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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Zelin Zang Liangyu Li Yongjie Xu Jiahao Li Chenrui Duan Yi Sun Zhen Lei Stan Z. Li Centre for Artificial Intelligence and Robotics (CAIR) HKISI-CAS AI Lab Research Center for Industries of the Future Westlake University Hangzhou State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS) Institute of Automation Chinese Academy of Sciences (CASIA) School of Artificial Intelligence University of Chinese Academy of Sciences (UCAS)

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Spatial transcriptomics (ST) technologies have revolutionized the study of gene expression patterns in tissues by providing multimodality data in transcriptomic, spatial, and morphological, offering opportunities for understanding tissue biology beyond transcriptomics. However, we identify the modality bias phenomenon in ST data species, i.e., the inconsistent contribution of different modalities to the labels leads to a tendency for the analysis methods to retain the information of the dominant modality. How to mitigate the adverse effects of modality bias to satisfy various downstream tasks remains a fundamental challenge. This paper introduces Multiple-modality Structure Transformation, named MuST, a novel methodology to tackle the challenge. MuST integrates the multi-modality information contained in the ST data effectively into a uniform latent space to provide a foundation for all the downstream tasks. It learns intrinsic local structures by topology discovery strategy and topology fusion loss function to solve the inconsistencies among different modalities. Thus, these topology-based and deep learning techniques provide a solid foundation for a variety of analytical tasks while coordinating different modalities. The effectiveness of MuST is assessed by performance metrics and biological significance. The results show that it outperforms existing state-of-the-art methods with clear advantages in the precision of identifying and preserving structures of tissues and biomarkers. MuST offers a versatile toolkit for the intricate analysis of complex biological systems. The code is available at https://***/zangzelin/code_Must.

关键词： Analytical models Biological system modeling Transcriptomics Biological tissues Spatial databases Data models Trajectory Topology Gene expression Biological information theory

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The Stiffness of 3-PRS PM Across Parasitic and Orientational Workspace

The Stiffness of 3-PRS PM Across Parasitic and Orientational...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Hassen Nigatu Li Jihao Keqi Zhu Junhan Zhang Haotian Guo Guodong Lu Doik Kim Robot Perception and Grasp Lab School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao Yuyao Technology Innovation Center Robotics Institute of Zhejiang University Ningbo Shi Zhejiang Province China The State Key Laboratory of Fluid Power and Mechatronic Systems and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering School of Mechanical Engineering Zhejiang University Hangzhou China xR Lab Center for Intelligent and Interactive Robotics Artificial Intelligence and Robot Institute Korea Institute of Science and Technology (KIST) South Korea

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3- PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. Despite the wealth of research on these robotic manipulators, no previous work has demonstrated their stiffness performance within the parasitic motion space. Such an undesired motion influences their stiffness properties, as stiffness is configuration-dependent. Addressing this gap, this paper develops a stiffness model that accounts for both the velocity-level parasitic motion space and the regular workspace. Numerical simulations are provided to illustrate the stiffness characteristics of the manipulator across all considered spaces. The results indicate that the stiffness profile within the parasitic motion space is both shallower and the values are smaller when compared to the stiffness distribution across the orientation workspace. This implies that evaluating a manipulator's performance adequately requires assessing its ability to resist external loads during parasitic motion. Therefore, comprehending this aspect is crucial for redesigning components to enhance overall stiffness.

关键词： Simulation Resists Machining Kinematics Manipulators Numerical simulation Magnetic heads

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Distributions of Tension and Torsion in a Threaded Connection

SSRN

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SSRN 2023年

作者： Shi, Tengfei Liu, Yang Liu, Zhao Liu, Caishan State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China Exeter Small-Scale Robotics Lab Engineering Department University of Exeter North Park Road ExeterEX4 4QF United Kingdom

