Switching and non-switching dead-beat sliding mode control with monotonic convergence.

Performance requirements necessitate control designs that assure not only transient response specifications but also steady-state accuracy. Monotonic convergence of the tracking error is crucial for an efficient control design to prevent the performance degradation caused by overshooting. This needs a balanced consideration of both reaching conditions and the monotonic convergence, in the context of sliding mode control. In this paper, the dynamic behaviour of the dead-beat sliding mode control is characterized and the signum function is replaced by employing a non-switching one, in order to reduce chattering. The paper conducts a thorough analysis of monotonic convergence of both the switching and the non-switching error dynamics. By deriving the conditions for monotonic convergence, the control parameters can be strategically chosen to ensure monotonic convergence of the tracking error. Numerical and experimental results are presented to validate effectiveness of the proposed control scheme, which evaluate the tracking performance achieved by both the switching and the non-switching control methods.

Deep information-guided feature refinement network for colorectal gland segmentation.

PURPOSE: Reliable quantification of colorectal histopathological images is based on the precise segmentation of glands but precise segmentation of glands is challenging as glandular morphology varies widely across histological grades, such as malignant glands and non-gland tissues are too similar to be identified, and tightly connected glands are even highly possibly to be incorrectly segmented as one gland. METHODS: A deep information-guided feature refinement network is proposed to improve gland segmentation. Specifically, the backbone deepens the network structure to obtain effective features while maximizing the retained information, and a Multi-Scale Fusion module is proposed to increase the receptive field. In addition, to segment dense glands individually, a Multi-Scale Edge-Refined module is designed to strengthen the boundaries of glands. RESULTS: The comparative experiments on the eight recently proposed deep learning methods demonstrated that our proposed network has better overall performance and is more competitive on Test B. The F1 score of Test A and Test B is 0.917 and 0.876, respectively; the object-level Dice is 0.921 and 0.884; and the object-level Hausdorff is 43.428 and 87.132, respectively. CONCLUSION: The proposed colorectal gland segmentation network can effectively extract features with high representational ability and enhance edge features while retaining details to the maximum, dramatically improving the segmentation performance on malignant glands, and better segmentation results of multi-scale and closed glands can also be obtained.

SMMP: A Stable-Membership-Based Auto-Tuning Multi-Peak Clustering Algorithm.

Since most existing single-prototype clustering algorithms are unsuitable for complex-shaped clusters, many multi-prototype clustering algorithms have been proposed. Nevertheless, the automatic estimation of the number of clusters and the detection of complex shapes are still challenging, and to solve such problems usually relies on user-specified parameters and may be prohibitively time-consuming. Herein, a stable-membership-based auto-tuning multi-peak clustering algorithm (SMMP) is proposed, which can achieve fast, automatic, and effective multi-prototype clustering without iteration. A dynamic association-transfer method is designed to learn the representativeness of points to sub-cluster centers during the generation of sub-clusters by applying the density peak clustering technique. According to the learned representativeness, a border-link-based connectivity measure is used to achieve high-fidelity similarity evaluation of sub-clusters. Meanwhile, based on the assumption that a reasonable clustering should have a relatively stable membership state upon the change of clustering thresholds, SMMP can automatically identify the number of sub-clusters and clusters, respectively. Also, SMMP is designed for large datasets. Experimental results on both synthetic and real datasets demonstrated the effectiveness of SMMP.

Application of artificial intelligence to pancreatic adenocarcinoma.

Background and Objectives: Pancreatic cancer (PC) is one of the deadliest cancers worldwide although substantial advancement has been made in its comprehensive treatment. The development of artificial intelligence (AI) technology has allowed its clinical applications to expand remarkably in recent years. Diverse methods and algorithms are employed by AI to extrapolate new data from clinical records to aid in the treatment of PC. In this review, we will summarize AI's use in several aspects of PC diagnosis and therapy, as well as its limits and potential future research avenues. Methods: We examine the most recent research on the use of AI in PC. The articles are categorized and examined according to the medical task of their algorithm. Two search engines, PubMed and Google Scholar, were used to screen the articles. Results: Overall, 66 papers published in 2001 and after were selected. Of the four medical tasks (risk assessment, diagnosis, treatment, and prognosis prediction), diagnosis was the most frequently researched, and retrospective single-center studies were the most prevalent. We found that the different medical tasks and algorithms included in the reviewed studies caused the performance of their models to vary greatly. Deep learning algorithms, on the other hand, produced excellent results in all of the subdivisions studied. Conclusions: AI is a promising tool for helping PC patients and may contribute to improved patient outcomes. The integration of humans and AI in clinical medicine is still in its infancy and requires the in-depth cooperation of multidisciplinary personnel.

