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An Efficient Medical Image Deep Fusion Model Based on Convolutional Neural Networks

computers, Materials & Continua 2023年第2期74卷 2905-2925页

作者： Walid El-Shafai Noha A.El-Hag Ahmed Sedik Ghada Elbanby Fathi E.Abd El-Samie Naglaa F.Soliman Hussah Nasser AlEisa Mohammed E.Abdel Samea Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Laboratory Department of Computer SciencePrince Sultan UniversityRiyadh11586Saudi Arabia Higher Institute of Commercial Science Management Information SystemsEl-Mahala El-KobraEgypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelsheikh UniversityKafr El-SheikhEgypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadhSaudi Arabia Medical Imaging and Interventional Radiology National Liver InstituteMenoufia UniversityEgypt

Medical image fusion is considered the best method for obtaining one image with rich details for efficient medical diagnosis and *** learning provides a high performance for several medical image analysis *** paper proposes a deep learning model for the medical image fusion *** model depends on Convolutional Neural Network(CNN).The basic idea of the proposed model is to extract features from both CT and MR ***,an additional process is executed on the extracted *** that,the fused feature map is reconstructed to obtain the resulting fused ***,the quality of the resulting fused image is enhanced by various enhancement techniques such as Histogram Matching(HM),Histogram Equalization(HE),fuzzy technique,fuzzy type,and Contrast Limited Histogram Equalization(CLAHE).The performance of the proposed fusion-based CNN model is measured by various metrics of the fusion and enhancement *** realistic datasets of different modalities and diseases are tested and ***,real datasets are tested in the simulation analysis.

关键词： Image fusion CNN deep learning feature extraction evaluation metrics medical diagnosis

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Linear Active Disturbance Rejection Control with a Fractional-Order Integral Action

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computers, Materials & Continua 2022年第11期73卷 3057-3079页

作者： Maâmar Bettayeb Rachid Mansouri Ubaid M.Al-Saggaf Abdulrahman U.Alsaggaf Mohammed Moinuddin Electrical Engineering Department University of SharjahUnited Arab Emirates L2CSP Laboratory University Mouloud Mammeri of Tizi-OuzouAlgeria Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddahSaudi Arabia Electricaland Computer Engineering Department King Abdulaziz UniversityJeddahSaudi Arabia

Linear active disturbance rejection control(LADRC)is a powerful control structure thanks to its performance in uncertainties,internal and external disturbances estimation and *** extended state observer(ESO)based controller is the key to the LADRC *** this article,the LADRC scheme combined with a fractional-order integral action(FOILADRC)is proposed to improve the robustness of the standard *** the robust closed-loop Bode’s ideal transfer function(BITF),an appropriate pole placement method is proposed to design the set-point tracking controller of the FOI-LADRC *** simulations and experimental results on a cart-pendulum system will illustrate the effectiveness of the proposed FOI-LADRC scheme for the disturbance rejection,the set-point tracking and the improved *** illustrate the LADRC control schemes and to verify the performance of the proposed FOI-LADRC,compared to the standard LADRC and IOI-LADRC structures,two tests will be carried ***,simulation tests on an academic example will be presented to show the effect of the different parameters of the control law on the performance of the closed-loop ***,these three control structures are implemented on an experimental test bench,the cart-pendulum system,to show their efficiency and to show the superiority of the proposed method compared to the two other structures.

关键词： Fractional calculus active disturbance rejection control pole placement cart-pendulum system robust control

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Hardware-in-the-loop and Digital Twin Enabled Autonomous robotics-assisted Environment Inspection 6

Hardware-in-the-loop and Digital Twin Enabled Autonomous Rob...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Johnny Shang, Bo Jayawardana, Iresh Chen, Genda University of Idaho Precision Agriculture and Intelligent Robotics Laboratory Department of Soil and Water Systems MoscowID83844 United States Department of Electrical Engineering New YorkNY10031 United States Missouri University of Science and Technology Center for Intelligent Infrastructure RollaMO65409-0810 United States

