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46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Wang, Yanzhou Al-Zogbi, Lidia Liu, Jiawei Shepard, Lauren Ghazi, Ahmed Tokuda, Junichi Leonard, Simon Krieger, Axel Iordachita, Iulian Johns Hopkins University Department of Mechanical Engineering The Laboratory for Computational Sensing and Robotics BaltimoreMD United States Johns Hopkins University Laboratory of Computational Sensing and Robotics BaltimoreMD United States Johns Hopkins University Brady Urological Institute BaltimoreMD United States Harvard Medical School Department of Radiology Brigham and Women's Hospital BostonMA United States Johns Hopkins University Laboratory for Computational Sensing and Robotics Department of Computer Science BaltimoreMD United States

ISBN: (纸本)9798350371499

Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compensate for needle tip prediction inaccuracies, however none were compared against each other, and it is unclear whether any of them can be safely and universally applied in clinical settings. This paper compares the performance of two resolved-rate controllers, derived from a mechanics-based and a data-driven approach, for bevel-tip needle control using needle shape manipulation through a template. We demonstrate for a simulated 12-core biopsy procedure under model parameter uncertainty that the mechanics-based controller can better reach desired targets when only the final goal configuration is presented even with uncertainty on model parameters estimation, and that providing a feasible needle path is crucial in ensuring safe surgical outcomes when either controller is used for needle shape manipulation. © 2024 IEEE.

关键词： Biopsy

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A Client Selection Method Based on Loss Function Optimization for Federated Learning

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computer Modeling in engineering & sciences 2023年第10期137卷 1047-1064页

作者： Yan Zeng Siyuan Teng Tian Xiang Jilin Zhang Yuankai Mu Yongjian Ren Jian Wan School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou310018China Key Laboratory of Complex System Modeling and Simulation Ministry of EducationHangzhou310018China Zhejiang Engineering Research Center of Data Security Governance Hangzhou310018China Intelligent Robotics Research Center Zhejiang LabHangzhou311100China HDU-ITMO Joint Institute Hangzhou Dianzi UniversityHangzhou310018China

Federated learning is a distributedmachine learningmethod that can solve the increasingly serious problemof data islands and user data privacy,as it allows training data to be kept locally and not shared with other *** trains a globalmodel by aggregating locally-computedmodels of clients rather than their ***,the divergence of local models caused by data heterogeneity of different clients may lead to slow convergence of the global *** this problem,we focus on the client selection with federated learning,which can affect the convergence performance of the global model with the selected local *** propose FedChoice,a client selection method based on loss function optimization,to select appropriate local models to improve the convergence of the global *** firstly sets selected probability for clients with the value of loss function,and the client with high loss will be set higher selected probability,which can make them more likely to participate in ***,it introduces a local control vector and a global control vector to predict the local gradient direction and global gradient direction,respectively,and calculates the gradient correction vector to correct the gradient direction to reduce the cumulative deviationof the local gradient causedby *** experiments to verify the validity of FedChoice on CIFAR-10,CINIC-10,MNIST,EMNITS,and FEMNIST datasets,and the results show that the convergence of FedChoice is significantly improved,compared with FedAvg,FedProx,and FedNova.

关键词： Federated learning model aggregation Non-IID

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VFL+: Low-Coupling Vertical Federated Learning With Privileged Information Paradigm

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IEEE Transactions on Emerging Topics in Computational Intelligence 2025年

作者： Dai, Wei Cui, Teng Zhang, Tong Chen, Badong China University of Mining Technology School of Information and Control Engineering Xuzhou221116 China South China University of Technology School of Computer Science and Engineering Guangzhou510006 China Xi'an Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an710049 China

Vertical Federated Learning (VFL) enables the construction of models by combining clients with different features without compromising privacy. Existing VFL methods exhibit tightly coupled participant parameters, resulting in substantial interdependencies among clients during the prediction phase, which significantly hampers the model's usability. To tackle these challenges, this paper studies a VFL approach with low coupling of parameters between clients. Drawing inspiration from federated cooperation and teacher-supervised learning, we propose a low-coupling vertical federated learning with privileged information paradigm (VFL+), allowing participants to make autonomous predictions. Specifically, VFL+ treats information from other clients as privileged data during the training phase rather than the testing phase, thereby achieving independence in individual model predictions. Subsequently, this paper further investigates three typical scenarios of vertical cooperation and designs corresponding cooperative frameworks. Systematic experiments on real data sets demonstrate the effectiveness of the proposed method. © 2017 IEEE.

关键词： Federated learning

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Data-Driven Analysis of Skin Cancer Classification with Convolutional Neural Networks for E-Health Applications

Data-Driven Analysis of Skin Cancer Classification with Conv...

