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Light Radiation Simulation of Micro-LED Array for the Optical Neural Interface Targeted Cerebral Cortex in Rhesus Monkey

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Light Radiation Simulation of Micro-LED Array for the Optica...

International Winter Workshop on Brain-computer Interface (BCI)

作者： Lusheng Liu Wenlei Zhang Bo Wen Minjie Wang Aiping Wang Jing Zhang Yuan Zhang Song Le Haifeng Jiang Rongwei Zhai Lihua Zhang Xiaoyang Kang Shanghai Engineering Research Center of AI & Robotics MOE Frontiers Center for Brain Science State Key Laboratory of Medical Neurobiology Institute of AI & Robotics Laboratory for Neural Interface and Brain Computer Interface Engineering Research Center of AI & Robotics Ministry of Education Institute of Meta-Medical Academy for Engineering & Technology Fudan University Shanghai China Ji Hua Laboratory Foshan Guangdong Province China Yiwu Research Institute of Fudan University Chengbei Road Yiwu City Zhejiang China Research Center for Intelligent Sensing Zhejiang Lab Hangzhou China Shanghai Mental Health Center Shanghai China Jiao Tong University School of Medicine Shanghai China Lingang Laboratory Shanghai China

The advanced technology of optogenetics has greatly promoted the development of neuroscience. To further optimize the optical neural interface, understanding the propagation process of light in neural tissues is essential for neuroscience research on the application of LED in optogenetics. In this work, we use TracePro software to build geometric models and simulate LED devices. The Rhesus monkey brain model is established to simulate the neural tissue to analyze the irradiance distribution at a specific location, to obtain the effective lighting range. In addition, we analyzed the influencing factors of the illumination range of the implanted light source device. We believe that the distance between devices should be $1.1 \sim1.2$ times of the light range of the simulation result when the devices fit the brain.

关键词： Neuroscience Shape Simulation Lighting Implants Light emitting diodes Optogenetics

Non-local recurrent regularization networks for multi-view stereo

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arXiv 2021年

作者： Xu, Qingshan Oswald, Martin R. Tao, Wenbing Pollefeys, Marc Cui, Zhaopeng National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artifical Intelligence and Automation Huazhong University of Science and Technology China Computer Vision and Geometry Group ETH Zurich Switzerland State Key Lab of CAD & CG Zhejiang University China Microsoft Artificial Intelligence and Mixed Reality Lab Zurich Switzerland

In deep multi-view stereo networks, cost regularization is crucial to achieve accurate depth estimation. Since 3D cost volume filtering is usually memory-consuming, recurrent 2D cost map regularization has recently become popular and has shown great potential in reconstructing 3D models of different scales. However, existing recurrent methods only model the local dependencies in the depth domain, which greatly limits the capability of capturing the global scene context along the depth dimension. To tackle this limitation, we propose a novel non-local recurrent regularization network for multi-view stereo, named NR2-Net. Specifically, we design a depth attention module to capture non-local depth interactions within a sliding depth block. Then, the global scene context between different blocks is modeled in a gated recurrent manner. This way, the long-range dependencies along the depth dimension are captured to facilitate the cost regularization. Moreover, we design a dynamic depth map fusion strategy to improve the algorithm robustness. Our method achieves state-of-the-art reconstruction results on both DTU and Tanks and Temples datasets. Copyright © 2021, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

Ice-Breakers, Turn-Takers and Fun-Makers: Exploring Robots for Groups with Teenagers

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arXiv 2025年

作者： Gillet, Sarah Winkle, Katie Belgiovine, Giulia Leite, Iolanda Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden CONTACT unit Istituto Italiano di Tecnologia DIBRIS department Università degli Studi di Genova Italy

Successful, enjoyable group interactions are important in public and personal contexts, especially for teenagers whose peer groups are important for self-identity and self-esteem. Social robots seemingly have the potential to positively shape group interactions, but it seems difficult to effect such impact by designing robot behaviors solely based on related (human interaction) literature. In this article, we take a user-centered approach to explore how teenagers envisage a social robot "group assistant". We engaged 16 teenagers in focus groups, interviews, and robot testing to capture their views and reflections about robots for groups. Over the course of a two-week summer school, participants co-designed the action space for such a robot and experienced working with/wizarding it for 10+ hours. This experience further altered and deepened their insights into using robots as group assistants. We report results regarding teenagers’ views on the applicability and use of a robot group assistant, how these expectations evolved throughout the study, and their repeat interactions with the robot. Our results indicate that each group moves on a spectrum of need for the robot, reflected in use of the robot more (or less) for ice-breaking, turn-taking, and fun-making as the situation demanded. © 2025, CC BY-NC-ND.