Threaded connection is a common structure in engineering applications, and its load distribution plays a critical role on the static and dynamic performances of the system. Although Sopwith (1948) studied the tension distribution along a thread helix, a comprehensive model that includes the tension-torsion coupling in threaded connections is still missing. In this paper, we model the threaded connection by considering the bolt and nut as two linearly elastic bodies with a tension-torsion coupling deformation. Deflection of the thread is calculated by the modified theory of the trapezoidal cantilever beam model. Based on the compatibility condition of bolt-nut deformation, we establish a new equilibrium equations for the threaded connection with the tension-torsion coupling deformation. Our theoretical analysis shows that the proposed model agrees with the Sopwith’s theory when the lead angle of the threaded connections is sufficiently small. For large lead angles, the torque generated by the axial load is nonnegligible. In addition, we perform a three-dimensional finite element analysis to demonstrate the validity of the proposed model. Finally, influence of geometrical and material parameters on load distribution is investigated. The finding of this work may provide a new insight into the anti-loosening design for threaded connections. © 2023, The Authors. All rights reserved.

关键词： Finite element method

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Revisiting Marr in Face: The Building of 2D-2.5D-3D Representations in Deep Neural Networks

arXiv

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arXiv 2024年

作者： Zhu, Xiangyu Yu, Chang Zhao, Jiankuo Zhang, Zhaoxiang Li, Stan Z. Lei, Zhen State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China AI Lab. Research Center for Industries of the Future Westlake University China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Hong Kong

David Marr’s seminal theory of vision proposes that the human visual system operates through a sequence of three stages, known as the 2D sketch, the 2.5D sketch, and the 3D model. In recent years, Deep Neural Networks (DNN) have been widely thought to have reached a level comparable to human vision. However, the mechanisms by which DNNs accomplish this and whether they adhere to Marr’s 2D–2.5D–3D construction theory remain unexplored. In this paper, we delve into the face perception task to explore these questions and find evidence supporting Marr’s theory. We introduce a graphics probe, a sub-network crafted to reconstruct the original face image from the network’s intermediate layers. The key to the graphics probe is its flexible architecture that supports image reconstruction in both 2D and 3D formats, as well as in a transitional state between them. By injecting graphics probes into neural networks, and analyzing their behavior in reconstructing images, we find that DNNs initially encode images as 2D representations in low-level layers, and finally construct 3D representations in high-level layers. Intriguingly, in mid-level layers, DNNs exhibit a hybrid state, building a geometric representation that captures surface normals within a narrow depth range, akin to the appearance of a low-relief sculpture. This stage resembles the 2.5D representations, providing a view of how DNNs evolve from 2D to 3D in the perception process. The graphics probe therefore serves as a tool for peering into the mechanisms of DNN, providing empirical support for Marr’s theory. Copyright © 2024, The Authors. All rights reserved.

关键词： Deep neural networks

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Joint Counting, Detection and Re-Identification for Multi-Object Tracking

arXiv

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arXiv 2022年

作者： Ren, Weihong Wu, Denglu Cao, Hui Chen, Xi'ai Han, Zhi Liu, Honghai The School of Mechanical Engineering and Automation State Key Lab of Robotics and Systems Harbin Institute of Technology Shenzhen518055 China The Shenzhen Duorou Intelligent System Co. Ltd. Shenzhen518055 China The School of Electrical Engineering Xi’an Jiaotong University Xi’an710049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Beijing110169 China

The recent trend in 2D multiple object tracking (MOT) is jointly solving detection and tracking, where object detection and appearance feature (or motion) are learned simultaneously. Despite competitive performance, in crowded scenes, joint detection and tracking usually fail to find accurate object associations due to missed or false detections. In this paper, we jointly model counting, detection and re-identification in an end-to-end framework, named CountingMOT, tailored for crowded scenes. By imposing mutual object-count constraints between detection and counting, the CountingMOT tries to find a balance between object detection and crowd density map estimation, which can help it to recover missed detections or reject false detections. Our approach is an attempt to bridge the gap of object detection, counting, and re-Identification. This is in contrast to prior MOT methods that either ignore the crowd density and thus are prone to failure in crowded scenes, or depend on local correlations to build a graphical relationship for matching targets. The proposed MOT tracker can perform online and real-time tracking, and achieves the state-of-the-art results on public benchmarks MOT16 (MOTA of 79.7%), MOT17 (MOTA of 81.3%) and MOT20 (MOTA of 78.9%). Source code is available at https://***/weihong9/CountingMOT. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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A one-step pseudolinear kalman filter for invasive target tracking in three-dimensional space

