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Photons Plus Ultrasound: Imaging and Sensing 2023

作者： Garje, Yash Tang, Yichuan Jaupi, Enxhi Zhang, Haichong K. Robotics Engineering Department Worcester Polytechnic Institute 100 Institute Rd WorcesterMA01609 United States Biomedical Engineering Department Worcester Polytechnic Institute 100 Institute Rd WorcesterMA01609 United States Computer Science Department Worcester Polytechnic Institute 100 Institute Rd WorcesterMA01609 United States

ISBN: (纸本)9781510658639

Two-dimensional and three-dimensional photoacoustic (PA) visualization is an emerging diagnostic procedure for investigation and research in vascular studies. Current manual/mechanized target scanning techniques involve sweeping the target along the elevation to generate 3D visuals. However, since the linear array probes exhibit poor resolution along the direction orthogonal to its focal plane, these techniques are prone to miss out on the organic structures parallel to the lateral direction. This could result in a misrepresentation of the target and is a critical shortfall of the method. We propose a multiview scanning and compounding technique to overcome the directionality bias and obtain more accurate and isotropic imaging performance. Using electromechanical translatory and rotary stages for multiview data acquisition, we generate a unified 3D visualization. A data processing pipeline illustrates an axial implementation of the Hilbert transform followed by spatial integration of the volumetric data to obtain the output. A 6-directional scanning approach improves the completeness of the structural details. We validated the technique using sub-millimeter-sized balls and wire phantoms. We first observed an enhanced resemblance of the outcome with the actual target in the ball phantom. Secondly, we observed imaging quality improvement with isotropic intensity distribution prominently in the wire phantom. A comparative analysis showed around a 50% reduction in the standard deviation of intensity distribution as compared to conventional unidirectional 3D PA imaging. © 2023 SPIE.

关键词： Phantoms

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Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement

Simultaneous Estimation of Shape and Force along Highly Defo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yiang Lu Bin Li Wei Chen Junyan Yan Shing Shin Cheng Jiangliu Wang Jianshu Zhou Qi Dou Yun-Hui Liu Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of FBGs inside the fiber and their alignments with the flexible robots for accurate sensing results. Another challenge lies in online acquiring external forces at arbitrary locations along the flexible robots, which is highly required when with large deflections in robotic surgery. In this paper, we propose a novel data-driven paradigm for simultaneous estimation of shape and force along highly deformable flexible robots by using sparse strain measurement from a single-core FBG fiber. A thin-walled soft sensing tube helically embedded with FBG sensors is designed for a robotic-assisted flexible ureteroscope with large deflection up to 270° and a bend radius under 10 mm. We introduce and study three learning models by incorporating spatial strain encoders, and compare their performances in both free space without interactions as well as constrained environments with contact forces at different locations. The experimental results in terms of dynamic shape-force sensing accuracy demonstrate the effectiveness and superiority of the proposed methods.

关键词： Optical fiber sensors Shape Soft sensors Force Estimation Robot sensing systems Fiber gratings

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Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement

arXiv

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arXiv 2024年

作者： Lu, Yiang Li, Bin Chen, Wei Yan, Junyan Cheng, Shing Shin Wang, Jiangliu Zhou, Jianshu Dou, Qi Liu, Yun-Hui T Stone Robotics Institute Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong

Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of FBGs inside the fiber and their alignments with the flexible robots for accurate sensing results. Another challenge lies in online acquiring external forces at arbitrary locations along the flexible robots, which is highly required when with large deflections in robotic surgery. In this paper, we propose a novel data-driven paradigm for simultaneous estimation of shape and force along highly deformable flexible robots by using sparse strain measurement from a single-core FBG fiber. A thin-walled soft sensing tube helically embedded with FBG sensors is designed for a robotic-assisted flexible ureteroscope with large deflection up to 270◦ and a bend radius under 10 mm. We introduce and study three learning models by incorporating spatial strain encoders, and compare their performances in both free space without interactions as well as constrained environments with contact forces at different locations. The experimental results in terms of dynamic shape-force sensing accuracy demonstrate the effectiveness and superiority of the proposed methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Fiber Bragg gratings

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Research and Analysis of IT Specifications of Good Practices in the Area of Artificial Intelligence 16

Research and Analysis of IT Specifications of Good Practices...

