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

作者： Zhengcai Cao Junnian Li Jie Niu MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Although remarkable advances have been achieved in generic object detection, small object detection (SOD) remains challenging owing to small objects’ information loss and noisy representation caused by their non-uniform distribution. Their limited width and height, scale variations, and redundant computation make SOD hard. To overcome them, this work proposes a new SOD method based on sparse convolutional network (SCNet) and Query Mechanism called QuerySOD. First, an extended feature pyramid network is constructed for extracting feature maps of small objects with more regional details. Then, a Sparse Head is neatly designed by using SCNet for accelerating the interfering speed and obtaining weights of each layer. After that, a Query Mechanism is innovatively introduced for harvesting the benefit of sparse value feature maps from the Sparse Head. QuerySOD is evaluated on public benchmarks including COCO and VisDrone. Finally, we apply it on ‘Jinghai’ unmanned survey vehicles and receive excellent SOD performance from this real-world application.

关键词： Surveys Accuracy Object detection Seaports Lakes Feature extraction Prediction algorithms Convolutional neural networks Security Noise measurement

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Clinical resistance predictors to first-line VEGFR-TKI monotherapy for metastatic renal cell carcinoma: a retrospective multicenter real-life case series

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Journal of Cancer Metastasis and Treatment 2023年第1期9卷 445-458页

作者： Gaetano Pezzicoli Silvana Quaglini Valentina Tibollo Melissa Bersanelli Camillo Porta Mimma Rizzo Department of Interdisciplinary Medicine University of Bari"Aldo Moro"Bari 70124Italy Department of Electrical Computer and Biomedical EngineeringUniversity of PaviaPavia 27100Italy Laboratory of Informatics and Systems Engineering for Clinical Research Scientific Clinical Institute Maugeri(ICS Maugeri)Pavia 27100Italy Medical Oncology Unit University Hospital of ParmaParma 43121Italy Division of Translational Oncology Scientific Clinical Institute Maugeri(ICS Maugeri)Pavia 27100Italy Medical Oncology Unit University Hospital-Polyclinic of BariBari 70124Italy

Aim:For many years,systemic treatment of metastatic Renal Cell Carcinoma(mRCC)was based on sequential targeted agent *** this real-life case series,we evaluated easily accessible clinical factors useful for disease course ***:We exploited patients'clinical pathological characteristics and systemic treatment outcomes in a real-world population of 365 mRCC patients who received sequential monotherapies in the targeted therapy era,and we identified an early progressors subpopulation,resistant to first-line VEGFR-TKI monotherapy in less than 6 ***:Early progressors(n=124)show a far worse OS compared with patients progressing beyond the sixth month of therapy(13.5 vs.44.8 months,P-value<0.0001,HR=0.41,95%CI:0.29-0.53).However,these patients did not show far worse performance in second and third-line settings compared to first-line *** the univariate analysis,IMDC risk class,sarcomatoid features,and Systemic Inflammation Index(SII)were correlated with first-line therapy Progression-Free Survival(PFS1).In multivariate analysis,variables correlated with first-line outcome were IMDC risk class,histotype,and number of metastatic sites at the ***:Real-world data can contribute to developing easy-to-use prognostic factors associated with refractory disease that could support clinicians in identifying the most appropriate treatment strategy for each patient.

关键词： Renal cell carcinoma targeted therapy tyrosine kinase inhibitor drug resistance early progressor rapidly progressive prognostic factor real-world data

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Pneumonia Classification using deep learning: a comparative study

Pneumonia Classification using deep learning: a comparative ...

