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arXiv 2024年

作者： Shen, Chuyun Li, Wenhao Chen, Haoqing Wang, Xiaoling Zhu, Fengping Li, Yuxin Wang, Xiangfeng Jin, Bo School of Computer Science and Technology East China Normal University Shanghai200062 China School of Data Science The Chinese University of Hong Kong Shenzhen Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518172 China Huashan Hospital Fudan University Shanghai200040 China School of Computer Science and Technology East China Normal University Shanghai AI Laboratory Shanghai200062 China School of Software Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China

Radiologists must utilize medical images of multiple modalities for tumor segmentation and diagnosis due to the limitations of medical imaging technology and the diversity of tumor signals. This has led to the development of multimodal learning in medical image segmentation. However, the redundancy among modalities creates challenges for existing subtraction-based joint learning methods, such as misjudging the importance of modalities, ignoring specific modal information, and increasing cognitive load. These thorny issues ultimately decrease segmentation accuracy and increase the risk of overfitting. This paper presents the complementary information mutual learning (CIML) framework, which can mathematically model and address the negative impact of inter-modal redundant information. CIML adopts the idea of addition and removes inter-modal redundant information through inductive bias-driven task decomposition and message passing-based redundancy filtering. CIML first decomposes the multimodal segmentation task into multiple subtasks based on expert prior knowledge, minimizing the information dependence between modalities. Furthermore, CIML introduces a scheme in which each modality can extract information from other modalities additively through message passing. To achieve non-redundancy of extracted information, the redundant filtering is transformed into complementary information learning inspired by the variational information bottleneck. The complementary information learning procedure can be efficiently solved by variational inference and cross-modal spatial attention. Numerical results from the verification task and standard benchmarks indicate that CIML efficiently removes redundant information between modalities, outperforming SOTA methods regarding validation accuracy and segmentation effect. To emphasize, message-passing-based redundancy filtering allows neural network visualization techniques to visualize the knowledge relationship among different modalitie

关键词： Redundancy

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MTPA-based Haptic Feedback Controller for Master Manipulator in Minimally Invasive Surgery

MTPA-based Haptic Feedback Controller for Master Manipulator...

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IEEE International Conference on robotics and Biomimetics

作者： Wenda Zhao Jian Chen Yilun Hong Hongbin Liu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong China School of Biomedical Engineering and Imaging Sciences King's College London London UK

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented Control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications.

关键词： Motor drives Torque Minimally invasive surgery Medical robotics Force feedback Orifices Manipulators Motors Haptic interfaces Adaptive control

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Modeling Spoof Noise by De-spoofing Diffusion and its Application in Face Anti-spoofing

arXiv

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arXiv 2024年

作者： Zhang, Bin Zhu, Xiangyu Zhang, Xiaoyu Lei, Zhen Institute of Information Engineering Chinese Academy of Sciences China School of Cyber Security University of Chinese Academy of Sciences China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences China

Face anti-spoofing is crucial for ensuring the security and reliability of face recognition systems. Several existing face anti-spoofing methods utilize GAN-like networks to detect presentation attacks by estimating the noise pattern of a spoof image and recovering the corresponding genuine image. But GAN’s limited face appearance space results in the denoised faces cannot cover the full data distribution of genuine faces, thereby undermining the generalization performance of such methods. In this work, we present a pioneering attempt to employ diffusion models to denoise a spoof image and restore the genuine image. The difference between these two images is considered as the spoof noise, which can serve as a discriminative cue for face anti-spoofing. We evaluate our proposed method on several intra-testing and inter-testing protocols, where the experimental results showcase the effectiveness of our method in achieving competitive performance in terms of both accuracy and generalization. Copyright © 2024, The Authors. All rights reserved.

关键词： Face recognition

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Artificial Neural Network-Based Direct Power Control to Enhance the Performance of a Pmsg-Wind Energy Conversion System Under Real Wind Speed and Parameter Uncertainties: An Experimental Validation

SSRN

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SSRN 2023年

作者： Majout, Btissam Bossoufi, Badre Karim, Mohammed Skruch, Pawel Mobayen, Saleh El Mourabit, Youness El Zair Laggoun, Zakaria Laboratory of Engineering Modelling and Systems Analysis SMBA University Fez Morocco Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Graduate School of Intelligent Data Science National Yunlin University of Science and Technology 123 University Road Section 3 Yunlin Douliou640301 Taiwan National School of Applied Sciences Abdelmalek Essaadi University Tetouan Morocco Laboratory of Electrotechnique Constantine Mentouri Brothers Constantine 1 University Constantine Algeria