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16th International Conference on Advanced Technologies, Systems and Services in Telecommunications, TELSIKS 2023

作者： Kostadinova, I. Dimitrov, G. Martsenyuk, V. Rancic, D. Dirgova-Luptakova, I. Jovancevic, I. Tsvetkova, P. Rasheva-Yordanova, K. Petrova, P. Petrov, P. Faculty of Information Science of University of Library Studies and Information Technologies Sofia Bulgaria Bulgarian Academy of Sciences Acad. Institute of Robotics Bulgaria Department of Computer Science and Automatics Poland Faculty of Electronic Engineering Serbia Faculty of Natural Sciences Slovakia Montenegro University of Economics-Varna Bulgaria

ISBN: (纸本)9798350347029

This article is a contribution within the Erasmus+ project titled "The Future Lies in Applied Artificial Intelligence"(FAAI) and examines research of collected IT specifications of good practices in Area of Artificial Intelligence (AAI). The article describes research conducted, the purpose of which is to find IT specifications of good practices in AI and describe their characteristics, like an area of implementation of the AI solution, the result of processing the data, the source of data, Data processing, and quality, what tools are used for processing data, and others. AAI application cases and the technologies used for implementation are reviewed. The specifics of the data and the applications used are described. The examination of these technologies will provide insight into which ones are favored and provide an overview of what is commonly referred to as "best practices"in this particular *** research encompassed a global examination of cases. The analysis of the data offers valuable insights in various directions:•Application area of ML/AI•Type of machine learning problems in described good practices in Artificial Intelligence•Type of models were developed within the projects•What is the area of implementation of AI solution•Used AI libraries (frameworks).•Source of data•Data characteristics•Tools are used to store data•What platform solution is used•What type of storage is usedThe research and analysis done provide a clear picture of the used IT specifications of good practices in AI. The obtained results will guide in what areas to organize the practical training in the preparation of specialists in the AAI. Also, this research would help future AI application developers. © 2023 IEEE.

关键词： Artificial intelligence

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The Utilization of Fuzzy Logic and Bollinger Bands to Enhance Trading Decision-Making During the Bitcoin Halving Phase

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Procedia computer science 2024年 245卷 272-281页

作者： Oscar Adam Darmawan Yaya Heryadi Lukas Lili Ayu Wulandhari Ilvico Sonata Computer Science Department Binus Graduate Program Doctor of Computer Science Bina Nusantara University Jakarta 11480 Indonesia Cognitive Engineering Research Group (CERG) Universitas Katolik Indonesia Atma Jaya Jakarta 12930 Indonesia

The volatile behavior of Bitcoin's price, especially during its halving periods, poses considerable obstacles for forecasting and decision-making in cryptocurrency trading. This paper presents a novel method that combines application fuzzy logic with Bollinger Bands to improve trading decision-making in times of high market volatility. This study conducted an experiment utilizing three fuzzy logic controllers and Bollinger Bands (BB) to determine the strength of buy, hold, and sell signals. This dataset includes the initial and final prices that are used to calculate the BB. The raw and computed values serve as the precise input parameters for the Fuzzy Inference System (FIS). The membership functions were categorized into four levels: very low, low, high, and very high, based on the input default settings utilized by traders. Rulesets were created using fuzzy logic to produce signals that indicate the level of strength of a trading advice. This study evaluate the effectiveness of this hybrid method in comparison to the traditional utilization of the Bollinger Band only indicator and Moving Average Convergence Divergence (MACD) indicator, which is widely favored by traders to identify possible market fluctuations. This methodology involves creating a trading simulation that is based on past Bitcoin halving events. The objective is to assess the efficacy of these strategies in managing heightened volatility. The application of fuzzy logic with the Bollinger Bands model yielded a success rate of 92.47% while analyzing 93 daily data points from the previous Bitcoin halving event on May 11, 2020.

关键词： fuzzy logic crypto price prediction bitcoin bollinger bands macd cryptocurrency

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The Effect of Viewpoint Change Strategies on Multi-View Video and Audio Transmission QoE Over ICN/CCN

The Effect of Viewpoint Change Strategies on Multi-View Vide...

