检索结果-内蒙古大学图书馆

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Chenqi Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system. © 2023 IEEE.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

Microfluidic cytometers with integrated on-chip optical systems for red blood cell and platelet counting

引用

Biomicrofluidics 2016年第6期10卷 064119页

作者： Zhao, Yingying Li, Qin Hu, Xiaoming Lo, Yuhwa School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of California San DiegoCA92093-0407 United States

A microfluidic cytometer with integrated on-chip optical systems was designed for red blood cell (RBC) and platelet (PLT) counting. The design, fabrication, and characterization of the microfluidic cytometer with on-chip optical signal detection were described. With process using only a single mask, the device that integrates optical fibers and on-chip microlens with microfluidic channels on a polydimethylsiloxane layer by standard soft photolithography. This compact structure increased the sensitivity of the device and eliminated time-consuming free-space optical alignments. The microfluidic cytometer was used to count red blood cells and platelets. Forward scatter and extinction were collected simultaneously for each cell. Experimental results indicated that the microfluidic cytometer exhibited comparable performance with a conventional cytometer and demonstrated superior capacity to detect on-chip optical signals in a highly compact, simple, truly portable, and low-cost format that is well suitable for point-of-care clinical diagnostics.

关键词： Microfluidics

来源：评论

学校读者我要写书评

暂无评论

Evaluation of Detection system for Bioinspired Spherical Underwater Robots Based on the Pressure Sensor Array

Evaluation of Detection System for Bioinspired Spherical Und...

引用

IEEE International Conference on Mechatronics and Automation

作者： Chunying Li Shuxiang Guo Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu Japan The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Due to the particularity and complexity of the underwater environment, the perception ability of Autonomous Underwater Vehicles (AUVs) has become a hot issue in recent years. In this paper, the detection system was developed for bioinspired Spherical Underwater Robots (SURs) based on the pressure sensor array. Firstly, the sensor array based on the SUR model was proposed using pressure sensors, adding new dimension to near-flow detection and perception method. Then, the detection system was constructed and the hydrodynamic pressure variables are analyzed. Next, the data acquisition of the pressure sensor array was described. Furthermore, the SUR prototype was assembled carrying the pressure sensor array. Finally, a series of locomotion experiments were performed to verify its performance. The experimental results validated the effectiveness of the proposed detection system, which had a certain reference value for AUV underwater detection and state estimation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Non-invasive biopsy diagnosis of diabetic kidney disease via deep learning applied to retinal images: a population-based study

引用

The Lancet Digital Health 2025年第5期7卷 100868页

作者： Meng, Ziyao Guan, Zhouyu Yu, Shujie Wu, Yilan Zhao, Yaoning Shen, Jie Lim, Cynthia Ciwei Chen, Tingli Yang, Dawei Ran, An Ran He, Feng Hamzah, Haslina Singh, Sarkaaj Abd Raof, Anis Syazwani Lee-Boey, Jian Wen Samuel Lim, Soo-Kun Sun, Xufang Ge, Shuwang Xu, Gang Su, Hua Cheng, Yang Lu, Feng Liao, Xiaofei Jin, Hai Deng, Chenxin Ruan, Lei Zhang, Cuntai Wu, Chan Dai, Rongping Jin, Yixiao Wang, Wenxiao Li, Tingyao Liu, Ruhan Li, Jiajia Shu, Jia Lu, Yuwei Wang, Xiangning Wu, Qiang Qin, Yiming Tang, Jin Sheng, Xiaohua Jiao, Qiong Yang, Xiaokang Guo, Minyi McKay, Gareth J Hogg, Ruth E Liew, Gerald Chee, Evelyn Yi Lyn Hsu, Wynne Lee, Mong Li Szeto, Simon Luk, Andrea O Y Chan, Juliana C N Cheung, Carol Y Tan, Gavin Siew Wei Tham, Yih-Chung Cheng, Ching-Yu Sabanayagam, Charumathi Lim, Lee-Ling Jia, Weiping Li, Huating Sheng, Bin Wong, Tien Yin Shanghai Belt and Road International Joint Laboratory of Intelligent Prevention and Treatment for Metabolic Diseases Department of Computer Science and Engineering School of Electronic Information and Electrical Engineering Institute for Proactive Healthcare Shanghai Jiao Tong University Department of Endocrinology and Metabolism Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai Diabetes Institute Shanghai Clinical Centre for Diabetes Shanghai Key Laboratory of Diabetes Mellitus Shanghai China MOE Key Laboratory of AI School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Beijing Tsinghua Changgung Hospital Eye Center School of Clinical Medicine Tsinghua Medicine Tsinghua University Beijing China Medical Records and Statistics Office Shanghai Sixth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai China Department of Renal Medicine Singapore General Hospital SingHealth-Duke Academic Medical Centre Singapore Singapore Department of Ophthalmology Shanghai Health and Medical Center Wuxi China Department of Ophthalmology and Visual Sciences The Chinese University of Hong Kong Hong Kong Special Administrative Region China Singapore Eye Research Institute Singapore National Eye Centre Singapore Department of Medicine Faculty of Medicine Universiti Malaya Kuala Lumpur Malaysia Department of Ophthalmology Tongji Hospital Tongji Medical College Huazhong University of Science and Technology Hubei Wuhan China Department of Nephrology Tongji Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China Department of Nephrology Union Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China Department of Ophthalmology Union Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China National Engineering Research Centre for Big Dat

