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Retinal disorder diagnosis based on hybrid deep learning models

Multimedia Tools and Applications 2025年 1-25页

作者： Sedik, Ahmed El-Shafai, Walid El-Hag, Noha A. El-Banby, Ghada M. Abd El-Samie, Fathi E. Smart Systems Engineering Laboratory College of Engineering Prince Sultan University Riyadh11586 Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafrelsheikh University Kafr el-Sheikh Egypt Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt The Higher Institute of Commercial Sciences Algarbia Al Mahalla Al Kubra31951 Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

Anomaly detection from medical images is badly needed for automated diagnosis. For example, medical images obtained with several modalities, such as magnetic resonance (MR) and confocal microscopy, need to be classified for anomaly detection. The MR images may contain tumors that need to be detected with anomaly detection techniques. In MR imaging, brain tumors are represented as areas composed of abnormal cells that need to be detected. On the other hand, confocal microscopy can be used for retinal imaging. Hence, there is a need to apply classification techniques for diagnosing diseases of the eye, such as Diabetic Retinopathy (DR), which leads to exudates in different regions of the retina. The detection of exudates is necessary for the diagnosis of DR. In this paper, two models are presented for the classification of MR and retinal images. Much research has been done in this area, but it did not achieve high accuracy of classification in an acceptable time. In addition, the previous models did not consider both types of image modalities considered in this paper. The suggested models are Convolutional Neural Network (CNN) and Convolutional Long Short-Term Memory (Conv-LSTM). They are used to classify normal and abnormal cases of both brain tumor and DR diseases. The CNN model is composed of six convolutional layers and six max-pooling layers. A soft-max activation function takes the classification decision. The proposed Conv-LSTM model is composed of three stages: pre-processing, feature extraction, and classification. The deep learning model performance is better than those of traditional networks. The CNN gives an accuracy of 94.26% for DR classification and 95.8% for brain tumor classification, while the Conv-LSTM gives the maximum accuracy of 96.41% for DR classification and 97.4% for brain tumor classification. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Confocal microscopy

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Task Load Based Persistent Coverage control for Large-Scale Domains Using Multi-Agent Systems with Anisotropic Sensors

Task Load Based Persistent Coverage Control for Large-Scale ...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Odoy, Kyle Rodríguez-Seda, Erick J. United States Naval Academy Department of Weapons Robotics and Control Engineering AnnapolisMD United States

ISBN: (纸本)9798331504847

Multi-agent coverage control refers to the task of coordinating autonomous robots to effectively survey and gather information across a task-domain. This paper introduces a novel approach that addresses agents equipped with anisotropic sensors and constrained by nonholonomic movement, aiming to ensure persistent coverage and maintain awareness over a large-scale domain. The approach employs redefined Voronoi partitions that leverage each agent's local coverage domain based on its relative task load. The task load herein refers to the level of awareness that each agent has about the domain and the size of its area of dominance, all indirectly encoded in the Voronoi's mass. To account for the vehicles' nonholonomic nature and velocity constraints, the proposed approach is extended using the minimum curvature-based distance when determining the agent's area of dominance. A set of simulations involving teams of three and five agents showcases the effectiveness of the proposed control approach. © 2025 IEEE.

关键词： Cloud computing

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Generating Continuous Paths On Learned Constraint Manifolds Using Policy Search

Generating Continuous Paths On Learned Constraint Manifolds ...

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

作者： Ethan Canzini Simon Pope Ashutosh Tiwari Department of Automatic Control & Systems Engineering University of Sheffield UK Airbus Robotics Airbus UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Many robotic manipulation tasks are constrained due to kinematic limitations placed on the object being manipulated. This increases the complexity of manipulation tasks that operate in high dimensions, leading to increased risk that sampling based planners are unable to find optimal solutions. Whilst trajectory optimisation methods provide guaranteed optimal solutions when implementing constraints, they only provide locally optimal solutions in sequential decision-making and struggle to provide globally optimal paths. These constraints can be incorporated into the probabilistic latent spaces by using demonstrations that satisfy the constraint function. However whenever constraints change or a manipulator must perform different tasks the network must be retrained to accommodate the new constraints. In this paper, we provide an approach that allows the training of a single learned manifold that can be augmented to determine the constraint manifold for the manipulation task. Using this manifold, the geodesic between two points can be computed using policy search to solve the cost function associated with the geodesic curve length ${\mathcal{L}_\gamma }$. We provide comparisons in terms of path length against popular path planning algorithms with different kinematic constraints, demonstrating our method’s ability to find optimal shortest paths on constraint manifolds.