GCA-Net: global context attention network for intestinal wall vascular segmentation.

PURPOSE: Precise segmentation of intestinal wall vessels is vital to colonic perforation prevention. However, there are interferences such as gastric juice in the vessel image of the intestinal wall, especially vessels and the mucosal folds are difficult to distinguish, which easily lead to mis-segmentation. In addition, the insufficient feature extraction of intricate vessel structures may leave out information of tiny vessels that result in rupture. To overcome these challenges, an effective network is proposed for segmentation of intestinal wall vessels. METHODS: A global context attention network (GCA-Net) that employs a multi-scale fusion attention (MFA) module is proposed to adaptively integrate local and global context information to improve the distinguishability of mucosal folds and vessels, more importantly, the ability to capture tiny vessels. Also, a parallel decoder is used to introduce a contour loss function to solve the blurry and noisy blood vessel boundaries. RESULTS: Extensive experimental results demonstrate the superiority of the GCA-Net, with accuracy of 94.84%, specificity of 97.89%, F1-score of 73.80%, AUC of 96.30%, and MeanIOU of 76.46% in fivefold cross-validation, exceeding the comparison methods. In addition, the public dataset DRIVE is used to verify the potential of GCA-Net in retinal vessel image segmentation. CONCLUSION: A novel network for segmentation of intestinal wall vessels is developed, which can suppress interferences in intestinal wall vessel images, improve the discernibility of blood vessels and mucosal folds, enhance vessel boundaries, and capture tiny vessels. Comprehensive experiments prove that the proposed GCA-Net can accurately segment the intestinal wall vessels.

On a Finitely Activated Terminal RNN Approach to Time-Variant Problem Solving.

This article concerns with terminal recurrent neural network (RNN) models for time-variant computing, featuring finite-valued activation functions (AFs), and finite-time convergence of error variables. Terminal RNNs stand for specific models that admit terminal attractors, and the dynamics of each neuron retains finite-time convergence. The might-existing imperfection in solving time-variant problems, through theoretically examining the asymptotically convergent RNNs, is pointed out for which the finite-time-convergent models are most desirable. The existing AFs are summarized, and it is found that there is a lack of the AFs that take only finite values. A finitely valued terminal RNN, among others, is taken into account, which involves only basic algebraic operations and taking roots. The proposed terminal RNN model is used to solve the time-variant problems undertaken, including the time-variant quadratic programming and motion planning of redundant manipulators. The numerical results are presented to demonstrate effectiveness of the proposed neural network, by which the convergence rate is comparable with that of the existing power-rate RNN.

Passivity-based coupling control for underactuated three-dimensional overhead cranes.

This paper develops a novel Lyapunov function candidate for control of the three-dimensional (3-D) overhead crane, which yields a nonlinear controller to inject active damping. Different from the existing passivity-based controls that employ either the angular displacement or its integral as passive elements, the proposed controller incorporates both of them in a new coupled-dissipation signal, thus significantly enhancing the closed-loop passivity. Owing to the improved passivity, the proposed controller ensures the effective suppression of payload oscillations and robustness. Moreover, the control design is extended with the hyperbolic tangent function to prevent overdriving the trolley. The asymptotic stability is guaranteed by LaSalle's invariance principle. The transit performance of the closed-loop system, including robustness, is validated by numerical simulations.

RBFNN-Based Singularity-Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs.

In this article, a singularity-free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity-free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite-time convergence without any piecewise continuous function. Then, the adaptive finite-time control is designed with an auxiliary function to avoid the singularity in the error-related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite-time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.

Neural-Network-Based Adaptive Singularity-Free Fixed-Time Attitude Tracking Control for Spacecrafts.

In this article, a neural-network-based adaptive fixed-time control scheme is proposed for the attitude tracking of uncertain rigid spacecrafts. A novel singularity-free fixed-time switching function is presented with the directly nonsingular property, and by introducing an auxiliary function to complete the switching function in the controller design process, the potential singularity problem caused by the inverse of the error-related matrix could be avoided. Then, an adaptive neural controller is developed to guarantee that the attitude tracking error and angular velocity error can both converge into the neighborhood of the equilibrium within a fixed time. With the proposed control scheme, no piecewise continuous functions are required any more in the controller design to avoid the singularity, and the fixed-time stability of the entire closed-loop system in the reaching phase and sliding phase is analyzed with a rigorous theoretical proof. Comparative simulations are given to show the effectiveness and superiority of the proposed scheme.