With the increasing emphasis on embedding advanced technology into system controls, the Direct Power Control (DPC) approach has garnered significant attention, owing to its straightforward and highly adaptable algorithm. It has been adopted in many applications. However, the variable frequency, harmonic distortion of the currents, and power ripples caused by Hysteresis controllers and switching tables decrease its effectiveness and robustness, affecting the system’s performance. For this reason, this paper proposed a new DPC based on Artificial Neural Network (ANN) approaches. In this approach, the hysteresis comparator and the switching table are substituted with ANN controllers and then applied on both sides: machine-side converter (MSC) and grid-side converter (GSC) of a Permanent Magnet Synchronous Generator based Wind Energy Conversion System (PMSG-WECS). Moreover, to make the system more efficient in varying wind conditions, this study expands the utilization of the artificial neural networks (ANN) to encompass the maximum power point tracking (MPPT) control strategy. To demonstrate the effectiveness of the proposed approach on the system behaviors, a simulation test was carried out in the Matlab/Simulink environment, using a real wind profile of a Moroccan city (Essaouira). In comparison to the classical DPC control, the simulation results showed the superior performance of the proposed ANN-DPC control in terms of reference tracking, response time, overshoot, precision, and its capacity to reduce the rate of power ripples and total harmonic distortion (THD) in the injected currents. Furthermore, a robustness test was also included in this work to check the robustness of the proposed control against parameters variation. In conclusion, the feasibility and effectiveness of the ANN-DPC control approach were confirmed through experimental validation using the dSPACE DS1104 board. © 2023, The Authors. All rights reserved.

关键词： MATLAB

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Research on fault feature extraction of rotating machinery based on adaptive VMD and optimized CYCBD

Research on fault feature extraction of rotating machinery b...

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Chinese Control and Decision Conference, CCDC

作者： Ran Xie Ling Xiong Binbin Dan Zeyu Ren Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China Key Laboratory of Metallurgical Equipment and Control of Ministry of Education Wuhan China School of Physics and Electronic Science Hunan Institute of Science and Technology Yueyang China

ISBN: (纸本)9781665478977

To solve the problem that early fault features of rotating machinery are difficult to extract, an adaptive k-value hierarchical variational mode decomposition (H-VMD) combined with optimized maximum second-order cyclostationarity blind deconvolution (CYCBD) fault feature extraction method is proposed in this paper. Mode decomposition of the vibration signal is performed with H-VMD. and then the noise dominant component is denoised by wavelet threshold denoising (WTD). Furthermore, the improved autocorrelation-weighted correlated kurtosis (ACK) when CYCBD enhances the periodic shock component of the denoised signal is the fitness function of ChOA, and the envelope demodulation analysis of the feature-enhanced signal is performed using the teager energy operator (TEO). Simulation analysis and experimental results show that the interference of background noise can be effectively removed and the periodic shock component of the vibration signal be enhanced by the proposed method, which is a new feature extraction method for the fault diagnosis of rotating machinery.

关键词： Vibrations Fault diagnosis Electric shock Noise reduction Interference Feature extraction Linear programming

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Optimization of Flexible Bronchoscopy Shape Sensing Using Fiber Optic Sensors

Optimization of Flexible Bronchoscopy Shape Sensing Using Fi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xinran Liu Hao Chen Hongbin Liu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Professor at Chinese Academy of Sciences Institute of Automation (CASIA) Executive Director for the Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences An Adjunct Reader and Director of the Haptic Mechatronics and Medical Robotics (HaMMeR) lab at the School of Biomedical Engineering and Imaging Sciences King’s College London (KCL) UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This work presents a novel shape evaluation and optimization approach for shape sensing, specifically targeting the constrained, irregular, and intricate spatial shapes of flexible bronchoscopes (FB) in human bronchial tree. The proposed evaluation criteria and optimization methods combine clinical significance related to bronchial anatomical structures and address issues related to singular points and discontinuities in traditional shape reconstruction models. Three-dimensional experiments were conducted within eight spatial complex configurations printed from a proportional bronchial model. The 3D experiment results demonstrate an average reduction of approximately 34.1% in shape reconstruction errors across all eight airway models compared to the traditional model, validating the effectiveness and feasibility.

关键词： Bronchoscopy Solid modeling Optical fiber sensors Three-dimensional displays Shape Atmospheric modeling Optimization methods

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Fast Detection of Multi-Direction Remote Sensing Ship Object Based on Scale Space Pyramid

Fast Detection of Multi-Direction Remote Sensing Ship Object...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Ziying Song Li Wang Guoxin Zhang Caiyan Jia Jiangfeng Bi Haiyue Wei Yongchao Xia Chao Zhang Lijun Zhao School of Computer and Information Technology Beijing Jiaotong University Beijing China School of Vehicle and Mobility Tsinghua University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Information Science and Engineering Hebei University of Science and Technology Shijiazhuang China

Ships in remote sensing images are usually arranged in arbitrary direction, small in size, and densely arranged. As a result, existing object detection algorithms cannot detect ships quickly and accurately. In order to solve the above problems, a lightweight object detection network for fast detection of ships is proposed. The network is composed of backbone network, four-scale fusion network and rotation branch. First, a lightweight network unit S-LeanNet is designed and used to build a low-computing and accurate backbone network. Then, a four-scale feature fusion module is designed to generate a four-scale feature pyramid, which contains more features such as ship shape and texture, and at the same time is conducive to the detection of small ships. Finally, a novel rotation branch module is designed, using balance L1 loss function and R-NMS for post-processing, to realize the precise positioning and regression of the rotating bounding box in one step. Experimental results show that the detection precision of our method in the DOT A remote sensing data set is compared with the latest SCRDet detection method, the precision is increased by 1.1%, and the operating speed is increased by 8 times, which can meet the fast detection requirements of ships.