关键词： Manifolds Training Runtime Optimization methods Kinematics Reinforcement learning Probabilistic logic Real-time systems Trajectory Splines (mathematics)

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Solvability of the Inverse Optimal control problem based on the minimum principle

arXiv

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arXiv 2024年

作者： Islam, Afreen Herrmann, Guido Carrasco, Joaquin The Control Systems and Robotics Group Department of Electrical and Electronic Engineering The University of Manchester United Kingdom

In this paper, the solvability of the Inverse Optimal control (IOC) problem based on two existing minimum principal methods, is analysed. The aim of this work is to answer the question regarding what kinds of trajectories, that is depending on the initial conditions of the closed-loop system and system dynamics, of the original optimal control problem, will result in the recovery of the true weights of the reward function for both the soft and the hard-constrained methods [1], [2]. Analytical conditions are provided which allow to verify if a trajectory is sufficiently conditioned, that is, holds sufficient information to recover the true weights of an optimal control problem. It was found that the open-loop system of the original optimal problem has a stronger influence on the solvability of the Inverse Optimal control problem for the hard-constrained method as compared to the soft-constrained method. These analytical results were validated via simulation. © 2024, CC BY.

关键词： Closed loop systems

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Probabilistic Object Tracking Using Quantified Camera Uncertainty Parameters in a Binocular System

Probabilistic Object Tracking Using Quantified Camera Uncert...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Christopher A. Civetta Donald H. Costello Michael D. M. Kutzer Department of Weapons Robotics and Control Engineering United States Naval Academy Annapolis MD USA

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

As the Navy becomes increasingly autonomous and attempts to lower its radio frequency (RF) signature, the need for improved optically-driven systems increases. Research on a binocular camera system's ability to track an object in three-dimensional (3D) space using statistical uncertainty supports this effort. By leveraging ground truth data provided by USNA's Vision Integration In Polymanual and Experimental robotics (VIPER) lab, the binocular system's uncertainty parameters are experimentally estimated, and the overall uncertainty of the system's ability to track an object is approximated. Unlike traditional tracking methods, this process produces a probability “cloud” around the the object of interest, providing confidence intervals around the target of interest. This research supports sensor-based autonomy in two ways: (1) enabling tracking systems to use probabilistic information to establish confidence regions for risk assessment and decision making;; (2) provide tracking uncertainty in automated image labeling to improve the training efficacy of neural networks.

关键词： Training Radio frequency Uncertainty Target tracking Three-dimensional displays Robot vision systems Probabilistic logic

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Persistent Coverage control of Large-Scale Domains Using Multi-Agent Systems with Anisotropic Sensors

Persistent Coverage Control of Large-Scale Domains Using Mul...

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IEEE Southeastcon

作者： Timothy Leung Erick J. Rodríguez-Seda Department of Weapons Robotics and Control Engineering United States Naval Academy Annapolis MD USA

Multi-agent coverage control refers to the task of coordinating the position and motion of a group of mobile agents whose goal is to provide service or collect data from a given region. An ongoing research question within this topic is how to coordinate the motion and location of a team of non-zero-speed nonholonomic vehicles, such as fixed-wing aircraft, with anisotropic sensors of limited range. Motivated by this problem, this paper presents a control law that aims to provide persistent awareness over a bounded domain by a group of non-zero-speed nonholonomic vehicles. The control law explores the use of an awareness model and a novel curvature-based Voronoi partition to govern the distribution and motion of agents. Due to the nonholonomic nature of the vehicles and the use of anisotropic sensors, the proposed approach redefines the definition of distance in Voronoi cells using the minimum curvature of the vehicles. A simulation with a team of vehicles demonstrates the performance of the control approach.

关键词：

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Experimental Set-Up with a Linear Motor Drive System for Magnetorheological Dampers Testing

Experimental Set-Up with a Linear Motor Drive System for Mag...

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International Carpathian control Conference (ICCC)

作者： Łukasz Jastrzębski Piotr Micek Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

The work deals with the design, realization and functional tests of an experimental set-up equipped with a linear motor drive system. This experimental set-up is used to determine both the mechanical and electrical properties of linear magnetorheological (MR) dampers. The main elements of the experimental set-up are: a Linmot P10-70 linear motor operating with a Servo Drive E1400 controller, a Sensopart RLA50-220 laser triangulation displacement sensor, a ZEPWN CL-14 strain gauge force sensor operating with a CL 100P amplifier, and a power amplifier based on an OPA549 silicon chip. The linear motor allows the damper piston rod to be moved by a maximum of 150 mm. The power amplifier can operate as a controllable current or voltage source, supplying the damper coil. Its maximum output current is 5 A. The power amplifier internal circuits enable simultaneous measurement of both voltage and current. The physical quantities measured at the experimental set-up, i.e., displacement (0 - 220 mm), force (± 5 kN), coil voltage (± 10 V) and current (± 5 A), are converted into voltage signals in the range ± 10 V and fed to an Inteco RT-DAC 4 PCI measurement-control card supported by the MATLAB/Simulink environment. This card simultaneously generates analogue signals representing the set value of the linear drive slider displacement. A commercial MR damper applied in Audi TT passenger cars was used for functional tests carried out on the designed and constructed experimental set-up. The force-displacement and force-velocity characteristics were experimentally determined at constant coil currents. The temperature of both the stand elements and tested damper was also determined using a FLIR E50 thermal imaging camera.