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IEEE Region 10 International Conference TENCON

作者： Toshiro Nunome Yoshiyuki Takada Department of En-gineering Computer Science Program Graduate School of Engineering Nagoya Institute of Technology Nagoya Japan Department of Engineering Computer Science Program Graduate School of Engineering Nagoya Institute of Technol-ogy Nagoya Japan

In this paper, we exploit caches on intermediate nodes for QoE enhancement of multi-view video and audio transmission over ICN/CCN by controlling the content request start timing of consumers. We assume the selected single viewpoint transmission method; a consumer receives video and audio streams of a requested viewpoint. We perform a simple experiment with two consumers. When the consumers play video and audio with the time difference, we assess the effect of cached content by the former consumer's request on the output quality of the latter consumer. We deal with two types of viewpoint change strategies for the former consumer, which affect the efficiency of cache utilization. From the assessment results, we see that cache utilization has an important factor in enhancing QoE.

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A Novel Stiffness programmable Method for Environment-adaptive Crawling Robot

A Novel Stiffness Programmable Method for Environment-adapti...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Luo, Yudong Zhao, Na Shen, Yantao Dalian Maritime University Morphing Robotics Laboratory Department of Computer Science and Technology Liaoning Dalian116021 China University of Nevada Department of Electrical and Biomedical Engineering RenoNV89557 United States

ISBN: (纸本)9781665481090

Benefitting from the adjustable body stiffness, crawling animals such as earthworms can crawl in soil with different hardnesses. To address one of the main challenges of variable stiffness in crawling robots, this paper presents a new concept of tuning stiffness characteristics based on the mechanical stiffening method, constructs the stiffness model of the robot, and performs a proof-of-concept based on a custom-built crawling robot prototype. The robot is composed of a group of specially designed scissor elements, which allows it to achieve bidirectional continuous deformation, thereby enabling continuous stiffness regulation. The stiffness can be adjusted simply by programming the input to the actuators or modi-fying the number of scissor elements, making it easy control, fast response, and high energy efficiency. Then, the stiffness mathematical model of the novel crawling robot segment is established, and the physical parameters are excavated on the basis of numerous numerical simulations. Finally, the 3D-printed prototype of the robot is constructed for experiments, and the results demonstrate the feasibility of tuning the stiffness characteristics based on the proposed scissor element enabled mechanism, which provides a new perspective on the way to change the stiffness of the crawling robot. © 2022 IEEE.

关键词： Stiffness

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Analysis of Gait Data Based on Deep Learning to Predict Multiple Balance Scale Scores

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IEEE Sensors Journal 2024年第1期24卷 920-930页

作者： Lin, Chueh-Ho Peng, Chih-Wei Lee, I-Jung Wu, Chi-Ming Lin, Bor-Shing Taipei Medical University International Ph.D. Program in Gerontology and Long-Term Care Taipei City110 Taiwan Taipei Medical University Research Center in Nursing Clinical Practice Wan Fang Hospital Taipei City110 Taiwan Taipei Medical University School of Biomedical Engineering College of Biomedical Engineering Taipei City110 Taiwan Taipei Medical University School of Gerontology and Long-Term Care College of Nursing Taipei City110 Taiwan National Taipei University Department of Computer Science and Information Engineering New Taipei City237 Taiwan National Taipei University College of Electrical Engineering and Computer Science New Taipei City237 Taiwan

Unbalanced walking is increasingly common among older adults;therefore, routinely assessing the balance of older adults is crucial. The traditional method of assessing balance uses scales, requires the supervision of a physical therapist (PT), and is time-consuming. The present study, therefore, proposes a deep learning (DL) model architecture that combines a convolutional neural network (CNN) and a long short-term memory (LSTM) network model to predict the scores of three scales, namely the Berg balance scale (BBS), timed up and go (TUG), and single-leg stance (SLS). The gait data of 15 m of walking were collected from seven inertial measurement units (IMUs) and input into the CNN-LSTM model for evaluation. The BBS and TUG only require the participants to wear two IMUs on the left and right thighs, respectively, for accurate predictions. The mean absolute errors (MAEs) of predicting the scores of the BBS and TUG are 1.2562 and 1.4016 s, respectively;however, the MAE of score predictions of SLS is higher than that of the BBS and TUG, indicating that gait data cannot be used for assessing SLS;moreover, participants only wear one IMU on the right calf for BBS and TUG evaluations, which yield MAEs of 1.4334 and 1.5229 s, respectively. The proposed system can quickly and accurately predict the scores of the BBS and TUG. The proposed model can assist PTs with making clinical decisions. © 2001-2012 IEEE.