关键词： Social robots

Distributed Energy Optimization for Mobile Networks Using Potential Games

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Distributed Energy Optimization for Mobile Networks Using Po...

IEEE Internatonal Conference on Mobile Adhoc and Sensor Systems (MASS)

作者： Zhizongkai Wang Hanfei Wang Zhongji Wang Yilin Xiao Yunzhi Zhao Xiaowen Li Xufeng Chen Lin Gao Fen Hou Jianwei Huang School of Electronics and Information Engineering and the Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology Harbin Institute of Technology Shenzhen Guangdong P.R. China School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Key Laboratory of Crowd Intelligence Empowered Low-Carbon Energy Network and CSIJRI Joint Research Centre on Smart Energy Storage The Chinese University of Hong Kong Shenzhen Guangdong P.R. China Department of Electrical and Computer Engineering State Key Laboratory of IoT for Smart City University of Macau Macau SAR P.R. China Huawei Technologies P.R. China

ISBN: (数字)9798350363999

ISBN: (纸本)9798350364002

The rapid advancement of information and communication technology (ICT) has made the industry a significant contributor to global carbon emissions. As the foundation of ICT, next-generation mobile communication networks aim to be more powerful and energy-efficient. However, optimizing energy efficiency in real networks is challenging due to large-scale, multi-layer control variables and the dynamic environment. This paper addresses the energy efficiency optimization problem from a network perspective by controlling cross-layer variables including both cell activation status and cell priority, to minimize overall network energy consumption while ensuring user quality-of-experience, which poses an NP-hard mixed-integer nonlinear programming problem. To tackle this, we propose a non-cooperative game where each cell acts as a player, optimizing its activation status and reference signal transmission power (determining its priority). We show that the game is a potential game, guaranteeing the existence of Nash equilibrium and the convergence of simple distributed algorithms towards Nash equilibrium. We further show that the Nash equilibrium points of the game can (but not always) reach the global optimal energy efficiency. Simulation results show that our proposed method can reduce the total system cost (including both energy consumption cost and user experience loss) by up to 28% compared to existing methods in the literature. Moreover, the performance loss of our proposed method, compared to the global optimal solution, is less than 13.7%. In summary, this work offers a realistic network model, introduces a novel game-based method, and provides extensive performance evaluation, making a significant contribution to both industry and academia.

关键词： Industries Energy consumption Costs Simulation Games Nash equilibrium Energy efficiency Information and communication technology Distributed algorithms Optimization

Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks

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Frontiers of Information technology & Electronic Engineering 2020年第5期21卷 705-722页

作者： Tao XUE Zi-wei WANG Tao ZHANG Ou BAI Meng ZHANG Bin HAN Department of Automation Tsinghua UniversityBeijing 100084China Department of Electrical and Computer Engineering Florida International UniversityMiami 33174USA Move Robotics Technology Co. Ltd.Shanghai 201306China School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China

Accurate acceleration acquisition is a critical issue in the robotic exoskeleton system,but it is difficult to directly obtain the acceleration via the existing sensing *** existing algorithm-based acceleration acquisition methods put more attention on finite-time convergence and disturbance suppression but ignore the error constraint and initial state irrelevant *** this end,a novel radical bias function neural network(RBFNN)based fixed-time reconstruction scheme with error constraints is designed to realize high-performance acceleration *** this scheme,a novel exponential-type barrier Lyapunov function is proposed to handle the error *** also provides a unified and concise Lyapunov stability-proof template for constrained and non-constrained ***,a fractional power sliding mode control law is designed to realize fixed-time convergence,where the convergence time is irrelevant to initial states or external disturbance,and depends only on the chosen *** further enhance observer robustness,an RBFNN with the adaptive weight matrix is proposed to approximate and attenuate the completely unknown *** simulation and human sub ject experimental results validate the unique properties and practical robustness.

关键词： Acceleration reconstruction Fixed-time convergence Constrained control Barrier Lyapunov function Initial state irrelevant technique Robotic exoskeleton

Self-supervised Depth Estimation to Regularise Semantic Segmentation in Knee Arthroscopy

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arXiv 2020年

作者： Liu, Fengbei Jonmohamadi, Yaqub Maicas, Gabriel Pandey, Ajay K. Carneiro, Gustavo Australian Institute for Machine Learning School of Computer Science University of Adelaide School of Electrical Engineering and Robotics Science and Engineering Faculty Queensland University of Technology