关键词： Coils Motor drives Voltage measurement Force measurement Current measurement Magnetomechanical effects Magnetic resonance imaging

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Model and control Synthesis for an Active Vehicle Suspension Strut Involving a Single-Rod Electrohydraulic Actuator

Model and Control Synthesis for an Active Vehicle Suspension...

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International Carpathian control Conference (ICCC)

作者： Marek Sibielak Jarosław Konieczny Adam Smoter Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

The paper presents the synthesis of a nonlinear model of a wheeled vehicle suspension strut using an asymmetric (single-rod) electrohydraulic actuator. Due to differences in the active areas of the piston and the nonlinear nature of flows through the throttling orifices of the servo valve, the nonlinear model is characterised by increased complexity relative to systems using symmetric actuators (double rod). The paper covers the results of simulation studies to linearise the model and synthesise a linear quadratic controller based on the linearised model. The derived linear-quadratic controller was utilised to control a nonlinear model of the suspension strut. The control performance of the nonlinear active suspension strut model was compared with laboratory tests of the passive suspension system.

关键词： Suspensions (mechanical systems) Roads Orifices Wheels Process control Valves Mathematical models

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Design of an Embedded control System for a Linear MR Damper Powered by Energy Harvested from Vibrations

Design of an Embedded Control System for a Linear MR Damper ...

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International Carpathian control Conference (ICCC)

作者： Łukasz Jastrzębski Arkadiusz Kozieł Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

The work concerns design and realization of embedded control system (ECS) dedicated to a self-powered vibration reduction system equipped with a magnetorheological damper. Unlike a typical MR damper control system whose electrical circuits are powered from an external energy source, the developed system is powered by energy extracted from a vibrating structure and converted into electrical energy using an electromagnetic harvester. The ECS contains a rectifier, a driver unit, a 32-bit microcontroller, and an internal power supply system which are integrated in an engineered PCB. The sensors (MEMS accelerometers) employed in the control system are powered by DC voltage provided by the ECS. The paper presents the structure, components, and functions of the ECS

关键词： Vibrations Micromechanical devices Power supplies Microcontrollers Rectifiers control systems Shock absorbers

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Prediction Horizon Requirements for Automated Driving: Optimizing Safety, Comfort, and Efficiency

Prediction Horizon Requirements for Automated Driving: Optim...

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IEEE Symposium on Intelligent Vehicle

作者： Manuel Muñoz Sánchez Chris van der Ploeg Robin Smit Jos Elfring Emilia Silvas Rene van de Molengraft Mechanical Engineering Department Robotics group Mechanical Engineering Department Dynamics and Control Group Integrated Vehicle Safety Department TNO Helmond The Netherlands VDL CropTeq Robotics Eindhoven The Netherlands Mechanical Engineering Department Control Systems Technology group Eindhoven University of Technology Eindhoven The Netherlands

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Predicting the movement of other road users is beneficial for improving automated vehicle (AV) performance. However, the relationship between the horizon of these predictions and AV performance remains unclear. Despite the existence of numerous trajectory prediction algorithms, no studies have been conducted on how varying prediction horizons affect AV safety and other vehicle performance metrics, resulting in undefined horizon requirements for prediction methods. Our study addresses this gap by examining the effects of different prediction horizons on AV performance, focusing on safety, comfort, and efficiency. Through multiple experiments using a state-of-the-art, risk-based predictive trajectory planner, we simulated predictions with horizons up to 20 seconds. Based on our simulations, we propose a framework for specifying the minimum required and optimal prediction horizons depending on specific AV performance criteria and application needs. Our results indicate that a horizon of 1.6 seconds is required to prevent collisions with crossing pedestrians, horizons of 7-8 seconds yield the best efficiency, and horizons up to 15 seconds improve passenger comfort. We conclude that prediction horizon requirements are application-dependent, and recommend aiming for a prediction horizon of 11.8 seconds as a general guideline for applications involving crossing pedestrians.

关键词： Measurement Pedestrians Intelligent vehicles Roads Pipelines Predictive models Prediction algorithms

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