关键词： Long short-term memory

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Towards High-resolution 3D Anomaly Detection via Group-Level Feature Contrastive Learning 24

Towards High-resolution 3D Anomaly Detection via Group-Level...

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32nd ACM International Conference on Multimedia, MM 2024

作者： Zhu, Hongze Xie, Guoyang Hou, Chengbin Dai, Tao Gao, Can Wang, Jinbao Shen, Linlin National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China Department of Computer Science City University of Hong Kong Hong Kong Hong Kong Department of Intelligent Manufacturing CATL Ningde China Fuzhou Fuyao Institute for Advanced Study Fuyao University of Science and Technology Fuzhou China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen China Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9798400706868

High-resolution point clouds (HRPCD) anomaly detection (AD) plays a critical role in precision machining and high-end equipment manufacturing. Despite considerable 3D-AD methods that have been proposed recently, they still cannot meet the requirements of the HRPCD-AD task. There are several challenges: i) It is difficult to directly capture HRPCD information due to large amounts of points at the sample level;ii) The advanced transformer-based methods usually obtain anisotropic features, leading to degradation of the representation;iii) The proportion of abnormal areas is very small, which makes it difficult to characterize. To address these challenges, we propose a novel group-level feature-based network, called Group3AD, which has a significantly efficient representation ability. First, we design an Intercluster Uniformity Network (IUN) to present the mapping of different groups in the feature space as several clusters, and obtain a more uniform distribution between clusters representing different parts of the point clouds in the feature space. Then, an Intracluster Alignment Network (IAN) is designed to encourage groups within the cluster to be distributed tightly in the feature space. In addition, we propose an Adaptive Group-Center Selection (AGCS) based on geometric information to improve the pixel density of potential anomalous regions during inference. The experimental results verify the effectiveness of our proposed Group3AD, which surpasses Reg3D-AD by the margin of 5% in terms of object-level AUROC on Real3D-AD. We provide the code and supplementary information on our website: https://***/M-3LAB/Group3AD. © 2024 ACM.

关键词： Contrastive Learning

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IoT for Water Quality Categorization 5

IoT for Water Quality Categorization

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5th International Conference on Cybernetics and Intelligent Systems, ICORIS 2023

作者： Sastrohartono, Hermantoro Krisdiarto, Andreas Wahyu Uktoro, Arief Ika Rahutomo, Reza Suparyanto, Teddy Pardamean, Bens Institute of Agriculture Stiper Faculty of Agricultural Technology Agricultural Engineering Department Yogyakarta Indonesia Bina Nusantara University School of Information Systems Information System Department Jakarta11480 Indonesia Bina Nusantara University Bioinformatics & Data Science Research Center Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program Master of Computer Science Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9798350369489

In agricultural water research, the adoption of Internet of Things (IoT) technology has emerged as a pivotal approach for large-scale data collection. Water availability in the context of water quality is very important, both for domestic and industrial purposes. For domestic purposes, drinking water and bathing water are separated. Meanwhile, for the palm oil industry, boiler filler is differentiated from additional process water (dilution water). Water quality parameters can be assessed from turbidity and Total Dissolve Solid (TDS). Measurements using measuring instruments separately and repeatedly require significant energy, time, and costs. This research was conducted with the primary objective of presenting a novel method for categorizing water quality with the approach of IoT sensor technology. The research methodology entailed the utilization of an integrated IoT water sensors system in conjunction with manual water categorization. The methods consist of (1) system design, (2) design and installation of sensor and IoT-based microcontrollers, and (3) accuracy and precision testing compared with laboratory measurements. The precision of the integrated IoT water sensors was assessed through a dedicated sensor precision test, resulting in an accuracy rate of 94.4% for the turbidity sensor and 97.5% for the TDS sensor. Notably, this approach successfully discriminated drinking water with valid categorization, while other water types, including groundwater, water with tea, and water with coffee, yielded null categorization results. © 2023 IEEE.

关键词： Internet of things

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