事实证明，信息提取方法可有效从结构化或非结构化数据中提取三重。以（头部实体，关系，尾部实体）形式组织这样的三元组的组织称为知识图（kgs）。当前的大多数知识图都是不完整的。为了在下游任务中使用kgs，希望预测kgs中缺少链接。最近，通过将实体和关系嵌入到低维的矢量空间中，旨在根据先前访问的三元组来预测三元组，从而对KGS表示不同的方法。根据如何独立或依赖对三元组进行处理，我们将知识图完成的任务分为传统和图形神经网络表示学习，并更详细地讨论它们。在传统的方法中，每个三重三倍将独立处理，并在基于GNN的方法中进行处理，三倍也考虑了他们的当地社区。查看全文

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based SLAM techniques to these novel sensors. To this end, the information in adaptively selected event windows is processed to form motion-compensated images. These images are then used to reconstruct the scene and estimate the 6-DOF pose of the camera. We also propose an inertial version of the event-only pipeline to assess its capabilities. We compare the results of different configurations of the proposed algorithm against the ground truth for sequences of two publicly available event datasets. We also compare the results of the proposed event-inertial pipeline with the state-of-the-art and show it can produce comparable or more accurate results provided the map estimate is reliable.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this study, we presented a framework for the trajectory optimization of a 5-link (planar) Biped Robot using hybrid optimization. The walking is modeled with two phases of single-stance (support) phase and the collision phase. The dynamic equations of the robot in each phase are extracted by the Lagrange method. It is assumed that the robot heel strike to the ground is full plastic. The gait is optimized with a method called hybrid optimization. The objective function of this problem is considered to be the integral of torque-squared along the trajectory, and also various constraints such as zero dynamics are satisfied without any approximation. Furthermore, in a new framework, there is presented a constraint called impact invariance, which ensures the periodicity of the time-varying trajectories. On the other hand, other constraints provide better and more human-like movement.

The importance of humanoid robots in today's world is undeniable, one of the most important features of humanoid robots is the ability to maneuver in environments such as stairs that other robots can not easily cross. A suitable algorithm to generate the path for the bipedal robot to climb is very important. In this paper, an optimization-based method to generate an optimal stairway for under-actuated bipedal robots without an ankle actuator is presented. The generated paths are based on zero and non-zero dynamics of the problem, and according to the satisfaction of the zero dynamics constraint in the problem, tracking the path is possible, in other words, the problem can be dynamically feasible. The optimization method used in the problem is a gradient-based method that has a suitable number of function evaluations for computational processing. This method can also be utilized to go down the stairs.

Finding and localizing the conceptual changes in two scenes in terms of the presence or removal of objects in two images belonging to the same scene at different times in special care applications is of great significance. This is mainly due to the fact that addition or removal of important objects for some environments can be harmful. As a result, there is a need to design a program that locates these differences using machine vision. The most important challenge of this problem is the change in lighting conditions and the presence of shadows in the scene. Therefore, the proposed methods must be resistant to these challenges. In this article, a method based on deep convolutional neural networks using transfer learning is introduced, which is trained with an intelligent data synthesis process. The results of this method are tested and presented on the dataset provided for this purpose. It is shown that the presented method is more efficient than other methods and can be used in a variety of real industrial environments.

Transformers have recently gained attention in the computer vision domain due to their ability to model long-range dependencies. However, the self-attention mechanism, which is the core part of the Transformer model, usually suffers from quadratic computational complexity with respect to the number of tokens. Many architectures attempt to reduce model complexity by limiting the self-attention mechanism to local regions or by redesigning the tokenization process. In this paper, we propose DAE-Former, a novel method that seeks to provide an alternative perspective by efficiently designing the self-attention mechanism. More specifically, we reformulate the self-attention mechanism to capture both spatial and channel relations across the whole feature dimension while staying computationally efficient. Furthermore, we redesign the skip connection path by including the cross-attention module to ensure the feature reusability and enhance the localization power. Our method outperforms state-of-the-art methods on multi-organ cardiac and skin lesion segmentation datasets without requiring pre-training weights. The code is publicly available at https://github.com/mindflow-institue/DAEFormer.

A track-before-detect (TBD) particle filter-based method for detection and tracking of low observable objects based on a sequence of image frames in the presence of noise and clutter is studied. At each time instance after receiving a frame of image, first, some preprocessing approaches are applied to the image. Then, it is sent to the detection and tracking algorithm which is based on a particle filter. Performance of the approach is evaluated for detection and tracking of an object in different scenarios including noise and clutter.

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple LiDAR-based perception pipeline feeding into an occupancy grid based expansion algorithm, we determine a goal point to drive. This pipeline successfully achieved reliable and consistent laps in addition with occupancy grid algorithm to know the ways around a cone-defined track with an averaging speeds of 6.85 m/s over a distance 434.2 meters for a total lap time of 63.4 seconds.

Convolutional Neural Networks (CNN) have shown promising results for displacement estimation in UltraSound Elastography (USE). Many modifications have been proposed to improve the displacement estimation of CNNs for USE in the axial direction. However, the lateral strain, which is essential in several downstream tasks such as the inverse problem of elasticity imaging, remains a challenge. The lateral strain estimation is complicated since the motion and the sampling frequency in this direction are substantially lower than the axial one, and a lack of carrier signal in this direction. In computer vision applications, the axial and the lateral motions are independent. In contrast, the tissue motion pattern in USE is governed by laws of physics which link the axial and lateral displacements. In this paper, inspired by Hooke's law, we first propose Physically Inspired ConsTraint for Unsupervised Regularized Elastography (PICTURE), where we impose a constraint on the Effective Poisson's ratio (EPR) to improve the lateral strain estimation. In the next step, we propose self-supervised PICTURE (sPICTURE) to further enhance the strain image estimation. Extensive experiments on simulation, experimental phantom and in vivo data demonstrate that the proposed methods estimate accurate axial and lateral strain maps.