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International Conference on Image and Signal Processing and their Applications (ISPA)

作者： Mohamed Lakhdar Tiar Nadjiba Terki Juan Jose Dominguez-Jimenez IL3CUB Laboratory University of Mohamed Khider Biskra Algeria Electrical Engineering Department University of Mohamed Khider Biskra Algeria Dept. Computer Languages and Systems University of Cadiz Escuela Superior de Ingenieria Cadiz Spain

ISBN: (数字)9798350309249

ISBN: (纸本)9798350309256

Pneumonia is an infectious disease of the lungs, caused by viruses, bacteria or fungi. Pneumonia is distinguished by acute inflammation of the lung tissue, causing the consolidation of the terminal bronchioles and alveoli. According to the WHO (the World Health Organization), this disease causes about 4 million deaths. Among the methods of diagnosing pneumonia uses a chest X-ray. This is widely used to visualize pulmonary abnormalities. This work aims at the detection and characterization of pneumonia by the development of computer-assisted diagnosis systems (DAOC). We use deep learning algorithms and chest X-ray images from a pneumonia database to examine the classification of pneumonia. To improve the accuracy, we compare several deep learning models. This research contributes to meeting the growing demand for medical personnel by addressing the global incidence of chest disorders.

关键词： Deep learning Visualization Pneumonia Lung Signal processing algorithms Medical services Signal processing

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Intelligent Robotic Sonographer: Mutual Information-based Disentangled Reward Learning from Few Demonstrations

arXiv

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arXiv 2023年

作者： Jiang, Zhongliang Bi, Yuan Zhou, Mingchuan Hu, Ying Burke, Michael Navab, Nassir The Chair for Computer Aided Medical Procedures and Augmented Reality Technical University of Munich Germany Shenzhen Institute of Advanced Technology Chinese Academy of Science China The Department of Electrical and Computer Systems Engineering Monash University Australia The Laboratory for Computer Aided Medical Procedures Johns Hopkins University BaltimoreMD21218 United States

Ultrasound (US) imaging is widely used for biometric measurement and diagnosis of internal organs due to the advantages of being real-time and radiation-free. However, due to inter-operator variations, resulting images highly depend on the experience of sonographers. This work proposes an intelligent robotic sonographer to autonomously "explore"target anatomies and navigate a US probe to a relevant 2D plane by learning from the expert. The underlying high-level physiological knowledge from experts is inferred by a neural reward function, using a ranked pairwise image comparisons approach in a self-supervised fashion. This process can be referred to as understanding the "language of sonography". Considering the generalization capability to overcome inter-patient variations, mutual information is estimated by a network to explicitly disentangle the task-related and domain features in latent space. The robotic localization is carried out in coarse-to-fine mode based on the predicted reward associated with B-mode images. To validate the effectiveness of the proposed reward inference network, representative experiments were performed on vascular phantoms ("line"target), two types of ex-vivo animal organs (chicken heart and lamb kidney) phantoms ("point"target) and in-vivo human carotids, respectively. To further validate the performance of the autonomous acquisition framework, physical robotic acquisitions were performed on three phantoms (vascular, chicken heart, and lamb kidney). The results demonstrated that the proposed advanced framework can robustly work on a variety of seen and unseen phantoms as well as in-vivo human carotid data. Code: https://***/yuan-12138/MI-GPSR. Copyright © 2023, The Authors. All rights reserved.

关键词： Phantoms

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Mixture Gaussian Distribution-Based Collaborative Reinforcement Learning for 3D UAV Localization Optimization Against Jamming Attacks

Mixture Gaussian Distribution-Based Collaborative Reinforcem...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Yujiao Zhu Mingzhe Chen Sihua Wang Yuchen Liu Gaolei Li Changchuan Yin Tony Q.S. Quek Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing China Information Systems Technology and Design Pillar Singapore University of Technology and Design Singapore Department of Electrical and Computer Engineering and Institute for Data Science and Computing University of Miami Coral Gables FL USA Department of Computer Science North Carolina State University Raleigh NC USA School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