关键词： Sea surface Shape Object detection US Department of Transportation Feature extraction Sensors Marine vehicles

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Magnetic-Actuated Flexible Instruments with Enhanced Bending Capability through Magnetic Distribution Optimization

Magnetic-Actuated Flexible Instruments with Enhanced Bending...

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IEEE International Conference on Automation science and engineering (CASE)

作者： Yuanrui Huang Runyu Ma Jian Hu Mingcong Chen Jian Chen Hongbin Liu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of General Engineering Beihang University Beijing China Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences

Magnetically-actuated flexible surgical robot has promising applications for ultra-narrow and tortuous orifices. However, maximizing its bending capability and manipulability remains a significant hurdle for clinical use. In this study, we introduce an objective function that can accurately predict a catheter's bending angle with given numbers of internal permanent magnets (IPMs) under various magnetic fields through iterative calculation. The optimal magnets distribution that yields the maximal controllable bending angle, could be determined by optimizing this objective function. The effectiveness of this method is validated through simulations and experiments. Additionally, we propose a simple control scheme to control the bending angle of the magnetically-actuated catheter based on the piecewise constant curvature model. The experimental results demonstrate that the proposed method significantly improves the motion accuracy of the catheter. The catheter with the optimized magnet distribution achieved superior tracking performance with an Integral Absolute Error (IAE) of 1.08 rad·s and maximal controllable bending angle of 150°.

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Few-shot learning based histopathological image classification of colorectal cancer

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Intelligent Medicine 2024年第4期4卷 256-267页

作者： Rui Li Xiaoyan Li Hongzan Sun Jinzhu Yang Md Rahaman Marcin Grzegozek Tao Jiang Xinyu Huang Chen Li Key Laboratory of Intelligent Computing in Medical Image Ministry of EducationNortheastern UniversityShenyangLiaoning 110167China Cancer Hospital China Medical UniversityShenyangLiaoning 110122China Shengjing Hospital China Medical UniversityShenyang.Liaoning 110000China Institute for Medical Informatics University of LuebeckGermany Department of Knowledge Engineering University of Economics in KatowicePoland 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 School of Computer Science and Engineering University of New South WalesSydneyNSW 2052Australia

Background Colorectal cancer is a prevalent and deadly disease worldwide,posing significant diagnostic *** histopathologic image classification is often inefficient and *** some histopathologists use computer-aided diagnosis to improve efficiency,these methods depend heavily on exten-sive data and specific annotations,limiting their *** address these challenges,this paper proposes a method based on few-shot *** This study introduced a few-shot learning approach that combines transfer learning and contrastive learning to classify colorectal cancer histopathology images into benign and malignant *** model comprises modules for feature extraction,dimensionality reduction,and classification,trained using a combi-nation of contrast loss and cross-entropy *** this paper,we detailed the setup of hyperparameters:n-way,κ-shot,β,and the creation of support,query,and test *** Our method achieved over 98% accuracy on a query dataset with 35 samples per category using only 10 training samples per *** documented the model’s loss,accuracy,and the confusion matrix of the ***,we employed the t-SNE algorithm to analyze and assess the model’s classification *** The proposed model may demonstrate significant advantages in accuracy and minimal data depen-dency,performing robustly across all tested n-way,κ-shot *** consistently achieved over 93% accuracy on comprehensive test datasets,including 1916 samples,confirming its high classification accuracy and strong generalization *** research could advance the use of few-shot learning in medical diagnostics and also lays the groundwork for extending it to deal with rare,difficult-to-diagnose cases.

关键词： Colorectal cancer Few-shot learning Transfer learning Contrastive learning Histopathological images Benign and malignant categories

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Nonlinear parameter-varying state-feedback design for a gyroscope using virtual control contraction metrics

arXiv

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arXiv 2021年

作者： Wang, Ruigang Koelwijn, Patrick J.W. Manchester, Ian R. Tóth, Roland Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems University of Sydney SydneyNSW2006 Australia Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This VCCM based nonlinear stabilization and performance synthesis approach, which is similar to linear parameter-varying (LPV) control approaches, allows to achieve exact guarantees of exponential stability and L2-gain performance on nonlinear systems with respect to all trajectories from the predetermined set, which is not the case with the conventional LPV methods. Simulation and experimental studies conducted in both fully- and under-actuated operating modes of the CMG show effectiveness of this approach compared to standard LPV control methods. © 2021, CC BY.

关键词： State feedback

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