A one-step pseudolinear kalman filter for invasive target tr...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhang, Ying Liang, Rui Xu, Sheng Zhang, Liyuan Zhang, Ye Xiao, Dandan State Grid Tianjin Electric Power Company City West Power Supply Branch Tianjin300190 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9781665436786

This work studies the characteristics of the 3-dimensional (3D) pseudolinear Kalman filter (PLKF) proposed in the previous work [1] for angle-of-arrival (AOA) target tracking in the 3D space. The previous two-step 3D PLKF contains an xy-PLKF and a z-PLKF. This paper develops a one-step PLKF algorithm, which has low computational complexity. The estimation performance analysis of these two different PLKFs is provided. The one-step PLKF sacrifices the estimation accuracy to acquire a low computational complexity. In the distributed target tracking problem, the one-step PLKF can save a lot of communication costs compared with the two-step one. Furthermore, the stability of two PLKFs are also been simply proven. Simulation examples verify the effectiveness of the proposed one-step 3D PLKF to track an invasive target. Besides, the difference between the two PLKFs based on the theoretical analysis is also demonstrated by the simulation examples. © 2021 IEEE.

关键词： Target tracking

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Adan: Adaptive Nesterov Momentum Algorithm for Faster Optimizing Deep Models

arXiv

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arXiv 2022年

作者： Xie, Xingyu Zhou, Pan Li, Huan Lin, Zhouchen Yan, Shuicheng State Key Lab of General AI School of Intelligence Science and Technology Peking University China Guangzhou China School of Computing and Information Systems Singapore Management University Singapore Sea AI Lab Skywork AI Singapore Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University China

In deep learning, different kinds of deep networks typically need different optimizers, which have to be chosen after multiple trials, making the training process inefficient. To relieve this issue and consistently improve the model training speed across deep networks, we propose the ADAptive Nesterov momentum algorithm, Adan for short. Adan first reformulates the vanilla Nesterov acceleration to develop a new Nesterov momentum estimation (NME) method, which avoids the extra overhead of computing gradient at the extrapolation point. Then Adan adopts NME to estimate the gradient’s first- and second-order moments in adaptive gradient algorithms for convergence acceleration. Besides, we prove that Adan finds an ϵ-approximate first-order stationary point within O(ϵ−3.5) stochastic gradient complexity on the non-convex stochastic problems (e.g. deep learning problems), matching the best-known lower bound. Extensive experimental results show that Adan consistently surpasses the corresponding SoTA optimizers on vision, language, and RL tasks and sets new SoTAs for many popular networks and frameworks, e.g. ResNet, ConvNext, ViT, Swin, MAE, DETR, GPT-2, Transformer-XL, and BERT. More surprisingly, Adan can use half of the training cost (epochs) of SoTA optimizers to achieve higher or comparable performance on ViT, GPT-2, MAE, etc, and also shows great tolerance to a large range of minibatch size, e.g. from 1k to 32k. Code is released at https://***/sail-sg/Adan, and has been used in multiple popular deep learning frameworks or projects. Copyright © 2022, The Authors. All rights reserved.

关键词： Stochastic systems

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The Stiffness of 3-PRS PM Across Parasitic and Orientational Workspace

arXiv

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arXiv 2024年

作者： Nigatu, Hassen Jihao, Li Zhu, Keqi Zhang, Junhan Guo, Haotian Lu, Guodong Kim, Doik Robot Perception and Grasp Lab School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao Robotics Institute Zhejiang University Yuyao Technology Innovation Center No.479 Ye Shan Road Yuyao Zhejiang Province Ningbo China The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering The Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province Zhejiang University Hangzhou310027 China Korea Republic of

