A Framework and Algorithm for Human-Robot Collaboration Based on Multimodal Reinforcement Learning.

Despite the emergence of various human-robot collaboration frameworks, most are not sufficiently flexible to adapt to users with different habits. In this article, a Multimodal Reinforcement Learning Human-Robot Collaboration (MRLC) framework is proposed. It integrates reinforcement learning into human-robot collaboration and continuously adapts to the user's habits in the process of collaboration with the user to achieve the effect of human-robot cointegration. With the user's multimodal features as states, the MRLC framework collects the user's speech through natural language processing and employs it to determine the reward of the actions made by the robot. Our experiments demonstrate that the MRLC framework can adapt to the user's habits after repeated learning and better understand the user's intention compared to traditional solutions.

A Massage Area Positioning Algorithm for Intelligent Massage System.

A growing number of studies have been conducted over the past few years on the positioning of daily massage robots. However, most methods used for research have low interactivity, and a systematic method should be designed for accurate and intelligent positioning, thus compromising usability and user experience. In this study, a massage positioning algorithm with online learning capabilities is presented. The algorithm has the following main innovations: (1) autonomous massage localization can be achieved by gaining insights into natural human-machine interaction behavior and (2) online learning of user massage habits can be achieved by integrating recursive Bayesian ideas. As revealed by the experimental results, combining natural human-computer interaction and online learning with massage positioning is capable of helping people get rid of positioning aids, reducing their psychological and cognitive load, and achieving a more desirable positioning effect. Furthermore, the results of the analysis of user evaluations further verify the effectiveness of the algorithm.

MFA: A Smart Glove with Multimodal Intent Sensing Capability.

At present, virtual-reality fusion smart experiments mostly employ visual perception devices to collect user behavior data, but this method faces the obstacles of distance, angle, occlusion, light, and a variety of other factors of indoor interactive input devices. Moreover, the essence of the traditional multimodal fusion algorithm (TMFA) is to analyze the user's experimental intent serially using single-mode information, which cannot fully utilize the intent information of each mode. Therefore, this paper designs a multimodal fusion algorithm (hereinafter referred to as MFA, Algorithm 4) which focuses on the parallel fusion of user's experimental intent. The essence of the MFA is the fusion of multimodal intent probability. At the same time, this paper designs a smart glove based on the virtual-reality fusion experiments, which can integrate multichannel data such as voice, visual, and sensor. This smart glove can not only capture user's experimental intent but also navigate, guide, or warn user's operation behaviors, and it has stronger perception capabilities compared to any other data glove or smart experimental device. The experimental results demonstrate that the smart glove presented in this paper can be widely employed in the chemical experiment teaching based on virtual-reality fusion.

Weak sub-network pruning for strong and efficient neural networks.

Pruning methods to compress and accelerate deep convolutional neural networks (CNNs) have recently attracted growing attention, with the view of deploying pruned networks on resource-constrained hardware devices. However, most existing methods focus on small granularities, such as weight, kernel and filter, for the exploration of pruning. Thus, it will be bound to iteratively prune the whole neural networks based on those small granularities for high compression ratio with little performance loss. To address these issues, we theoretically analyze the relationship between the activation and gradient sparsity, and the channel saliency. Based on our findings, we propose a novel and effective method of weak sub-network pruning (WSP). Specifically, for a well-trained network model, we divide the whole compression process into two non-iterative stages. The first stage is to directly obtain a strong sub-network by pruning the weakest one. We first identify the less important channels from all the layers and determine the weakest sub-network, whereby each selected channel makes a minimal contribution to both the feed-forward and feed-backward processes. Then, a one-shot pruning strategy is executed to form a strong sub-network enabling fine tuning, while significantly reducing the impact of the network depth and width on the compression efficiency, especially for deep and wide network architectures. The second stage is to globally fine-tune the strong sub-network using several epochs to restore its original recognition accuracy. Furthermore, our proposed method impacts on the fully-connected layers as well as the convolutional layers for simultaneous compression and acceleration. Comprehensive experiments on VGG16 and ResNet-50 involving a variety of popular benchmarks, such as ImageNet-1K, CIFAR-10, CUB-200 and PASCAL VOC, demonstrate that our WSP method achieves superior performance on classification, domain adaption and object detection tasks with small model size. Our source code is available at https://github.com/QingbeiGuo/WSP.git.

The association between levels of serum homocysteine and chronic heart failure: A protocol for systematic review and meta-analysis.

