Visual Tracking Using Improved Multiple Instance Learning with Co-training Framework for Moving Robot

( Zhiyu Zhou ),( Junjie Wang ),( Yaming Wang ),( Zefei Zhu ),( Jiayou Du ),( Xiangqi Liu ),( Jiaxin Quan ) 한국인터넷정보학회 2018 KSII Transactions on Internet and Information Syst Vol.12 No.11

Object detection and tracking is the basic capability of mobile robots to achieve natural human-robot interaction. In this paper, an object tracking system of mobile robot is designed and validated using improved multiple instance learning algorithm. The improved multiple instance learning algorithm which prevents model drift significantly. Secondly, in order to improve the capability of classifiers, an active sample selection strategy is proposed by optimizing a bag Fisher information function instead of the bag likelihood function, which dynamically chooses most discriminative samples for classifier training. Furthermore, we integrate the co-training criterion into algorithm to update the appearance model accurately and avoid error accumulation. Finally, we evaluate our system on challenging sequences and an indoor environment in a laboratory. And the experiment results demonstrate that the proposed methods can stably and robustly track moving object.

Robot Manipulator Visual Servoing via Kalman Filter- Optimized Extreme Learning Machine and Fuzzy Logic

Zhiyu Zhou,Yanjun Hu,Jiangfei Ji,Yaming Wang,Zefei Zhu,Donghe Yang,Ji Chen 한국인터넷정보학회 2022 KSII Transactions on Internet and Information Syst Vol.16 No.8

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

Random vector functional link network with L21 norm regularization for robot visual servo control with feature constraint

Zhiyu Zhou,Jiusen Guo,Yaming Wang,Zefei Zhu 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.9

Uncalibrated visual servoing control still encounters some challenges, such as calculating the interaction matrix with less cost and keeping the current image features within a camera’s field of view (FOV) in a noisy system environment. To solve these problems, we propose a new control method that uses a random vector functional link network with L21 norm regularization to calculate the interaction matrix and further estimate it with a robust information filter (RIF). L21 norm regularization can deal with the global sparsity of input weights and reduce the inherent complexity of a model. The RIF limits noise variance within a certain range to reduce the influence of uncertain noise on the servoing task. We also design a method that reacts to the control law in accordance with the coordinates of image features. It can adjust running speed in real time and keep image features within a camera’s FOV. We apply this method to a six-degrees-of-freedom eye-in-hand manipulator, and several simulations are performed. Simulation results show that the proposed algorithm performs well in the task and achieves good performance in terms of noise resistance. Image features barely escape from the camera’s FOV through the proposed constraint method.

Increased Risk of Recurrence of Non-Muscle Invasive Bladder Cancer Associated With Psychological Distress: A Prospective Cohort Study

Zhiyu Qian,Weihong Ding,Qidong Zhou,Shengyang Ge,Chuanyu Sun,Ke Xu 대한신경정신의학회 2021 PSYCHIATRY INVESTIGATION Vol.18 No.8

Objective The primary aim was to evaluate the influence of depressive and anxiety symptoms on the 1-year recurrence rate of non-muscle invasive bladder cancer (NMIBC) patients. The secondary aim was to examine the risk factors leading to psychological distress. Methods A total of 104 NMIBC patients were enrolled for interviews, and the Hospital Anxiety and Depression Scale (HADS) questionnaire survey was administered 1 month after their operation. Their cystoscopy results were followed up. The risk factors affecting their 1-year recurrence rate were evaluated through univariate analysis, Cox regression and Kaplan-Meier analysis. The risk factors causing depressive and anxiety symptoms were evaluated through univariate analysis and logistic regression. Results In addition to American Urological Association risk stratification, depressive symptoms were another independent risk factor for recurrence in NMIBC patients (HR: 2.493, 95% CI: 1.048-5.930, p=0.039), and the increase in the recurrence rate was highly significant in intermediate-risk patients (HR: 8.496, 95% CI: 2.178-33.138, p=0.019). Anxiety symptoms were not an independent risk factor for recurrence (HR: 1.655, 95% CI: 0.714-3.837, p=0.240). We also observed that the burden of medical expenses of NMIBC on the family was an independent risk factor for depressive symptoms (p=0.029) and anxiety symptoms (p=0.048); chronic pain was an independent risk factor for anxiety symptoms (OR: 3.447, 95% CI: 1.182-10.052, p=0.023). Conclusion Depression symptoms are an independent risk factor for recurrence in NMIBC patients. Moreover, the burden of medical expenses on the family is an independent risk factor for depressive and anxiety symptoms in NMIBC patients. Additionally, chronic pain is a risk factor for anxiety symptoms in NMIBC patients. This study provided a theoretical foundation for clinical oncologists to pay more attention to the mental health of NMIBC patients.