In this paper, the optimization of unmanned aerial vehicle (UAV) localization under jamming attacks is studied. In the considered network, a base station (BS) collaborates with an active UAV to localize a target UAV. During this positioning process, a jamming UAV transmits discontinuous signals to passive UAVs to interfere the distance information measurement. To localize the target UAV under jamming attacks, the BS jointly use two localization methods: 1) generative adversarial network (GAN)-based positioning method and 2) time difference of arrival (TDOA)-based positioning method. Since GAN-based positioning method cannot defense in a strong jamming signal while TDOA-based positioning method may consume more energy and sacrifice localization accuracy, the BS must select an appropriate positioning method (GAN-based or TDOA-based methods) and four distance measurement information of passive UAVs to estimate the position of the target UAV. This problem is formulated as an optimization problem whose goal is to minimize the positioning error between the estimated and the ground truth positions of the target UAV while considering jamming attacks and the trajectory of passive UAVs. To solve this problem, we propose a mixture Gaussian distribution model-based collaborative reinforcement learning (RL) method which enables the active UAV to determine its transmit power and trajectory, and enables the BS to select the most appropriate subsets of distance measurement information and the optimal positioning method according to the movement of passive UAVs and the unknown jamming attack pattern of the jamming UAV. Simulation results show the proposed method can reduce the positioning error of the target UAV by up to 36.5% compared to the method that does not consider the GAN-based positioning method.

关键词： Location awareness Simulation Collaboration Reinforcement learning Gaussian distribution Autonomous aerial vehicles Distance measurement Trajectory Jamming Optimization

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State Derivative Normalization for Continuous-Time Deep Neural Networks

arXiv

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arXiv 2024年

作者： Weigand, Jonas Beintema, Gerben I. Ulmen, Jonas Görges, Daniel Tóth, Roland Schoukens, Maarten Ruskowski, Martin Chair of Machine Tools and Control Systems RPTU Kaiserslautern The German Research Center for Artificial Intelligence Kaiserslautern Germany Group The Department of Electrical Engineering Eindhoven University of Technology Netherlands The Systems and Control Laboratory The Institute for Computer Science and Control Budapest Hungary Institute for Electromobility RPTU Kaiserslautern Germany

The importance of proper data normalization for deep neural networks is well known. However, in continuous-time state-space model estimation, it has been observed that improper normalization of either the hidden state or hidden state derivative of the model estimate, or even of the time interval can lead to numerical and optimization challenges with deep learning based methods. This results in a reduced model quality. In this contribution, we show that these three normalization tasks are inherently coupled. Due to the existence of this coupling, we propose a solution to all three normalization challenges by introducing a normalization constant at the state derivative level. We show that the appropriate choice of the normalization constant is related to the dynamics of the to-be-identified system and we derive multiple methods of obtaining an effective normalization constant. We compare and discuss all the normalization strategies on a benchmark problem based on experimental data from a cascaded tanks system and compare our results with other methods of the identification literature. © 2024, CC BY-SA.

关键词： Ordinary differential equations

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Optical data transmission using inverse-designed silicon multimode photonic circuits and spectrally flattened microcombs

Optical data transmission using inverse-designed silicon mul...

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2023 Conference on Lasers and Electro-Optics, CLEO 2023

作者： Yang, K.Y. Shirpurkar, C. White, A.D. Zang, J. Chang, L. Ashtiani, F. Guidry, M.A. Lukin, D.M. Pericherla, S.V. Yang, J. Kwon, H. Lu, J. Ahn, G.H. Van Gasse, K. Jin, Y. Yu, S.-P. Briles, T.C. Stone, J.R. Carlson, D.R. Song, H. Zou, K. Zhou, H. Pang, K. Hao, H. Trask, L. Li, M. Netherton, A. Rechtman, L. Stone, J.S. Skarda, J.L. Su, L. Vercruysse, D. MacLean, J.P.W. Aghaeimeibodi, S. Li, M.-J. Miller, D.A.B. Marom, D.M. Willner, A.E. Bowers, J.E. Papp, S.B. Delfyett, P.J. Aflatouni, F. Vučković, J. E.L.Ginzton Laboratory Stanford University StanfordCA United States John A. Paulson School of Engineering and Applied Sciences Harvard University CambridgeMA United States The College of Optics and Photonics University of Central Florida OrlandoFL United States Time and Frequency Division National Institute of Standards and Technology BoulderCO United States Department of Physics University of Colorado BoulderCO United States Department of Electrical and Computer Engineering University of California Santa BarbaraCA United States Department of Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA United States SPINS Photonics Incorporated HollisterCA United States Octave Photonics LouisvilleCO United States Department of Electrical and Computer Engineering University of Southern California Los AngelesCA United States Applied Physics Department The Hebrew University of Jerusalem Jerusalem Israel Corning Incorporated CorningNY United States