BACKGROUND: Homocysteine (Hcy) is one of the main factors leading to arteriosclerosis, which is closely related to cardiovascular disease. Recent studies have found that serum Hcy levels are increased in patients with chronic heart failure (CHF), and it is speculated that Hcy may be a risk factor for CHF, but evidence-based medicine evidence is lacking. The aim of this study was to investigate the correlation between serum Hcy levels and CHF by means of systematic review. METHODS: The databases of PubMed, Embase, The Cochrance Library, Web of Science, CNKI (China National Knowledge Infrastructure), VIP (China Science and Technology Journal Database), Wanfang and China Biology Medicine disc were searched by computer. In addition, Baidu Scholar and Google Scholar were manually searched to collect all case-control studies related to serum Hcy and CHF. The search time limit was from database establishment to November 2020. Two reviewers independently screened the literatures, extracted the data and evaluated the risk of bias of the included literatures. RESULTS: In this study, we evaluated the correlation between serum Hcy levels and CHF by the levels of serum Hcy in CHF patients and non-CHF patients. CONCLUSIONS: This study will provide reliable evidence for the clinical value of serum Hcy in the field of CHF disease. OSF REGISTRATION NUMBER: DOI 10.17605/OSF.IO/QMPRC.

Self-grouping convolutional neural networks.

Although group convolution operators are increasingly used in deep convolutional neural networks to improve the computational efficiency and to reduce the number of parameters, most existing methods construct their group convolution architectures by a predefined partitioning of the filters of each convolutional layer into multiple regular filter groups with an equal spatial group size and data-independence, which prevents a full exploitation of their potential. To tackle this issue, we propose a novel method of designing self-grouping convolutional neural networks, called SG-CNN, in which the filters of each convolutional layer group themselves based on the similarity of their importance vectors. Concretely, for each filter, we first evaluate the importance value of their input channels to identify the importance vectors, and then group these vectors by clustering. Using the resulting data-dependent centroids, we prune the less important connections, which implicitly minimizes the accuracy loss of the pruning, thus yielding a set of diverse group convolution filters. Subsequently, we develop two fine-tuning schemes, i.e. (1) both local and global fine-tuning and (2) global only fine-tuning, which experimentally deliver comparable results, to recover the recognition capacity of the pruned network. Comprehensive experiments carried out on the CIFAR-10/100 and ImageNet datasets demonstrate that our self-grouping convolution method adapts to various state-of-the-art CNN architectures, such as ResNet and DenseNet, and delivers superior performance in terms of compression ratio, speedup and recognition accuracy. We demonstrate the ability of SG-CNN to generalize by transfer learning, including domain adaption and object detection, showing competitive results. Our source code is available at https://github.com/QingbeiGuo/SG-CNN.git.

Neuroimaging and Machine Learning for Dementia Diagnosis: Recent Advancements and Future Prospects.

Dementia, a chronic and progressive cognitive declination of brain function caused by disease or impairment, is becoming more prevalent due to the aging population. A major challenge in dementia is achieving accurate and timely diagnosis. In recent years, neuroimaging with computer-aided algorithms have made remarkable advances in addressing this challenge. The success of these approaches is mostly attributed to the application of machine learning techniques for neuroimaging. In this review paper, we present a comprehensive survey of automated diagnostic approaches for dementia using medical image analysis and machine learning algorithms published in the recent years. Based on the rigorous review of the existing works, we have found that, while most of the studies focused on Alzheimer's disease, recent research has demonstrated reasonable performance in the identification of other types of dementia remains a major challenge. Multimodal imaging analysis deep learning approaches have shown promising results in the diagnosis of these other types of dementia. The main contributions of this review paper are as follows. 1) Based on the detailed analysis of the existing literature, this paper discusses neuroimaging procedures for dementia diagnosis. 2) It systematically explains the most recent machine learning techniques and, in particular, deep learning approaches for early detection of dementia.

A Pulse Rate Estimation Algorithm Using PPG and Smartphone Camera.

The ubiquitous use and advancement in built-in smartphone sensors and the development in big data processing have been beneficial in several fields including healthcare. Among the basic vitals monitoring, pulse rate monitoring is the most important healthcare necessity. A multimedia video stream data acquired by built-in smartphone camera can be used to estimate it. In this paper, an algorithm that uses only smartphone camera as a sensor to estimate pulse rate using PhotoPlethysmograph (PPG) signals is proposed. The results obtained by the proposed algorithm are compared with the actual pulse rate and the maximum error found is 3 beats per minute. The standard deviation in percentage error and percentage accuracy is found to be 0.68 % whereas the average percentage error and percentage accuracy is found to be 1.98 % and 98.02 % respectively.