Overtone Mass Sensitivity of Quartz Crystal Microbalance Sensor with Asymmetric N-M Type Electrode Configuration.

Sensing sensitivity is one of the crucial parameters for quartz crystal microbalance (QCM) sensors. Herein, we study the overtone mass sensitivity of a QCM sensor with an asymmetric N-M type electrode configuration. In order to overcome the deficiency that the sensitivity of the QCM sensor with an asymmetric electrode cannot be calculated by Sauerbrey's equation, we design the electrochemical electrodeposition experiments to measure it. The measurement results of overtone mass sensitivities of three 3.1-5.1 and three 4.1-5.1 QCMs are 5.418, 5.629, and 5.572 Hz/ng and 4.155, 4.456, and 3.982 Hz/ng in the third overtone mode and 9.208, 9.474, and 9.243 Hz/ng and 6.811, 7.604, and 6.588 Hz/ng in the fifth overtone mode, respectively. The overtone mass sensitivities of three 5.1-5.1 QCMs are 3.210, 3.439, and 3.540 Hz/ng in the third overtone mode and 5.396, 5.010, and 5.707 Hz/ng in the fifth overtone mode, respectively. These results show that the overtone mass sensitivity of the N-M type QCM is larger than that of QCMs with symmetric electrodes, and the fifth overtone mass sensitivity is higher than the third overtone mass sensitivity for the same type of QCM. The above results strongly confirm that the overtone mass sensitivity of a QCM sensor with an asymmetric N-M electrode structure significantly enhances its sensing performance, and it will greatly meet the demands for high precision measurement of QCM sensors in applications.

The Bcm rule allows a spinal cord model to learn rhythmic movements.

Currently, it is accepted that animal locomotion is controlled by a central pattern generator in the spinal cord. Experiments and models show that rhythm generating neurons and genetically determined network properties could sustain oscillatory output activity suitable for locomotion. However, current central pattern generator models do not explain how a spinal cord circuitry, which has the same basic genetic plan across species, can adapt to control the different biomechanical properties and locomotion patterns existing in these species. Here we demonstrate that rhythmic and alternating movements in pendulum models can be learned by a monolayer spinal cord circuitry model using the Bienenstock-Cooper-Munro learning rule, which has been previously proposed to explain learning in the visual cortex. These results provide an alternative theory to central pattern generator models, because rhythm generating neurons and genetically defined connectivity are not required in our model. Though our results are not in contradiction to current models, as existing neural mechanism and structures, not used in our model, can be expected to facilitate the kind of learning demonstrated here. Therefore, our model could be used to augment existing models.

Dynamics of personality: The Zurich model of motivation revived, extended, and applied to personality.

Personality researchers are increasingly interested in the dynamics of personality, that is, the proximal causal mechanisms underlying personality and behavior. Here, we review the Zurich Model of Social Motivation concerning its potential to explain central aspects of personality. It is a cybernetic model that provides a nomothetic structure of the causal relationships among needs for security, arousal, and power, and uses them to explain an individual's approach-avoidance or "proximity-distance" behavior. We review core features of the model and extend them by adding features based on recent behavioral and neuroscientific evidence. We close by discussing the model considering contemporary issues in personality science such as the dynamics of personality, five-factor personality traits and states, and personality growth.

Exploration of the Mass Sensitivity of Quartz Crystal Microbalance under Overtone Modes Using Electrodeposition Method.

With the in-depth application of quartz crystal microbalance (QCM) sensors in the fields of science and engineering, there is an urgent need for QCM sensors with high mass sensitivity. The mass sensitivity of a QCM is closely related to its resonance frequency, and the high resonance frequency leads to improve its mass sensitivity. However, the resonance frequency of a QCM resonator cannot be increased all the time due to the fragility of quartz wafer and the limits of energy trapping effect. Few studies are associated with mass sensitivity of a QCM resonator under overtone modes. Herein, we propose to make a QCM resonator work in its n-th overtone (n = 3, 5, 7, 9 in this study) mode to increase its resonance frequency during operating. Thereby, the purpose of improving QCM mass sensitivity is achieved, and the mass sensitivity of a QCM working in the n-th overtone mode can be called as n-th overtone mass sensitivity. Then, the n-th overtone mass sensitivity of a QCM sensor is measured by an electrodeposition method. The experimental results show that the n-th overtone mass sensitivity of a QCM is a bit more than n times that of the fundamental mass sensitivity, and it is consistent with the theoretical calculation results. The application of overtone mass sensitivity will greatly improve the sensitivity of QCM sensors, which is very attractive for the research fields that require QCM sensors with high sensitivity.

