operations of removing or creating links over the drift and controlled interaction graphs. As a result, we establish a series of graphical conditions for the controllability and accessibility of such bilinear systems, which rely only on the connectivity of the union of the drift and controlled interaction graphs. We present examples to illustrate the validity of the established results, and show that the proposed conditions are in fact considerably tight. Copyright © 2020, The Authors. All rights reserved.

关键词： Controllability

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Hand tracking accuracy enhancement by data fusion using leap motion and myo armband

Hand tracking accuracy enhancement by data fusion using leap...

引用

2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Chen, Jingxiang Liu, Chao Cui, Rongxin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China LIRMM CNRS-University of Montpellier France School of Marine Engineering Northwestern Polytechnical University Xi'an China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

In this paper, by using the combination of Leap Motion and Myo armband, two methods for hand tracking and online hand gesture identification are proposed. With the proposed methods, We have improved the measurement accuracy of the palm direction and solved the problem of insufficient accuracy when the palm is at the limit of the measurement range. We use the Kalman filter algorithm and the neural network classification method to process the data measured by Leap Motion and Myo, so that the tracking of the operator's hand gesture is more accurate and robust even when the hand is at positions close to the measurement limit of one single sensor. The methods, which improve the hand tracking accuracy, can be used for robotic control, demonstration or teleoperation. The effectiveness of the proposed methods has been demonstrated through comparative experiments. © 2019 IEEE.

关键词： Palmprint recognition

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The 2024 Motile Active Matter Roadmap

arXiv

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arXiv 2024年

作者： Gompper, Gerhard Stone, Howard A. Kurzthaler, Christina Saintillan, David Peruani, Fernado Fedosov, Dmitry A. Auth, Thorsten Cottin-Bizonne, Cecile Ybert, Christophe Clément, Eric Darnige, Thierry Lindner, Anke Goldstein, Raymond E. Liebchen, Benno Binysh, Jack Souslov, Anton Isa, Lucio di Leonardo, Roberto Frangipane, Giacomo Gu, Hongri Nelson, Bradley J. Brauns, Fridtjof Marchetti, M. Cristina Cichos, Frank Heuthe, Veit-Lorenz Bechinger, Clemens Korman, Amos Feinerman, Ofer Cavagna, Andrea Giardina, Irene Jeckel, Hannah Drescher, Knut Theoretical Physics of Living Matter Institute for Advanced Simulation Forschungszentrum Jülich Jülich Germany Princeton University Department of Mechanical and Aerospace Engineering PrincetonNJ United States Max Planck Institute for the Physics of Complex Systems Center for Systems Biology Dresden Cluster of Excellence Physics of Life TU Dresden Dresden Germany University of California San Diego United States CY Cergy Paris University France Université de Lyon Université Claude Bernard Lyon 1 CNRS Institut Lumière Matière Villeurbanne France Laboratoire PMMH-ESPCI UMR 7636 CNRS-PSL-Research University Sorbonne Université Université Paris Cité Paris France Institut Universitaire de France Paris France Department of Applied Mathematics and Theoretical Physics University of Cambridge Cambridge United Kingdom Technische Universität Darmstadt Darmstadt64289 Germany Institute of Physics Universiteit van Amsterdam Science Park 904 Amsterdam1098 XH Netherlands T.C.M. Group Cavendish Laboratory University of Cambridge CambridgeCB3 0HE United Kingdom Laboratory for Soft Materials and Interfaces Department of Materials ETH Zurich Zurich8093 Switzerland Dipartimento di Fisica Sapienza Università di Roma Italy Department of Physics University of Konstanz Konstanz Germany Institute of Robotics and Intelligent Systems ETH Zürich Zurich Switzerland Kavli Institute for Theoretical Physics University of California Santa BarbaraCA93106 United States Department of Physics University of California Santa BarbaraCA93106 United States Molecular Nanophotonics Leipzig University Leipzig04013 Germany UMI FILOFOCS Israel Department of Physics of Complex Systems Weizmann Institute of Science Israel Rome Italy Dipartimento di Fisica Sapienza Università di Roma INFN Unità di Roma 1 Rome Italy Department of Biology and Biological Engineering California Institute of Technology Pasadena91125 United States Biozentrum University of Basel Basel4056 Switzerl