This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3-PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. Despite the wealth of research on these robotic manipulators, no previous work has demonstrated their stiffness performance within the parasitic motion space. Such an undesired motion influences their stiffness properties, as stiffness is configuration-dependent. Addressing this gap, this paper develops a stiffness model that accounts for both the velocity-level parasitic motion space and the regular workspace. Numerical simulations are provided to illustrate the stiffness characteristics of the manipulator across all considered spaces. The results indicate that the stiffness profile within the parasitic motion space is both shallower and the values are smaller when compared to the stiffness distribution across the orientation workspace. This implies that evaluating a manipulator’s performance adequately requires assessing its ability to resist external loads during parasitic motion. Therefore, comprehending this aspect is crucial for redesigning components to enhance overall stiffness. © 2024, CC BY.

关键词： Manipulators

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Development in the application of laser-induced breakdown spectroscopy in recent years:A review

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Frontiers of physics 2021年第2期16卷 45-69页

作者： Lian-Bo Guo Deng Zhang Lan-Xiang Sun Shun-Chun Yao Lei Zhang Zhen-Zhen Wang Qian-Qian Wang Hong-Bin Ding Yuan Lu Zong-Yu Hou Zhe Wang Wuhan National Laboratory for Optoelectronics(WNLO) Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesSheyang 110016China School of Electric Power South China University of TechnologyGuangzhou 510640China State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Laser SpectroscopyShanxi UniversityTaiyuan 030006China State Key Laboratory of Multiphase Flow in Power Engineering Xi'an Jiaotong UniversityXi'an 710049China Key Laboratory of Photonic Information Technology School of Optics and PhotonicsBeijing Institute of TechnologyBeijing 100081China School of Physics Dalian University of TechnologyNo.2 Linggong RoadGanjingzi DistrictDalian 116024China Optics and Optoelectronics Laboratory Ocean University of ChinaQingdao 266100China State Key Lab of Power Systems Department of Energy and Power EngineeringTsinghua UniversityBeijing 100084China

Laser-induced breakdown spectroscopy(LIBS)has been widely studied due to its unique advantages such as remote sensing,real-time multi-elemental detection and none-to-little *** the efforts of researchers around the world,LIBS has been developed by leaps and ***,in recent years,more and more Chinese LIBS researchers have put tremendous energy in promoting LIBS *** is worth mentioning that the application of LIBS in a specific field has its special application background and technical difficulties,therefore it may develop in different stages.A review summarizing the current development status of LIBS in various fields would be helpful for the development of LIBS technology as well as its applications especially for Chinese LIBS community since most of the researchers in this field work in *** the present work,we summarized the research status and latest progress of main research groups in coal,metallurgy,and water,*** on the current research status,the challenges and opportunities of LIBS were evaluated,and suggestions were made to further promote LIBS applications.

关键词： laser-induced breakdown spectroscopy application

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A differential public PUF design for lightweight authentication 16

A differential public PUF design for lightweight authenticat...

引用

2021 International Conference on Synthesis, Modeling, Analysis and Simulation Methods and Applications to Circuit Design, SMACD 2021 and 16th Conference on PhD Research in Microelectronics and Electronics, PRIME 2021

作者： Duan, Shengyu Sai, Gaole School of Computer Engineering and Science Shanghai University Shanghai200444 China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China

ISBN: (纸本)9783800755899

Physical Unclonable Functions (PUFs) have emerged as a promising primitive to provide a hardware keyless security mechanism for integrated circuit applications. Public PUFs (PPUFs) address the crucial PUF vulnerability of requiring databases to store the secrete reference information. This paper investigates one of the PPUF families, differential PPUF (dPPUF), which exploits complexly interacted logic to create time gap between actual execution and simulation, and to prevent simulation attacks. Conventional dPPUFs have high costs. We observe the repressers have large impact on simulation time, but take a great proportion in current dPPUF structure. We thereby present a represser network with specially designed interconnection and shared logic, to maintain a high circuit complexity and to reduce the area cost. We show the proposed dPPUF has similar resilience over simulation attacks as the conventional design. Area cost can be reduced by up to 44%, and thus the proposed design can be used for lightweight authentication. © VDE VERLAG GMBH.

关键词： Authentication

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