Intra-operative automatic semantic segmentation of knee joint structures can assist surgeons during knee arthroscopy in terms of situational awareness. However, due to poor imaging conditions (e.g., low texture, overexposure, etc.), automatic semantic segmentation is a challenging scenario, which justifies the scarce literature on this topic. In this paper, we propose a novel self-supervised monocular depth estimation to regularise the training of the semantic segmentation in knee arthroscopy. To further regularise the depth estimation, we propose the use of clean training images captured by the stereo arthroscope of routine objects (presenting none of the poor imaging conditions and with rich texture information) to pre-train the model. We fine-tune such model to produce both the semantic segmentation and self-supervised monocular depth using stereo arthroscopic images taken from inside the knee. Using a data set containing 3868 arthroscopic images captured during cadaveric knee arthroscopy with semantic segmentation annotations, 2000 stereo image pairs of cadaveric knee arthroscopy, and 2150 stereo image pairs of routine objects, we show that our semantic segmentation regularised by self-supervised depth estimation produces a more accurate segmentation than a state-of-the-art semantic segmentation approach modeled exclusively with semantic segmentation annotation. Copyright © 2020, The Authors. All rights reserved.

关键词： Endoscopy

Gesture Control Method for Oral Blood Mixed Liquid Removal Robot*

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Gesture Control Method for Oral Blood Mixed Liquid Removal R...

WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Xudong Ma Ziao Kuang Han Li Anqi Chen Changsheng Li Wenyong Liu Junchen Wang Yida David Hu Li Gao Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Tele-communications Beijing China School of Computer Beijing University of Posts and Tele-communications Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA Department of Periodontology National Stomatological Center Peking University School and Hospital of Stomatology & National Clinical Research Center for Oral Diseases Beijing China

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it’s demonstrated that an oral surgeon controls the robot’s motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal.

关键词：

A heterogeneous group CNN for image super-resolution

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arXiv 2022年

作者： Tian, Chunwei Zhang, Yanning Zuo, Wangmeng Lin, Chia-Wen Zhang, David Yuan, Yixuan The School of Software Northwestern Polytechnical University Shaanxi Xi’an710129 China The National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology Shaanxi Xi’an710129 China The School of Computer Science Northwestern Polytechnical University The National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology Shaanxi Xi’an710129 China The School of Computer Science and Technology Harbin Institute of Technology Heilongjiang Harbin150001 China The Department of Electrical Engineering The Institute of Communications Engineering National Tsing Hua University Hsinchu Taiwan Guangdong Shenzhen518172 China The Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China The Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong

Convolutional neural networks (CNNs) have obtained remarkable performance via deep architectures. However, these CNNs often achieve poor robustness for image superresolution (SR) under complex scenes. In this paper, we present a heterogeneous group SR CNN (HGSRCNN) via leveraging structure information of different types to obtain a high-quality image. Specifically, each heterogeneous group block (HGB) of HGSRCNN uses a heterogeneous architecture containing a symmetric group convolutional block and a complementary convolutional block in a parallel way to enhance internal and external relations of different channels for facilitating richer low-frequency structure information of different types. To prevent appearance of obtained redundant features, a refinement block with signal enhancements in a serial way is designed to filter useless information. To prevent loss of original information, a multi-level enhancement mechanism guides a CNN to achieve a symmetric architecture for promoting expressive ability of HGSRCNN. Besides, a parallel up-sampling mechanism is developed to train a blind SR model. Extensive experiments illustrate that the proposed HGSRCNN has obtained excellent SR performance in terms of both quantitative and qualitative analysis. Codes can be accessed at https://***/hellloxiaotian/HGSRCNN. © 2022, CC BY-NC-SA.

关键词： Convolutional neural networks

Clustering of the Blendshape facial model

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arXiv 2021年

作者： Racković, Stevo Soares, Cláudia Jakovetić, Dušan Desnica, Zoranka Ljubobratović, Relja Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal Computer Science Department NOVA School of Science and Technology Lisbon Portugal Department of Mathematics Faculty of Sciences UNS Novi Sad Serbia 3Lateral Epic Games Company

Digital human animation relies on high-quality 3D models of the human face—rigs. A face rig must be accurate and, at the same time, fast to compute. One of the most common rigging models is the blendshape model. We present a novel approach for learning the inverse rig parameters at increased accuracy and decreased computational cost at the same time. It is based on a two fold clustering of the blendshape face model. Our method focuses exclusively on the underlying space of deformation and produces clusters in both the mesh space and the controller space—something that was not investigated in previous literature. This segmentation finds intuitive and meaningful connections between groups of vertices on the face and deformation controls, and further these segments can be observed independently. A separate model for solving the inverse rig problem is then learnt for each segment. Our method is completely unsupervised and highly parallelizable. © 2021, CC BY-NC-SA.

关键词： Deformation