The Human Brain Project-Synergy between neuroscience, computing, informatics, and brain-inspired technologies.

The Human Brain Project (HBP) is a European flagship project with a 10-year horizon aiming to understand the human brain and to translate neuroscience knowledge into medicine and technology. To achieve such aims, the HBP explores the multilevel complexity of the brain in space and time; transfers the acquired knowledge to brain-derived applications in health, computing, and technology; and provides shared and open computing tools and data through the HBP European brain research infrastructure. We discuss how the HBP creates a transdisciplinary community of researchers united by the quest to understand the brain, with fascinating perspectives on societal benefits.

Towards Model-Free Tool Dynamic Identification and Calibration Using Multi-Layer Neural Network.

In robot control with physical interaction, like robot-assisted surgery and bilateral teleoperation, the availability of reliable interaction force information has proved to be capable of increasing the control precision and of dealing with the surrounding complex environments. Usually, force sensors are mounted between the end effector of the robot manipulator and the tool for measuring the interaction forces on the tooltip. In this case, the force acquired from the force sensor includes not only the interaction force but also the gravity force of the tool. Hence the tool dynamic identification is required for accurate dynamic simulation and model-based control. Although model-based techniques have already been widely used in traditional robotic arms control, their accuracy is limited due to the lack of specific dynamic models. This work proposes a model-free technique for dynamic identification using multi-layer neural networks (MNN). It utilizes two types of MNN architectures based on both feed-forward networks (FF-MNN) and cascade-forward networks (CF-MNN) to model the tool dynamics. Compared with the model-based technique, i.e., curve fitting (CF), the accuracy of the tool identification is improved. After the identification and calibration, a further demonstration of bilateral teleoperation is presented using a serial robot (LWR4+, KUKA, Germany) and a haptic manipulator (SIGMA 7, Force Dimension, Switzerland). Results demonstrate the promising performance of the model-free tool identification technique using MNN, improving the results provided by model-based methods.

Graph-Based Cooperative Localization Using Symmetric Measurement Equations.

Precise localization is a key requirement for the success of highly assisted or autonomous vehicles. The diminishing cost of hardware has resulted in a proliferation of the number of sensors in the environment. Cooperative localization (CL) presents itself as a feasible and effective solution for localizing the ego-vehicle and its neighboring vehicles. However, one of the major challenges to fully realize the effective use of infrastructure sensors for jointly estimating the state of a vehicle in cooperative vehicle-infrastructure localization is an effective data association. In this paper, we propose a method which implements symmetric measurement equations within factor graphs in order to overcome the data association challenge with a reduced bandwidth overhead. Simulated results demonstrate the benefits of the proposed approach in comparison with our previously proposed approach of topology factors.

Random Finite Set Based Bayesian Filtering with OpenCL in a Heterogeneous Platform.

While most filtering approaches based on random finite sets have focused on improving performance, in this paper, we argue that computation times are very important in order to enable real-time applications such as pedestrian detection. Towards this goal, this paper investigates the use of OpenCL to accelerate the computation of random finite set-based Bayesian filtering in a heterogeneous system. In detail, we developed an efficient and fully-functional pedestrian-tracking system implementation, which can run under real-time constraints, meanwhile offering decent tracking accuracy. An extensive evaluation analysis was carried out to ensure the fulfillment of sufficient accuracy requirements. This was followed by extensive profiling analysis to spot the potential bottlenecks in terms of execution performance, which were then targeted to come up with an OpenCL accelerated application. Video-throughput improvements from roughly 15 fps to 100 fps (6×) were observed on average while processing typical MOT benchmark videos. Moreover, the worst-case frame processing yielded an 18× advantage from nearly 2 fps to 36 fps, thereby comfortably meeting the real-time constraints. Our implementation is released as open-source code.

Vehicle Detection Based on Probability Hypothesis Density Filter.