Activity and autonomous motion are fundamental aspects of many living and engineering systems. Here, the scale of biological agents covers a wide range, from nanomotors, cytoskeleton, and cells, to insects, fish, birds, and people. Inspired by biological active systems, various types of autonomous synthetic nano- and micromachines have been designed, which provide the basis for multifunctional, highly responsive, intelligent active materials. A major challenge for understanding and designing active matter is their inherent non-equilibrium nature due to persistent energy consumption, which invalidates equilibrium concepts such as free energy, detailed balance, and time-reversal symmetry. Furthermore, interactions in ensembles of active agents are often non-additive and non-reciprocal. An important aspect of biological agents is their ability to sense the environment, process this information, and adjust their motion accordingly. It is an important goal for the engineering of microrobotic systems to achieve similar functionality. With many fundamental properties of motile active matter now reasonably well understood and under control, the ground is prepared for the study of physical aspects and mechanisms of motion in complex environments, of the behavior of systems with new physical features like chirality, of the development of novel micromachines and microbots, of the emergent collective behavior and swarming of intelligent self-propelled particles, and of particular features of microbial systems. The vast complexity of phenomena and mechanisms involved in the self-organization and dynamics of motile active matter poses major challenges, which can only be addressed by a truly interdisciplinary effort involving scientists from biology, chemistry, ecology, engineering, mathematics, and physics. The 2024 motile active matter roadmap of Journal of Physics: Condensed Matter reviews the current state of the art of the field and provides guidance for further progress in t

关键词： Microrobots

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Sonification of Sleep EEG 2017

Sonification of Sleep EEG

引用

8th International Conference on Digital Arts, ARTECH 2017

作者： Fernandes, Carlos M. Migotina, Daria Rosa, Agostinho C. LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Portugal

ISBN: (纸本)9781450352734

This paper introduces a new methodology for converting sleep Electroencephalogram (EEG) signals into sound. The main goal is to investigate the possibility of encoding sleep events into sequences of notes and breaks, generating musical sound that is consistent and audible, while allowing a global appraisal of sleep dynamics. © 2017 Copyright is held by the owner/author(s).

关键词： Electroencephalography

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Learning data-adaptive non-parametric kernels

The Journal of Machine Learning Research

引用

The Journal of Machine Learning Research 2020年第1期21卷 8590-8628页

作者： Fanghui Liu Xiaolin Huang Chen Gong Jie Yang Li Li Department of Electrical Engineering ESAT-STADIUS KU Leuven Belgium Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology China and Department of Computing Hong Kong Polytechnic University Hong Kong SAR China Department of Automation BNRist Tsinghua University China

In this paper, we propose a data-adaptive non-parametric kernel learning framework in margin based kernel methods. In model formulation, given an initial kernel matrix, a data-adaptive matrix with two constraints is imposed in an entry-wise scheme. Learning this data-adaptive matrix in a formulation-free strategy enlarges the margin between classes and thus improves the model flexibility. The introduced two constraints are imposed either exactly (on small data sets) or approximately (on large data sets) in our model, which provides a controllable trade-off between model flexibility and complexity with theoretical demonstration. In algorithm optimization, the objective function of our learning framework is proven to be gradient-Lipschitz continuous. Thereby, kernel and classifier/regressor learning can be efficiently optimized in a unified framework via Nesterov's acceleration. For the scalability issue, we study a decomposition-based approach to our model in the large sample case. The effectiveness of this approximation is illustrated by both empirical studies and theoretical guarantees. Experimental results on various classification and regression benchmark data sets demonstrate that our non-parametric kernel learning framework achieves good performance when compared with other representative kernel learning based algorithms.

关键词： support vector machines non-parametric kernel learning gradient-Lipschitz continuous

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Non-Periodic Lower-Limb Motion Recognition with Noncontact Capacitive Sensing

Non-Periodic Lower-Limb Motion Recognition with Noncontact C...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Enhao Zheng Jinchen Zeng Dongfang Xu Qining Wang Hong Qiao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing 30 Xueyuan Road Beijing Robotics Research Group College of Engineering Peking University Beijing China

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Noncontact captive sensing is a new sensing strategy that we proposed previously to compensate for the limitations of existing surface electromyography studies for exoskeleton control. It has been validated on locomotion mode recognition and gait phase estimation. However, our previous studies addressed the tasks of periodic ambulation based on machine learning algorithms. The performances of the capacitive sensing on non-periodical lower-limb motion recognition have never been evaluated. In this preliminary study, we designed a motion recognition method by fusing the capacitive sensing and the inertial sensors. The recognition algorithm was designed based on the combined logics, which freed the system from burdensome training procedures in the recognition tasks. The method was validated on three healthy subjects in performing 6 lower-limb motions and the transitions between them (10 in total). The capacitance-inertial fusion method produced an average precision/recall of >0.92 in static motions and >0.86 with transitions. The most prominent improvement of using the capacitance signals is that it increases the time-response ability during the motion transitions. Compared with purely using inertial sensors, the sensor fusion method reduced more than 100-ms latency on average. The pilot study extends the scope of the new sensing method in human motion recognition. Future efforts will be paid in this direction to get more promising results.

关键词： Robot sensing systems Capacitance Electrodes Task analysis Legged locomotion Exoskeletons

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