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Ahmed, Imran Ahmad, Misbah Chehri, Abdellah Jeon, Gwanggil Anglia Ruskin University School of Computing and Information Science Cambridge United Kingdom Hartpury University Animal and Agriculture Department Gloucester United Kingdom University of the West of England Centre for Machine Vision Bristol Robotics Laboratory Bristol United Kingdom Department of Mathematics and Computer Science Canada Incheon National University Department of Embedded Systems Engineering Incheon Korea Republic of

ISBN: (纸本)9798350351255

This study explores the effectiveness of Convolutional Neural Networks (CNNs) in automatically classifying skin cancer for e-health applications. The trained model showcases impressive performance by leveraging the HAM10000 dataset, which includes a wide range of skin lesion images from seven different classes. The parameters and architecture of the CNN model are presented in a systematic manner, providing valuable insights into the reasoning behind its design. The model is optimized using the Adam optimizer and annealing techniques to ensure efficient convergence. The model's performance is assessed on validation and test datasets, showcasing an accuracy of 78.55% and 76.49%, respectively, for skin cancer classification. This study highlights the significant potential of CNN as a powerful tool for automating the diagnosis of skin cancer, which is in line with the growing trend of using deep learning for medical image analysis. © 2024 IEEE.

关键词： Electronic health record

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ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor

ViTacTip: Design and Verification of a Novel Biomimetic Phys...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wen Fan Haoran Li Weiyong Si Shan Luo Nathan Lepora Dandan Zhang Department of Bioengineering Imperial College London School of Engineering Mathematics and Technology and Bristol Robotics Laboratory University of Bristol School of Computer Science and Electronic Engineering University of Essex Department of Engineering King’s College London

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which seamlessly integrates both tactile and visual perception capabilities into a single, integrated sensor unit. ViTacTip features a transparent skin to capture fine features of objects during contact, which can be known as the see-through-skin mechanism. In the meantime, the biomimetic tips embedded in ViTacTip can amplify touch motions during tactile perception. For comparative analysis, we also fabricated a ViTac sensor devoid of biomimetic tips, as well as a TacTip sensor with opaque skin. Furthermore, we develop a Generative Adversarial Network (GAN)-based approach for modality switching between different perception modes, effectively alternating the emphasis between vision and tactile perception modes. We conducted a performance evaluation of the proposed sensor across three distinct tasks: i) grating identification, ii) pose regression, iii) contact localization and force estimation. In the grating identification task, ViTacTip demonstrated an accuracy of 99.72%, surpassing TacTip, which achieved 94.60%. It also exhibited superior performance in both pose and force estimation tasks with the minimum error of 0.08 mm and 0.03N, respectively, in contrast to ViTac’s 0.12 mm and 0.15N. Results indicate that ViTacTip outperforms single-modality sensors.

关键词： Biomimetics Force Estimation Switches Robot sensing systems Skin Sensors

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Pixel-Level Semantic Correspondence Through Layout-Aware Representation Learning and Multi-Scale Matching Integration

Pixel-Level Semantic Correspondence Through Layout-Aware Rep...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Yixuan Sun Zhangyue Yin Haibo Wang Yan Wang Xipeng Qiu Weifeng Ge Wenqiang Zhang Academy for Engineering & Technology Fudan University Shanghai China Engineering Research Center of AI & Robotics Ministry of Education China School of Computer Science Fudan University Shanghai China

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Establishing precise semantic correspondence across object instances in different images is a fundamental and challenging task in computer vision. In this task, difficulty arises often due to three challenges: confusing regions with similar appearance, inconsistent object scale, and indistinguishable nearby pixels. Recognizing these challenges, our paper proposes a novel semantic matching pipeline named LPMFlow toward extracting fine-grained semantics and geometry layouts for building pixel-level semantic correspondences. LPMFlow consists of three modules, each addressing one of the aforementioned challenges. The layout-aware representation learning module uniformly encodes source and target tokens to distinguish pixels or regions with similar appearances but different geometry semantics. The progressive feature superresolution module outputs four sets of 4D correlation tensors to generate accurate semantic flow between objects in different scales. Finally, the matching flow integration and refinement module is exploited to fuse matching flow in different scales to give the final flow predictions. The whole pipeline can be trained end-to-end, with a balance of computational cost and correspondence details. Extensive experiments based on benchmarks such as SPair-71K, PF-PASCAL, and PF-WILLOW have proved that the proposed method can well tackle the three challenges and outperform the previous methods, es-pecially in more stringent settings. Code is available at https://***/YXSUNMADMAX/LPMFlow.

关键词： Representation learning Geometry computer vision Tensors Fuses Semantics Pipelines

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Improved 3D photon counting imaging using singular value decomposition (SVD)

Improved 3D photon counting imaging using singular value dec...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Seungwoo Song Gilsu Yeo Hyun-Woo Kim Myungjin Cho Min-Chul Lee Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka City Fukuoka Japan School of ICT Robotics and Mechanical Engineering IITC Hankyoung National University Anseong Republic of Koera

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In this paper, we propose improved three-dimensional (3D) photon counting imaging using singular value decomposition (SVD). In conventional 3D photon counting imaging can visualize 3D image under photon-starved conditions. However, the conventional method has problems that it may not visualize 3D image under extremely photon-starved conditions and the quality of visualized image may be degraded. To solve this problem, we apply SVD to image before applying the photon counting integral imaging in this paper. To verify feasibility of our method, we implement experiments and show the experimental results. In addition, for numerical comparison, the image quality assessment methods such as structural similarity index map (SSIM) and blind/referenceless image spatial quality evaluator (BRISQUE) are calculated.