In the past decade, the developments of vehicle detection have been significantly improved. By utilizing cameras, vehicles can be detected in the Regions of Interest (ROI) in complex environments. However, vision techniques often suffer from false positives and limited field of view. In this paper, a LiDAR based vehicle detection approach is proposed by using the Probability Hypothesis Density (PHD) filter. The proposed approach consists of two phases: the hypothesis generation phase to detect potential objects and the hypothesis verification phase to classify objects. The performance of the proposed approach is evaluated in complex scenarios, compared with the state-of-the-art.

Systematic Error Modeling and Bias Estimation.

This paper analyzes the statistic properties of the systematic error in terms of range and bearing during the transformation process. Furthermore, we rely on a weighted nonlinear least square method to calculate the biases based on the proposed models. The results show the high performance of the proposed approach for error modeling and bias estimation.

Multiple vehicle cooperative localization with spatial registration based on a probability hypothesis density filter.

This paper studies the problem of multiple vehicle cooperative localization with spatial registration in the formulation of the probability hypothesis density (PHD) filter. Assuming vehicles are equipped with proprioceptive and exteroceptive sensors (with biases) to cooperatively localize positions, a simultaneous solution for joint spatial registration and state estimation is proposed. For this, we rely on the sequential Monte Carlo implementation of the PHD filtering. Compared to other methods, the concept of multiple vehicle cooperative localization with spatial registration is first proposed under Random Finite Set Theory. In addition, the proposed solution also addresses the challenges for multiple vehicle cooperative localization, e.g., the communication bandwidth issue and data association uncertainty. The simulation result demonstrates its reliability and feasibility in large-scale environments.

Dual-domain strip attention for image restoration.

Image restoration aims to reconstruct a latent high-quality image from a degraded observation. Recently, the usage of Transformer has significantly advanced the state-of-the-art performance of various image restoration tasks due to its powerful ability to model long-range dependencies. However, the quadratic complexity of self-attention hinders practical applications. Moreover, sufficiently leveraging the huge spectral disparity between clean and degraded image pairs can also be conducive to image restoration. In this paper, we develop a dual-domain strip attention mechanism for image restoration by enhancing representation learning, which consists of spatial and frequency strip attention units. Specifically, the spatial strip attention unit harvests the contextual information for each pixel from its adjacent locations in the same row or column under the guidance of the learned weights via a simple convolutional branch. In addition, the frequency strip attention unit refines features in the spectral domain via frequency separation and modulation, which is implemented by simple pooling techniques. Furthermore, we apply different strip sizes for enhancing multi-scale learning, which is beneficial for handling degradations of various sizes. By employing the dual-domain attention units in different directions, each pixel can implicitly perceive information from an expanded region. Taken together, the proposed dual-domain strip attention network (DSANet) achieves state-of-the-art performance on 12 different datasets for four image restoration tasks, including image dehazing, image desnowing, image denoising, and image defocus deblurring. The code and models are available at https://github.com/c-yn/DSANet.

Image Restoration via Frequency Selection.

Image restoration aims to reconstruct the latent sharp image from its corrupted counterpart. Besides dealing with this long-standing task in the spatial domain, a few approaches seek solutions in the frequency domain by considering the large discrepancy between spectra of sharp/degraded image pairs. However, these algorithms commonly utilize transformation tools, e.g., wavelet transform, to split features into several frequency parts, which is not flexible enough to select the most informative frequency component to recover. In this paper, we exploit a multi-branch and content-aware module to decompose features into separate frequency subbands dynamically and locally, and then accentuate the useful ones via channel-wise attention weights. In addition, to handle large-scale degradation blurs, we propose an extremely simple decoupling and modulation module to enlarge the receptive field via global and window-based average pooling. Furthermore, we merge the paradigm of multi-stage networks into a single U-shaped network to pursue multi-scale receptive fields and improve efficiency. Finally, integrating the above designs into a convolutional backbone, the proposed Frequency Selection Network (FSNet) performs favorably against state-of-the-art algorithms on 20 different benchmark datasets for 6 representative image restoration tasks, including single-image defocus deblurring, image dehazing, image motion deblurring, image desnowing, image deraining, and image denoising.

Grid codes vs. multi-scale, multi-field place codes for space.