We demonstrate a 1.12-Tbps error-free data transmission throughout inverse-designed multimode photonic circuits using spectrally flattened microcombs as a multiwavelength laser source. © Optica Publishing Group 2... 详细信息

ISBN: (纸本)9781957171258

关键词： Timing circuits

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Primal-dual Accelerated Mirror-Descent Method for Constrained Bilinear Saddle-Point Problems

arXiv

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arXiv 2024年

作者： Li, Weijian Zeng, Xianlin Pavel, Lacra The Department of Electrical and Computer Engineering University of Toronto TorontoONM5S 3G4 Canada The Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

We develop a first-order accelerated algorithm for a class of constrained bilinear saddle-point problems with applications to network systems. The algorithm is a modified time-varying primal-dual version of an accelerated mirror-descent dynamics. It deals with constraints such as simplices and convex set constraints effectively, and converges with a rate of O(1/t2). Furthermore, we employ the acceleration scheme to constrained distributed optimization and bilinear zero-sum games, and obtain two variants of distributed accelerated algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Mirrors

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Coherency-Constrained Spectral Clustering for Proactive Load Shedding: A Tri-Level Model

Coherency-Constrained Spectral Clustering for Proactive Load...

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IEEE General Meeting Power& Energy Society

作者： Mario D. Baquedano-Aguilar Arturo Bretas Sean Meyn Department of Electrical & Computer Engineering University of Florida Gainesville FL USA Distributed Systems Group Pacific Northwest National Laboratory Richland WA USA G2Elab Grenoble INP CNRS Université Grenoble Alpes Grenoble France

ISBN: (数字)9798350381832

ISBN: (纸本)9798350381849

In low-inertia power grids, traditional load-shedding methods can be ineffective, causing instability and unnecessary grid islanding. This work introduces a distributed tri-level optimization model for proactive load shedding to prevent grid islanding considering generator coherency identification. Preventing islanding is crucial because it reduces the need for additional load shedding and transmission line tripping, thereby maintaining frequency stability. This is especially important in systems heavily dependent on non-dispatchable resources like wind and solar. The model employs generator coherency identification through spectral clustering using synchronizing coefficients. The results are then used as constraints in a dynamic graph based on power flow measurements to identify coherent areas for load shedding under highly stressed conditions. This approach offers practical applications and holds promise for real-world use.

关键词： Wind Islanding Power transmission lines Load shedding Power system stability Transmission line measurements Generators Stability analysis Load modeling Stress measurement

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A Context-Enhanced Full-Resolution Floor Plan Segmentation Network for Topological Semantic Mapping

A Context-Enhanced Full-Resolution Floor Plan Segmentation N...

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

作者： Zhengcai Cao Yiyang Sun Zhe Ma MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Topological semantic maps provide a practical solution to enhance indoor navigation for the Partially Sighted or Visually Impaired (PSVI). Segmenting indoor floor plans and extracting boundaries are key to constructing these maps. The existing methods exhibit low accuracy in segmentation. To achieve desired high segmentation accuracy, we introduce a Context-Enhanced Full-Resolution Network (CEFRN) for floor plan segmentation. It is designed to harness the shallow detailed features and inter-category contextual dependencies inherent in floor plans. CEFRN integrates modified residual blocks to capture the low-stage full-resolution features while maintaining its compactness. A position attention module is employed to refine the deep-stage contextual information. We also propose a two-dimensional deep supervision method to merge features from both stages, which significantly boosts the feature representation ability of CEFRN. Finally, a practical topological semantic mapping method for PSVI indoor navigation is introduced. Experimental results demonstrate that CEFRN’s segmentation accuracy well exceeds the state-of-the-art methods’. It can be used to well support accurate topological semantic mapping.

关键词： Accuracy Hospitals Indoor navigation Semantics Feature extraction Mobile robots Floors Intelligent robots Autonomous vehicles Drones

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