Background: Improving the accessibility of screening diabetic kidney disease (DKD) and differentiating isolated diabetic nephropathy from non-diabetic kidney disease (NDKD) are two major challenges in the field of diabetes care. We aimed to develop and validate an artificial intelligence (AI) deep learning system to detect DKD and isolated diabetic nephropathy from retinal fundus images. Methods: In this population-based study, we developed a retinal image-based AI-deep learning system, DeepDKD, pretrained using 734 084 retinal fundus images. First, for DKD detection, we used 486 312 retinal images from 121 578 participants in the Shanghai Integrated Diabetes Prevention and Care system for development and internal validation, and ten multi-ethnic datasets from China, Singapore, Malaysia, Australia, and the UK (65 406 participants) for external validation. Second, to differentiate isolated diabetic nephropathy from NDKD, we used 1068 retinal images from 267 participants for development and internal validation, and three multi-ethnic datasets from China, Malaysia, and the UK (244 participants) for external validation. Finally, we conducted two proof-of-concept studies: a prospective real-world study with 3 months' follow-up to evaluate the effectiveness of DeepDKD in screening DKD;and a longitudinal analysis of the effectiveness of DeepDKD in differentiating isolated diabetic nephropathy from NDKD on renal function changes with 4·6 years' follow-up. Findings: For detecting DKD, DeepDKD achieved an area under the receiver operating characteristic curve (AUC) of 0·842 (95% CI 0·838–0·846) on the internal validation dataset and AUCs of 0·791–0·826 across external validation datasets. For differentiating isolated diabetic nephropathy from NDKD, DeepDKD achieved an AUC of 0·906 (0·825–0·966) on the internal validation dataset and AUCs of 0·733–0·844 across external validation datasets. In the prospective study, compared with the metadata model, DeepDKD could detect DKD wit

关键词： Deep learning

来源：评论

学校读者我要写书评

暂无评论

A survey on deep learning of small sample in biomedical image analysis

arXiv

引用

arXiv 2019年

作者： Zhang, Pengyi Deng, Yulin Tang, Xiaoying Zhong, Yunxin Li, Xiaoqiong School of Life Science Beijing Institute of Technology Haidian District Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Haidian District Beijing China

The success of deep learning has been witnessed as a promising technique for computer-aided biomedical image analysis, due to end-to-end learning framework and availability of large-scale labelled samples. However, in many cases of biomedical image analysis, deep learning techniques suffer from the small sample learning (SSL) dilemma caused mainly by lack of annotations. To be more practical for biomedical image analysis, in this paper we survey the key SSL techniques that help relieve the suffering of deep learning by combining with the development of related techniques in computer vision applications. In order to accelerate the clinical usage of biomedical image analysis based on deep learning techniques, we intentionally expand this survey to include the explanation methods for deep models that are important to clinical decision making. We survey the key SSL techniques by dividing them into five categories: (1) explanation techniques, (2) weakly supervised learning techniques, (3) transfer learning techniques, (4) active learning techniques, and (5) miscellaneous techniques involving data augmentation, domain knowledge, traditional shallow methods and attention mechanism. These key techniques are expected to effectively support the application of deep learning in clinical biomedical image analysis, and furtherly improve the analysis performance, especially when large-scale annotated samples are not available. We bulid demos at https://***/PengyiZhang/MIADeepSSL. Copyright © 2019, The Authors. All rights reserved.

关键词： Surveys

来源：评论

学校读者我要写书评

暂无评论

Performance evaluation of a multi-vectored water-jet propellers device for an amphibious spherical robot 15

Performance evaluation of a multi-vectored water-jet propell...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Xing, Huiming Guo, Shuxiang Shi, Liwei Hou, Xihuan Su, Shuxiang Chen, Zhan Liu, Yu Liu, Huikang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China School of Automation Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

This paper presents a performance evaluation of the multi-vectored water-jet propellers system (MVWPS) for the amphibious spherical robot IV (ASR-IV), which will contribute to the real-time dynamic thrust vectoring of ASR-IV. This work extends the 2D modeling into 3D space, which benefits the 4DoFs control of ASR-IV more. The dynamic modeling (forces and moments) of ASR-IV can be obtained by synthesizing the propulsive vectors of four propellers. Thus, a novel experimental mechanism was developed to evaluate the MVWPS. This mechanism was designed with the mass distribution centered for the robot. Using a six-axis force/torque sensor at the equivalent mass center, we obtained the direct propulsive effect of the system for the robot. Experiments of one propeller were conducted to establish the relationship between the pulse width module (PWM) signal and the thrust. Then, experiments of MVWPS were carried out to evaluate the performance of MVWPS. © 2018 IEEE.