Introduction: Recent work on bats flying over long distances has revealed that single hippocampal cells have multiple place fields of different sizes. At the network level, a multi-scale, multi-field place cell code outperforms classical single-scale, single-field place codes, yet the performance boundaries of such a code remain an open question. In particular, it is unknown how general multi-field codes compare to a highly regular grid code, in which cells form distinct modules with different scales. Methods: In this work, we address the coding properties of theoretical spatial coding models with rigorous analyses of comprehensive simulations. Starting from a multi-scale, multi-field network, we performed evolutionary optimization. The resulting multi-field networks sometimes retained the multi-scale property at the single-cell level but most often converged to a single scale, with all place fields in a given cell having the same size. We compared the results against a single-scale single-field code and a one-dimensional grid code, focusing on two main characteristics: the performance of the code itself and the dynamics of the network generating it. Results: Our simulation experiments revealed that, under normal conditions, a regular grid code outperforms all other codes with respect to decoding accuracy, achieving a given precision with fewer neurons and fields. In contrast, multi-field codes are more robust against noise and lesions, such as random drop-out of neurons, given that the significantly higher number of fields provides redundancy. Contrary to our expectations, the network dynamics of all models, from the original multi-scale models before optimization to the multi-field models that resulted from optimization, did not maintain activity bumps at their original locations when a position-specific external input was removed. Discussion: Optimized multi-field codes appear to strike a compromise between a place code and a grid code that reflects a trade-off between accurate positional encoding and robustness. Surprisingly, the recurrent neural network models we implemented and optimized for either multi- or single-scale, multi-field codes did not intrinsically produce a persistent "memory" of attractor states. These models, therefore, were not continuous attractor networks.

Revitalizing Convolutional Network for Image Restoration.

Image restoration aims to reconstruct a high-quality image from its corrupted version, playing essential roles in many scenarios. Recent years have witnessed a paradigm shift in image restoration from convolutional neural networks (CNNs) to Transformerbased models due to their powerful ability to model long-range pixel interactions. In this paper, we explore the potential of CNNs for image restoration and show that the proposed simple convolutional network architecture, termed ConvIR, can perform on par with or better than the Transformer counterparts. By re-examing the characteristics of advanced image restoration algorithms, we discover several key factors leading to the performance improvement of restoration models. This motivates us to develop a novel network for image restoration based on cheap convolution operators. Comprehensive experiments demonstrate that our ConvIR delivers state-ofthe- art performance with low computation complexity among 20 benchmark datasets on five representative image restoration tasks, including image dehazing, image motion/defocus deblurring, image deraining, and image desnowing.

Context-Based Meta-Reinforcement Learning with Bayesian Nonparametric Models.

Deep reinforcement learning agents usually need to collect a large number of interactions to solve a single task. In contrast, meta-reinforcement learning (meta-RL) aims to quickly adapt to new tasks using a small amount of experience by leveraging the knowledge from training on a set of similar tasks. State-of-the-art context-based meta-RL algorithms use the context to encode the task information and train a policy conditioned on the inferred latent task encoding. However, most recent works are limited to parametric tasks, where a handful of variables control the full variation in the task distribution, and also failed to work in non-stationary environments due to the few-shot adaptation setting. To address those limitations, we propose MEta-reinforcement Learning with Task Self-discovery (MELTS), which adaptively learns qualitatively different nonparametric tasks and adapts to new tasks in a zero-shot manner. We introduce a novel deep clustering framework (DPMM-VAE) based on an infinite mixture of Gaussians, which combines the Dirichlet process mixture model (DPMM) and the variational autoencoder (VAE), to simultaneously learn task representations and cluster the tasks in a self-adaptive way. Integrating DPMM-VAE into MELTS enables it to adaptively discover the multi-modal structure of the nonparametric task distribution, which previous methods using isotropic Gaussian random variables cannot model. In addition, we propose a zero-shot adaptation mechanism and a recurrence-based context encoding strategy to improve the data efficiency and make our algorithm applicable in non-stationary environments. On various continuous control tasks with both parametric and nonparametric variations, our algorithm produces a more structured and self-adaptive task latent space and also achieves superior sample efficiency and asymptotic performance compared with state-of-the-art meta-RL algorithms.

Toward coordinated planning and hierarchical optimization control for highly redundant mobile manipulator.