Panting Fatigue of Trapezoidal Corrugated Steel Webs with Mixed-Mode Cracks

Zhiyu Wang,Xiafang Zhou,Zifeng Liu 한국강구조학회 2021 International Journal of Steel Structures Vol.21 No.2

Trapezoidal corrugated steel webs under panting fatigue are represented by repeated cyclical out-of-plane defl ections of their subpanel with mixed-mode cracks. Compared to stiff ened fl at webs, notable fatigue crack formation could take place along with local defl ection. Fatigue tests were conducted for nine composite girders with slender webs and varied corrugation dimensions. Nearly all test girders showed notable local and interactive shear buckling at the corrugated web panel and the panting fatigue cracks are formed under repeated cyclical defl ection while the compression and tension fl anges remain intact. Fatigue cracks are initiated at the junction between the vertical (longer) edge of the subpanel and the boundary of the out-of-plane defl ection region. The crack propagation paths appear to deviate from the original vertical edge due to buckling induced out-of-plane defl ection under mixed-mode stress condition. The test results demonstrate that the Category B’ and Category E suggested by the AASHTO LRFD bridge fatigue design provisions related to the principal stress range and the nominal membrane shear stress range respectively can be considered for the prediction of the fatigue life of trapezoidal Corrugated steel webs in test girders. An appropriate allowance of both the shear stress along the vertical web edge and tension stress from the diagonal plastifi ed tension band is given for the mixed-mode stress intensity factor. The proposed fatigue life prediction allowing for mixed-mode crack growth mostly compares well with test results and its further improvement for the case with higher web panel slenderness ratio is discussed.

Elderly Functional health literacy and Health Status: The Mediating Role of Physical Activity Frequency and Duration

( Zixiang Zhou ),( Zhiyu Leng ),( Zhaoyong Liu ) 한국융합과학회 2022 한국융합과학회 국제학술대회자료집 Vol.2022 No.0

The health status of the elderly is a concern for many people. Many studies have shown that functional health literacy of the elderly will affect their health status, and health behavior plays a mediating role in this process (Hu, 2022; Liu et al., 2015). Considering that physical activity is an important means to improve the quality of health, its impact on health behavior is often positive (Geboers et al., 2014; Mõttus et al., 2014). However, it is undeniable that the elderly group needs to bear more risks during physical activities (Yamada & Demura, 2009). Excessive physical activity will also bring irreversible injury (Kallinen & Markku, 1995). In this way, the relationship of physical activity on the health of the elderly has become a problem to be discussed. The purpose of this study is to explore the relationship between functional health literacy, physical activity frequency, duration and health status of the elderly through correlation analysis and regression analysis. Therefore, the following two research questions are established in this study. First, does the frequency and duration of physical activity play a mediating role between functional health literacy and health status? Second, which mediating path of physical activity frequency and duration is more important for health status? Methods In this study, the elderly over 60 years old with physical activity habbit were taken as the subjects. Using the purposive sampling method and the spatial dimension as the sampling basis, five prefecture level cities located in the east, west, north, south and middle of Hunan Province (Changde City, Yongzhou City, Huaihua City, Zhuzhou City and Xiangtan City) were selected as the study areas for questionnaire distribution, and 513 valid questionnaires were finally collected. The questionnaire used in the measurement was adapted from HLS-14 (Suka et al., 2013), PASE (Washburn et al., 1993), Physical Exercise Self-Efficacy Scale (Schwarzer & Renner, 2009) and Health Status Scale (Reisi et al., 2012), The adapetd questionnaire revised the expression of some items, and consulted experts to confirm the equivalence of translation. The analysis of the survey data shows that the questionnaire has appropriate reliability and validity (Table 1). Findings and Discussions The results were as follows. Firstly, through Pearson correlation analysis (Table 2), it was determined that functional health literacy, physical activity frequency and duration had significant positive correlation with health status. Second, Path analysis is conducted through linear regression, and the conclusions are shown in the table 3, 4 and 5 below. The research conclusion shows that there is a positive correlation between functional health literacy, physical activity frequency, duration and health status in the elderly population. This conclusion proves that functional health literacy can indirectly improve health status by increasing the frequency and duration of physical activities. Althrough the mediating path is accepted, physical activity frequency or duration do not show a decisive advantage in improving health status compared with other similar health behavior studies, and there is no significant difference between them in mediating effect.