关键词： Spheres

来源：评论

学校读者我要写书评

暂无评论

Collaborative Searching Strategy for Multi-Amphibious Spherical Robots in 3D underwater environments

Collaborative Searching Strategy for Multi-Amphibious Spheri...

引用

IEEE International Conference on Mechatronics and Automation

作者： Shilong Feng Shuxiang Guo Dan Yang Ao Li He Yin Meng Liu The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

An improved multi-robot cooperative strategy based on the improved artificial bee colony algorithm is proposed for the task of underwater multi-robot cooperative area target search. The strategy consists of three stages: cruising stage, building capture alliance stage, and cooperative search stage. In the cruising stage, robot adopts the improved random walk algorithm for aimless cruising. In the building capture alliance stage, robot uses an auction algorithm for the assignment of search tasks. In the cooperative search stage, robot adopts the improved artificial bee colony algorithm for cooperative search of targets. Furthermore, simulations are conducted, and the results demonstrate that the proposed strategy can effectively guide multiple robots to perform area target search in unknown 3D underwater environments.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Novel Wearable Master Manipulator for the Remote Vascular Interventional Surgery

A Novel Wearable Master Manipulator for the Remote Vascular ...

引用

IEEE International Conference on Mechatronics and Automation

作者： Zhijun Lin Shuxiang Guo Yonggan Yan Chenzhihang Li Duohao Zhao Chuqiao Lyu Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Vascular interventional surgery (VIS) mainly relies on the surgeon’s clinical experience and the image assistance of digital subtraction angiography (DSA). However, DSA will damage the surgeon’s health. A master-slave vascular interventional surgical robotic system averts the threat of the X-ray, whereas most master manipulators of the system still have some problems, such as the different operating modes compared to the convention and the large inertia of the device itself. Therefore, a wearable device with precise measurement function, SurGlove, is developed in this study. The surgeon can wear SurGolve as the common medical glove and handle the catheter and guidewire directly. The film pressure sensor on the glove can judge the grasping signal and enable the optical tracking system to measure the markers on the device. The spatial rotation angle and displacement distance of the SurGolve are calculated in real-time. By wearing SurGlove, the surgeon can manipulate the guidewire and the catheter cooperatively. Furthermore, the evaluation experiments showed that the proposed device had a mean absolute error of 1.88° and a maximum error of less than 3° in rotation angle measurement. The maximum displacement error was less than 5 mm and the mean absolute error was 1.53 mm. This study preliminarily verified the feasibility of the proposed wearable SurGlove for the VIS robotic system.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of Clutch Units of the Propulsion system for the Three-Dimension Triphibian Robot

Design of Clutch Units of the Propulsion System for the Thre...

引用

IEEE International Conference on Mechatronics and Automation

作者： Yingduo Chen Shuxiang Guo He Yin Ao Li Meng Liu The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Robots capable of traversing various environments have stringent design requirements for their drive structures. To add flight capabilities to the existing amphibious spherical quadruped robot, enhance its mobility space, and optimize its propulsion strategies, this paper designs a clutch units for the propulsion system of the three-dimension triphibian robot (3DTR). The article first introduces the concept of the 3DTR and its significant importance, and explains the critical role of the clutch units for the propulsion system of the 3DTR. Then, according to the design requirements for functionality upgrade, the types of clutches and motors are selected, and the mechanical model of the clutch units is designed. Subsequently, performance tests and function verification of the clutch units were conducted, demonstrating the effectiveness of the clutch units design, laying the foundation for the subsequent overall design and experiment of the 3DTR propulsion system.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Elastic Collision Based-Interactive Path Planning system for Vascular Intervention Robots

引用

Procedia Computer Science 2024年 250卷 244-249页

作者： Sheng Cao Shuxiang Guo Jian Guo Jian Wang Bin Wang Mingchao Ding Aerospace Center Hospital & the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science & Ministry of Industry and Information Technology Beijing Institute of Technology Beijing 100081 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Shenzhen 518000 Guangdong Province China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 China

As population aging intensifies, the incidence of cardiovascular and cerebrovascular diseases has continued to rise. Vascular interventional surgery, known for its minimal trauma, rapid recovery, and clear effectiveness, requires doctors to perform procedures in radiation environments while wearing lead aprons. The advent of vascular intervention robots has provided a system-level solution to protect doctors from radiation and enhance outcomes. Currently, preoperative path planning for these robots predominantly relies on automatically generated paths, calculated by setting constraints and minimizing costs. However, this method lacks incorporation of physicians' expertise and consideration of elastic collision. Therefore, this study has designed an interactive path planning system for vascular intervention robot based on elastic collision. By establishing a simulation environment, doctors can use a manipulator to control virtual catheters and guidewires. While considering deformations, they maneuver the guidewire to the target position and record the current motion trajectory to guide the procedure in actual surgeries. Experimental tests have been conducted, confirming the system's effectiveness and feasibility.

关键词： Elastic Collision Interactive Path Planning Vascular Intervention Robot

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：