ISBN: (纸本)9798350316155

Empowered by the advanced 3D sensing, computer vision and AI algorithm, autonomous robotics provide an unprecedented possibility for close-up infrastructure environment inspection in an efficient and reliable fashion. Deep neural network (DNN) learning algorithms, pretrained on the large database can empower real-time object detection as well as fully autonomous, safe robotic navigation in unstructured environments while avoiding the potential obstacle. However, the development and deployment of the robots, inspection planning and operation procedures are still tedious and segmented with tremendous manual intervention during environmental inspection and anomaly monitoring. The proposed digital twin approach is able to provide a virtual representation model of the target environment either from a build-design or from 3D scanning of the real-world physical assets at high resolution in the Unity simulation environment, a transverse drone robot model and test its robotics Operating System(ROS) autonomous navigation and obstacle avoidance software stack, and the hardware-in-the-loop test can thus be conducted for the flight control algorithm effectiveness and real-time object detection performance evaluation. The preliminary result shows that VGG16-UNet deep learning algorithm was able to use only a small amount of guidance and time from experienced inspection pilots to successfully identify the critical elements and defects and real-time navigate around the unstructured environment. The proposed digital twin framework and methodology is promising to be utilized for developing and testing fully autonomous inspection robots and its path planning and navigation and detection operation with greater cost- and time-efficiency. © 2023 IEEE.

关键词： Crack detection

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MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation

MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutiona...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Ji, Shanshan Meng, Qiwei Wang, Wen Lin, Zheyuan Li, Te Wan, Minhong Zhang, Chunlong Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach. © 2023 IEEE.

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Action recognition through fusion of sEMG and skeletal data in feature level

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Journal of Ambient Intelligence and Humanized Computing 2022年第9期13卷 4125-4134页

作者： Wang, Xinming Ding, Weili Bian, Shuangshuang Liu, Honghai Department of Automation Institute of Electrical Engineering Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Yanshan University 438 West of Hebei Avenue Haigang District Qinhuangdao066004 China School of Mechanical Engineering and Automation State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Nanshan District Shenzhen518055 China

Human action can be recognized through a unimodal way. However, the information obtained from a single mode is limited due to the fact that a single mode contains only one type of physical attribute. Therefore, it is motivational to improve the accuracy of actions through fusion of two different complementary modality, which are the surface electromyography (sEMG) and the skeletal data. In this paper, we propose a general framework of fusion of sEMG signals and skeletal data. Firstly, vector of locally aggregated descriptor (VLAD) was extracted from sEMG sequences and skeletal sequences, respectively. Secondly, features obtained from sEMG and skeletal data are mapped through different weighted kernels using multiple kernel learning. Finally, the classification results are obtained through the model of multiple kernel learning. A dataset of 18 types of human actions is collected via KinectV2 and Thalmic Myo armband to verify our ideas. The experimental results show that the accuracy of human action recognition are improved by combining skeletal data with sEMG signals. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Musculoskeletal system

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Modeling and Clustering of Parabolic Granular Data

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第7期5卷 3728-3742页

作者： Tang, Yiming Gao, Jianwei Pedrycz, Witold Hu, Xianghui Xi, Lei Ren, Fuji Hu, Min Hefei University of Technology Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine School of Computer and Information Hefei230601 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6R 2V4 Canada Hefei University of Technology School of Computer and Information Hefei230601 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Polish Academy of Sciences Systems Research Institute Warsaw00-901 Poland Istinye University Research Center of Performance and Productivity Analysis Istanbul34010 Turkey Southeast University School of Computer Science and Engineering Nanjing211189 China University of Electronic Science and Technology of China School of Computer Science and Engineering Sichuan Chengdu611731 China

At present, there exist some problems in granular clustering methods, such as lack of nonlinear membership description and global optimization of granular data boundaries. To address these issues, in this study, revolving around the parabolic granular data, we propose an overall architecture for parabolic granular modeling and clustering. To begin with, novel coverage and specificity functions are established, and then a parabolic granular data structure is proposed. The fuzzy c-means (FCM) algorithm is used to obtain the numeric prototypes, and then particle swarm optimization (PSO) is introduced to construct the parabolic granular data from the global perspective under the guidance of principle of justifiable granularity (PJG). Combining the advantages of FCM and PSO, we propose the parabolic granular modeling and optimization (PGMO) method. Moreover, we put forward attribute weights and sample weights as well as a distance measure induced by the Gaussian kernel similarity, and then come up with the algorithm of weighted kernel fuzzy clustering for parabolic granularity (WKFC-PG). In addition, the assessment mechanism of parabolic granular clustering is discussed. In summary, we set up an overall architecture including parabolic granular modeling, clustering, and assessment. Finally, comparative experiments on artificial, UCI, and high-dimensional datasets validate that our overall architecture delivers a good improvement over previous strategies. The parameter analysis and time complexity are also given for WKFC-PG. In contrast with related granular clustering algorithms, it is observed that WKFC-PG performs better than other granular clustering algorithms and has superior stability in handling outliers, especially on high-dimensional datasets. © 2020 IEEE.