This paper represents a constraint planning and optimization control scheme for a highly redundant mobile manipulator considering a complex indoor environment. Compared with the traditional optimization solution of a redundant manipulator, infinity norm and slack variable are additionally introduced and leveraged by the optimization algorithm. The former takes into account the joint limits effectively by considering individual joint velocities and the latter relaxes the equality constraint by decreasing the infeasible solution area. By using derived kinematic equations, the tracking control problem is expressed as an optimization problem and converted into a new quadratic programming (QP) problem. To address the optimization problem, the two-timescale recurrent neural networks optimization scheme is proposed and tested with a 9 DOFs nonholonomic mobile-based manipulator. Additionally, the BI2RRT∗ path-planning algorithm incorporates path planning in the complex environment where different obstacles are positioned. To test and evaluate the proposed optimization scheme, both predefined and generated paths are tested in the Neurorobotics Platform (NRP) 2which is open access and open source integrative simulation framework powered by Gazebo and developed by our team.

Hybrid Residual Multiexpert Reinforcement Learning for Spatial Scheduling of High-Density Parking Lots.

Industries, such as manufacturing, are accelerating their embrace of the metaverse to achieve higher productivity, especially in complex industrial scheduling. In view of the growing parking challenges in large cities, high-density vehicle spatial scheduling is one of the potential solutions. Stack-based parking lots utilize parking robots to densely park vehicles in the vertical stacks like container stacking, which greatly reduces the aisle area in the parking lot, but requires complex scheduling algorithms to park and take out the vehicles. The existing high-density parking (HDP) scheduling algorithms are mainly heuristic methods, which only contain simple logic and are difficult to utilize information effectively. We propose a hybrid residual multiexpert (HIRE) reinforcement learning (RL) approach, a method for interactive learning in the digital industrial metaverse, which efficiently solves the HDP batch space scheduling problem. In our proposed framework, each heuristic scheduling method is considered as an expert. The neural network trained by RL assigns the expert strategy according to the current parking lot state. Furthermore, to avoid being limited by heuristic expert performance, the proposed hierarchical network framework also sets up a residual output channel. Experiments show that our proposed algorithm outperforms various advanced heuristic methods and the end-to-end RL method in the number of vehicle maneuvers, and has good robustness to the parking lot size and the estimation accuracy of vehicle exit time. We believe that the proposed HIRE RL method can be effectively and conveniently applied to practical application scenarios, which can be regarded as a key step for RL to enter the practical application stage of the industrial metaverse.

Towards multimodal graph neural networks for surgical instrument anticipation.

PURPOSE: Decision support systems and context-aware assistance in the operating room have emerged as the key clinical applications supporting surgeons in their daily work and are generally based on single modalities. The model- and knowledge-based integration of multimodal data as a basis for decision support systems that can dynamically adapt to the surgical workflow has not yet been established. Therefore, we propose a knowledge-enhanced method for fusing multimodal data for anticipation tasks. METHODS: We developed a holistic, multimodal graph-based approach combining imaging and non-imaging information in a knowledge graph representing the intraoperative scene of a surgery. Node and edge features of the knowledge graph are extracted from suitable data sources in the operating room using machine learning. A spatiotemporal graph neural network architecture subsequently allows for interpretation of relational and temporal patterns within the knowledge graph. We apply our approach to the downstream task of instrument anticipation while presenting a suitable modeling and evaluation strategy for this task. RESULTS: Our approach achieves an F1 score of 66.86% in terms of instrument anticipation, allowing for a seamless surgical workflow and adding a valuable impact for surgical decision support systems. A resting recall of 63.33% indicates the non-prematurity of the anticipations. CONCLUSION: This work shows how multimodal data can be combined with the topological properties of an operating room in a graph-based approach. Our multimodal graph architecture serves as a basis for context-sensitive decision support systems in laparoscopic surgery considering a comprehensive intraoperative operating scene.

Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior.

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity directions are typically obtained by inertial measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation from 3 to 1. We propose a novel transformation decoupling strategy by leveraging the screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems with 1-DOF, 2-DOF, and 1-DOF, respectively, enhancing computation efficiency. Specifically, the first 1-DOF represents the translation along the rotation axis, and we propose an interval stabbing-based method to solve it. The second 2-DOF represents the pole which is an auxiliary variable in screw theory, and we utilize a branch-and-bound method to solve it. The last 1-DOF represents the rotation angle, and we propose a global voting method for its estimation. The proposed method solves three consensus maximization sub-problems sequentially, leading to efficient and deterministic registration. In particular, it can even handle the correspondence-free registration problem due to its significant robustness. Extensive experiments on both synthetic and real-world datasets demonstrate that our method is more efficient and robust than state-of-the-art methods, even when dealing with outlier rates exceeding 99%.