The Relationship among Negotiation, Constraints, Self-efficacy, and Physical Activity in Chinese Elderly: A Perceived-Constraint-Reduction Model

Zixiang Zhou,Zhiyu Leng,Zhaoyong Liu,Jie Li 아시아스포츠융합과학회 2023 Asia Pacific Journal of Applied Sport Sciences Vol.4 No.1

PURPOSE This study investigated the relationship among negotiation, constraints, self-efficacy, and physical activity in Chinese elderly. METHOD Elderly participants who agreed to complete a questionnaire were recruited from five cities in Hunan province. A total of 300 valid questionnaires were collected and analyzed using SPSS and AMOS 26. RESULTS We found that negotiation has a direct positive impact on physical activity and negotiation has an indirect positive impact on physical activity via self-efficacy and constraints. CONCLUSION To enhance physical activity in the elderly, it is necessary to improve their self-efficacy, provide incentive mechanisms and positive feedback to encourage negotiation, and offer social support to enhance their ability to overcome constraints.

Illumination correction via improved grey wolf optimizer for regularized random vector functional link network

Xiaochun Zhang,Zhiyu Zhou 한국인터넷정보학회 2023 KSII Transactions on Internet and Information Syst Vol.17 No.3

In a random vector functional link (RVFL) network, shortcomings such as local optimal stagnation and decreased convergence performance cause a reduction in the accuracy of illumination correction by only inputting the weights and biases of hidden neurons. In this study, we proposed an improved regularized random vector functional link (RRVFL) network algorithm with an optimized grey wolf optimizer (GWO). Herein, we first proposed the moth-flame optimization (MFO) algorithm to provide a set of excellent initial populations to improve the convergence rate of GWO. Thereafter, the MFO-GWO algorithm simultaneously optimized the input feature, input weight, hidden node and bias of RRVFL, thereby avoiding local optimal stagnation. Finally, the MFO-GWO-RRVFL algorithm was applied to ameliorate the performance of illumination correction of various test images. The experimental results revealed that the MFO-GWO-RRVFL algorithm was stable, compatible, and exhibited a fast convergence rate.

Optimization of membrane fouling process for mustard tuber wastewater treatment in an anoxic-oxic biofilm-membrane bioreactor

Hongxiang Chai,Liang Li,Yinghua Wei,Jian Zhou,Wei Kang,Zhiyu Shao,Qiang He 대한환경공학회 2016 Environmental Engineering Research Vol.21 No.2

Membrane bioreactor (MBR) technology has previously been used by water industry to treat high salinity wastewater. In this study, an anoxic-oxic biofilm-membrane bioreactor (AOB-MBR) system has been developed to treat mustard tuber wastewater of 10% salinity (calculated as NaCl). To figure out the effects of operating conditions of the AOB-MBR on membrane fouling rate (KV), response surface methodology was used to evaluate the interaction effect of the three key operational parameters, namely time interval for pump (t), aeration intensity (UGr) and transmembrane pressure (TMP). The optimal condition for lowest membrane fouling rate (KV) was obtained: time interval was 4.0 min, aeration intensity was 14.6 m3/(m2￥h) and transmembrane pressure was 19.0 kPa. And under this condition, the treatment efficiency with different influent loads, i.e. 1.0, 1.9 and 3.3 kg COD m-3d-1 was researched. When the reactor influent load was less than 1.9 kg COD m-3d-1, the effluent could meet the third discharge standard of “Integrated Wastewater Discharge Standard”. This study suggests that the model fitted by response surface methodology can predict accurately membrane fouling rate within the specified design space. And it is feasible to apply the AOB-MBR in the pickled mustard tuber factory, achieving satisfying effluent quality.