关键词： Image quality Visualization Three-dimensional displays Image resolution Noise Indexes Image reconstruction Photonics Singular value decomposition Meteorology

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V-TX: A VR-Based Deployment and Evaluation System for Wearable Telexistence Robotic Systems

V-TX: A VR-Based Deployment and Evaluation System for Wearab...

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International Conference on Cyberworlds

作者： Abdullah Iskandar Hala Khazer Shebli Aburajouh Eman Hussain Al-Shaer Fatima Thabit Al-Yafei Bushra Ahmad Al-Arqaban Moneera Al-Yousef Pinchu Yang Osama Halabi Mohammed Al-Sada Tatsuo Nakajima Computer Science and Engineering Waseda University Japan School of Computing Telkom University Indonesia Computer Science and Engineering Qatar University Qatar Future Robotics Organization Waseda University Japan KINDI Computing Research Center Qatar University Qatar

ISBN: (数字)9798331527174

ISBN: (纸本)9798331527181

Wearable telexistence robotic systems have risen in prominence after the COVID-19 pandemic, being vital for various applications. However, their design, fabrication, and evaluation require substantial resources and are unsupported by robot simulation systems. Therefore, we present V-TX, which is a VR-based system for deploying and evaluating wearable telexistence systems. V-TX extends key telexistence systems’ components with versatility for customizing different attributes based on the intended application. To demonstrate the potential of V-TX, we replicated a real telexistence robot in V-TX, called Piton, and showed a novel potential use for exploring and evaluating different robot designs, interaction methods, and deployments. We conducted a comparative evaluation between the real Piton robot and its V-TX implementation. The results show that V-TX gave results that match those of the real counterpart across the main factors of telexistence, indicating its viability as an alternative to traditional evaluation approaches using real robots. Lastly, we discuss the limitations and present future research directions.

关键词： Fabrication COVID-19 Pandemics Design methodology Virtual reality Telexistence Robots Testing

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Blockchain and API Development to Improve Relational Database Integrity and System Interoperability

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Procedia computer science 2023年 216卷 151-160页

作者： Andhika Naafi Ramadhan Kharisma Naufal Pane Kun Rifki Wardhana Suharjito Computer Science Department School of Computer Science Bina Nusantara University Jakarta 11480 Indonesia Industrial Engineering Department BINUS Graduate Program – Master of Industrial Engineering Bina Nusantara University Jakarta 11480 Indonesia

Technological developments have resulted in a trend of cryptocurrencies that use a technology called blockchain to create and record all transactions made into a digital ledger. Along with the emergence of the trend of cryptocurrencies, this development has also resulted in crimes that hit the digital world, such as data leakage and cyber espionage. This threat can be prevented by applying blockchain technology to the database that has been used. Therefore, we need a system that can facilitate the use of blockchain technology and can process data from an existing relational database into a blockchain-based database. The system developed in this study was built with the FastAPI framework that uses the Python programming language and the React framework that uses the Javascript programming language. This system was tested using Katalon and Wireshark software to perform throughput testing and man-in-the-middle attacks. Evaluation of this system is assessed based on the average throughput time and also the results of Wireshark packet capture. The system designed in this research is expected to help overcome interoperability problems when using blockchain and improve relational database integrity. The results of the test show that the system is safe from man-in-the-middle attacks while sending data through API and has a faster throughput time than BigchainDB system by 4.151 seconds.

关键词： Blockchai Cybercrim Database Interoperability

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Explainable Deep Learning for Brain-computer Interfaces through Layerwise Relevance Propagation

Explainable Deep Learning for Brain-Computer Interfaces thro...

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International Winter Workshop on Brain-computer Interface (BCI)

作者： Vladislav Mun Berdakh Abibullaev Computer Science Department School of Engineering and Digital Sciences Nazarbayev University Kazakhstan Robotics and Mechatronics Department School of Engineering and Digital Sciences Nazarbayev University Kazakhstan

With an ever-growing demand for BCI-based systems, numerous algorithms and machine learning systems have been proposed over the past few decades. Although state-of-theart approaches have reached practically appropriate levels of accuracy, most are often regarded as black-box models, which need more explainability. However, for cases where a Neural Network is used as the base for a classifier, a Layerwise Relevance Propagation (LRP) approach can be utilized to analyze the decision boundaries considered by the network. By calculating the importance of the neuron in each layer, the LRP can also be used as an effective model complexity reduction technique through the inactivation (pruning) of the neural pathways. The following work investigates the usability of the LRP framework in the field of BCI. This study provides an example of the practical application of the LRP with respect to the EEG (ERP) dataset, along with visual heatmap and scalp map examples of the LRP. Furthermore, the work analyzes the impact of network pruning on heatmap visualization and the model’s accuracy while also practically determining the maximum cutoff range for pruning BCI models.

关键词： Heating systems Deep learning Analytical models Visualization Brain modeling Transformers Electroencephalography

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