WCE polyp detection based on novel feature descriptor with normalized variance locality-constrained linear coding.

PURPOSE: Wireless capsule endoscopy (WCE) has become an effective facility to detect digestive tract diseases. To further improve the accuracy and efficiency of computer-aided diagnosis system in the detection of intestine polyps, a novel algorithm is proposed for WCE polyp detection in this paper. METHODS: First, by considering the rich color information of endoscopic images, a novel local color texture feature called histogram of local color difference (LCDH) is proposed for describing endoscopic images. A codebook acquisition method which is based upon positive samples is also proposed, generating more balanced visual words with the LCDH features. Furthermore, based on locality-constrained linear coding (LLC) algorithm, a normalized variance regular term is introduced as NVLLC algorithm, which considers the dispersion degree between k nearest visual words and features in the approximate coding phase. The final image representations are obtained from using the spatial matching pyramid model. Finally, the support vector machine is employed to classify the polyp images. RESULTS: The WCE dataset including 500 polyp and 500 normal images is adopted for evaluating the proposed method. Experimental results indicate that the classification accuracy, sensitivity and specificity have reached 96.00%, 95.80% and 96.20%, which performances better than traditional ways. CONCLUSION: A novel method for WCE polyp detection is developed using LCDH feature descriptor and NVLLC coding scheme, which achieves a promising performance and can be implemented in clinical-assisted diagnosis of intestinal diseases.

A Dementia Classification Framework Using Frequency and Time-Frequency Features Based on EEG Signals.

Alzheimer's disease (AD) accounts for 60%-70% of all dementia cases, and clinical diagnosis at its early stage is extremely difficult. As several new drugs aiming to modify disease progression or alleviate symptoms are being developed, to assess their efficacy, novel robust biomarkers of brain function are urgently required. This paper aims to explore a routine to gain such biomarkers using the quantitative analysis of electroencephalography (QEEG). This paper proposes a supervised classification framework that uses EEG signals to classify healthy controls (HC) and AD participants. The framework consists of data augmentation, feature extraction, K-nearest neighbor (KNN) classification, quantitative evaluation, and topographic visualization. Considering the human brain either as a stationary or a dynamical system, both the frequency-based and time-frequency-based features were tested in 40 participants. The results show that: 1) the proposed method can achieve up to a 99% classification accuracy on short (4s) eyes open EEG epochs, with the KNN algorithm that has best performance when compared with alternative machine learning approaches; 2) the features extracted using the wavelet transform produced better classification performance in comparison to the features based on FFT; and 3) in the spatial domain, the temporal and parietal areas offer the best distinction between healthy controls and AD. The proposed framework can effectively classify HC and AD participants with high accuracy, meanwhile offering identification and the localization of significant QEEG features. These important findings and the proposed classification framework could be used for the development of a biomarker for the diagnosis and monitoring of disease progression in AD.

Partial feedback linearization control for 3-D underactuated overhead crane systems.

In this paper, a novel anti-swing control method is proposed for 3-dimensional (3-D) underactuated overhead crane systems, which guarantees fast transportation and efficient swing suppression. Specifically, to increase the performance of the payload swing suppression, a swing-suppressing element is introduced, based on which a novel positioning error signal is constructed. Then, a new control method is developed, and the overall system is divided into two subsystems. The stability analysis of the two subsystems and the overall system is given. In addition, the convergence of the system states is proved. Simulation results are provided to demonstrate the superior performance of the proposed controller over the existing controllers. Meanwhile, the practical performance of the proposed controller is experimentally validated on a portable overhead crane test-bed.

Designing robust sensing matrix for image compression.

This paper deals with designing sensing matrix for compressive sensing systems. Traditionally, the optimal sensing matrix is designed so that the Gram of the equivalent dictionary is as close as possible to a target Gram with small mutual coherence. A novel design strategy is proposed, in which, unlike the traditional approaches, the measure considers of mutual coherence behavior of the equivalent dictionary as well as sparse representation errors of the signals. The optimal sensing matrix is defined as the one that minimizes this measure and hence is expected to be more robust against sparse representation errors. A closed-form solution is derived for the optimal sensing matrix with a given target Gram. An alternating minimization-based algorithm is also proposed for addressing the same problem with the target Gram searched within a set of relaxed equiangular tight frame Grams. The experiments are carried out and the results show that the sensing matrix obtained using the proposed approach outperforms those existing ones using a fixed dictionary in terms of signal reconstruction accuracy for synthetic data and peak signal-to-noise ratio for real images.