关键词： Fuzzy clustering

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Water droplets play a role in Internet of Things applications

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Droplet 2024年第3期3卷 27-48页

作者： Feng Wen Chengkuo Lee Department of Electrical and Computer Engineering National University of SingaporeSingapore Center for Intelligent Sensors and MEMS(CISM) National University of SingaporeSingapore i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-Bionics(SINANO)Chinese Academy of Sciences(CAS)SuzhouChina NUS Graduate School—Integrative Sciences and Engineering Programme(ISEP) National University of SingaporeSingapore

Water droplets help life in nature survive,thrive,and *** water droplet serv-ing as one of the indispensable elements in the Internet of Things(IoT),many droplet-oriented technologies,such as microfluidics,droplet manipulation,electrowetting,and energy harvesting,make rapid progress driven by material science,computer science,and ***-based wearable devices are endowed with advantages such as flexibility,sensing ability,and automation for various parameter ***,the continuous exploration of droplet manipulation has led to the emergence of a wide variety of manipulation ***,electrowetting that utilizes exter-nal fields modifying liquid–solid surfaces has found its applications in various areas,including droplet transportation,microfabrication,and *** energy gener-ation from water droplets also presents exciting opportunities for the development of novel electricity *** approaches for droplet utilization underscore the immense potentials and versatilities of droplet-based technologies in the IoT ***,this mini review presents the fundamental droplet-based technologies by summarizing their working mechanisms and methods,device structures,and *** the challenges in materials,fabrication,and system integration,this review shows the overall development roadmap in terms of improved functionality and performance and highlights the opportunities toward multifunctional,self-sustainable,and intelligent systems,which is called for IoT construction.

关键词： IoT utilize fabrication

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Robust Control of Feeding Speed in Coal Seam Drilling Process Considering Borehole Friction

Robust Control of Feeding Speed in Coal Seam Drilling Proces...

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2024 China Automation Congress, CAC 2024

作者： Liu, Xiao Chen, Luefeng Lu, Chengda Fan, Haipeng Wu, Min Pedrycz, Witold School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan430074 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Department of Computer Engineering Istinye University Sariyer Istanbul34396 Turkey

ISBN: (纸本)9798350368604

During the coal seam drilling process, the drill string is subject to compressive deformation, compounded by unpredictable variations in formation hardness and borehole wall friction, leading to challenges in maintaining a stable feeding speed. This paper presents a novel approach by introducing uncertain parameters to describe the effects of formation hardness and borehole wall friction. Drill string axial movement model is modeled as a polyhedral system based on a lumped parameter representation. To meet industrial performance requirements, we design a robust H∞ controller to achieve consistent feeding speed control. Our simulation results demonstrate the controller’s effectiveness in ensuring system stability despite fluctuations in formation hardness and drill string friction. © 2024 IEEE.

关键词： Coal deposits

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Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

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Design and Development of a Small UGV for Object Retrieval in Domestic Environments

Design and Development of a Small UGV for Object Retrieval i...

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IEEE Southeastcon

作者： Bhaavin Kishore Jogeshwar Joshua Bohannon Hakki Erhan Sevil Department of Intelligent Systems and Robotics University of West Florida (UWF) Pensacola FL USA Department of Electrical and Computer Engineering University of West Florida (UWF) Pensacola FL USA

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

The objective of this project is to develop an unmanned ground vehicle (UGV) prototype capable of retrieving small objects in domestic environments. As the robotics field continues to advance, the demand for autonomous systems that enhance daily life is rapidly increasing. Autonomous systems have the potential to improve efficiency by performing routine tasks, thereby reducing human effort and promoting convenience in household settings. This study explores the development of a small UGV designed to identify, navigate toward, and retrieve small objects while autonomously avoiding obstacles such as walls and furniture in domestic environments. The system utilizes neural networks for real-time object detection. The UGV design consists of an object retrieval mechanism suitable for handling items typically left scattered in domestic environments. The proof-of-concept results show the potential of designed UGV domestic, and could potentially enable further advancements in autonomous household assistance technologies.

关键词： Navigation Toy manufacturing industry Software algorithms Prototypes Object detection Grasping Land vehicles Real-time systems Planning Vehicle dynamics

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