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    Intelligent Heart Rate Extraction Method Based on Millimeter Wave Radar
    Feng Lingdong, Miao Yubin
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 493-498.   DOI: 10.1007/s12204-023-2656-1
    Abstract1317)      PDF(pc) (1395KB)(224)       Save
    The non-contact vital signs measurement technology based on millimeter wave radar has important medical value and unique advantages. However, because of its weak vibration characteristics, wide range of values, and the presence of respiratory harmonics and irrelevant motion interference in the detection signal, it is still difficult to perform a robust extraction in real time. To solve the above problems, the adaptive extraction of heart rates with a wide range of distribution is summarized as a multi-scale detection problem, and the distinction between heartbeat features and other irrelevant body motion features is summarized as a feature attention problem. Then, multi-scale detection module and heart rate feature attention module are designed and combined into a basic network module to build a heart rate extraction neural network. Through experiments based on properly designed datasets, a reasonable parameter design of the module is first explored. Experimental results show that in the signal data with unrelated motion data interference, average absolute error of the proposed method model for heart rate extraction can reach 1.87 beats/min, and average relative accuracy can reach 97.51%.
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    Dynamic Response of Idiopathic Scoliosis and Kyphosis Spine
    Li Pengju, Fu Rongchang, Yang Xiaozheng, Wang Kun
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 482-492.   DOI: 10.1007/s12204-023-2635-6
    Abstract1151)      PDF(pc) (1618KB)(156)       Save
    The dynamic response characteristics of scoliosis and kyphosis to vibration are currently unclear. The finite element method (FEM) was employed to study the vibration response of patients with idiopathic scoliosis and kyphosis. The objective is to analyze the dynamic characteristics of idiopathic scoliosis and kyphosis using FEM. The finite element model of T1—S1 segments was established and verified using the CT scanning images. The established scoliosis and kyphosis models were verified statistically and dynamically. The finite element software Abaqus was utilized to analyze the mode, harmonic response, and transient dynamics of scoliosis and kyphosis. The first four natural frequencies extracted from modal analysis were 1.34, 2.26, 4.49 and 17.69 Hz respectively. Notably, the first three natural frequencies decreased with the increase of upper body mass. In harmonic response analysis, the frequency corresponding to the maximum amplitude in x direction was the first order natural frequency, and the frequency corresponding to the maximum amplitude in y and z directions was the second order natural frequency. At the same resonance frequency, the amplitude of the thoracic spine was larger relative to that of the lumbar spine. The time domain results of transient analysis showed that the displacement dynamic response of each segment presented cyclic response characteristics over time. Under 2.26Hz excitation, the dynamic response of the research object appeared as resonance. The higher the degree of spinal deformity, the greater the fundamental frequency. The first three natural modes of scoliosis and kyphosis contain vibration components in the vertical direction. The second order natural frequency was the most harmful to patients with scoliosis and kyphosis. Under cyclic loading, the deformation of the thoracic cone exceeds that of the lumbar cone.
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    Endotracheal Intubation Method Based on End-Tidal Carbon Dioxide Perception
    Sun Yi, Tao Tao, Zhao Hui, Lyu Na, Tao Wei
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 582-590.   DOI: 10.1007/s12204-024-2707-2
    Abstract974)      PDF(pc) (1586KB)(162)       Save
    Endotracheal intubation has broad application prospects in the biomedical field. At present, visual intubation tools are mainly used to judge the catheter position. However, when patients suffer from pains in the neck, throat, and trachea and other diseases or other conditions, if the exposure of the glottic area is not ideal, there are difficult airways. For difficult airways, this visual intubation tool has great limitations. Studying the new guidance method of endotracheal intubation and providing a reference or solution for difficult airway intubation is a crucial problem in the biomedical clinical field. In this paper, an endotracheal intubation method is proposed based on end-tidal carbon dioxide (ETCO2) perception. The simulation model verifies the feasibility of this method for endotracheal intubation guidance. Then, four micro-cavity tubes are used as a gas collection tube, and a set of endotracheal tube guidance systems based on ETCO2 perception is designed and developed to collect and process the CO2 concentration information in the pharyngeal cavity. The experimental results show that this guidance system can be used for intubation guidance in the simulated pharyngeal cavity without vision. Keywords: end-tidal carbon dioxide, no vision endotracheal intubation, micro-cavity tube
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    Vascular Interventional Surgery Path Planning and 3D Visual Navigation
    Fu Zeyu, Fu Zhuang, Guan Yisheng
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 472-481.   DOI: 10.1007/s12204-023-2653-4
    Abstract945)      PDF(pc) (1855KB)(264)       Save
    The introduction of path planning and visual navigation in vascular interventional surgery can provide an intuitive reference and guidance for doctors. In this study, based on the preprocessing results of vessel skeleton extraction and stenosis diagnosis in X-ray coronary angiography images, clustering is used to determine the connectivity of the intersection points, and then the improved Dijkstra algorithm is used to automatically plan the surgical path. On this basis, the intermediate point is introduced to piecewise correct the path and improve the accuracy of the system. Finally, the epipolar constrained inverse projection transformation is used to reconstruct the coronary artery 3D model, and the optimal path is marked to achieve a multi-angle 3D visual navigation. Clinical experimental results show that compared with the traditional Dijkstra algorithm, the improved method can reduce the need for intermediate points, which improves computational efficiency, and the average error of manual calibration path is reduced to 4% of that before overall optimization. The results of 3D reconstruction and reprojection further qualitatively and quantitatively verify the effectiveness of the whole scheme.
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    Lightweight Human Pose Estimation Based on Multi-Attention Mechanism
    LIN Xiao, LU Meichen, GAO Mufeng, LI Yan
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 899-910.   DOI: 10.1007/s12204-023-2691-y
    Abstract931)      PDF(pc) (917KB)(267)       Save
    Human pose estimation has received much attention from the research community because of its wide range of applications. However, current research for pose estimation is usually complex and computationally intensive, especially the feature loss problems in the feature fusion process. To address the above problems, we propose a lightweight human pose estimation network based on multi-attention mechanism (LMANet). In our method, network parameters can be significantly reduced by lightweighting the bottleneck blocks with depth-wise separable convolution on the high-resolution networks. After that, we also introduce a multi-attention mechanism to improve the model prediction accuracy, and the channel attention module is added in the initial stage of the network to enhance the local cross-channel information interaction. More importantly, we inject spatial crossawareness module in the multi-scale feature fusion stage to reduce the spatial information loss during feature extraction. Extensive experiments on COCO2017 dataset and MPII dataset show that LMANet can guarantee a higher prediction accuracy with fewer network parameters and computational effort. Compared with the highresolution network HRNet, the number of parameters and the computational complexity of the network are reduced by 67% and 73%, respectively.
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    Visualization System for Closed Thoracic Drainage Puncture Based on Augmented Reality and Ultrafine Diameter Camera
    Qin Wei, Wang Shuyi, Chen Xueyu, Zhuang Yiwei, Shen Yichun, Shen Yuhán
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 417-424.   DOI: 10.1007/s12204-025-2808-6
    Abstract880)      PDF(pc) (1524KB)(212)       Save
    Closed thoracic drainage can be performed using a steel-needle-guided chest tube to treat pleural effusion or pneumothorax in clinics. However, the puncture procedure during surgery is invisible, increasing the risk of surgical failure. Therefore, it is necessary to design a visualization system for closed thoracic drainage. Augmented reality (AR) technology can assist in visualizing the internal anatomical structure and determining the insertion point on the body surface. The structure of the currently used steel-needle-guided chest tube was modified by integrating it with an ultrafine diameter camera to provide real-time visualization of the puncture process. After simulation experiments, the overall registration error of the AR method was measured to be within (3.59±0.53) mm, indicating its potential for clinical application. The ultrafine diameter camera module and improved steel-needle-guided chest tube can timely reflect the position of the needle tip in the human body. A comparative experiment showed that video guidance could improve the safety of the puncture process compared to the traditional method. Finally, a qualitative evaluation of the usability of the system was conducted through a questionnaire. This system facilitates the visualization of closed thoracic drainage puncture procedure and provides an implementation scheme to enhance the accuracy and safety of the operative step, which is conducive to reducing the learning curve and improving the proficiency of the doctors.
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    Mechanical and Permeability Properties of Radial-Gradient Bone Scaffolds Developed by Voronoi Tessellation for Bone Tissue Engineering
    Xu Qingyu, Hai Jizhe, Shan Chunlong, Li Haijie
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 433-445.   DOI: 10.1007/s12204-024-2770-8
    Abstract878)      PDF(pc) (4136KB)(196)       Save
    Irregular bone scaffolds fabricated using the Voronoi tessellation method resemble the morphology and properties of human cancellous bones. This has become a prominent topic in bone tissue engineering research in recent years. However, studies on the radial-gradient design of irregular bionic scaffolds are limited. Therefore, this study aims to develop a radial-gradient structure similar to that of natural long bones, enhancing the development of bionic bone scaffolds. A novel gradient method was adopted to maintain constant porosity, control the seed sitespecific distribution within the irregular porous structure, and vary the strut diameter to generate radial gradients. The irregular scaffolds were compared with four conventional scaffolds (cube, pillar BCC, vintiles, and diamond) in terms of permeability, stress concentration characteristics, and mechanical properties. The results indicate that the radial-gradient irregular porous structure boasts the widest permeability range and superior stress distribution compared to conventional scaffolds. With an elastic modulus ranging from 4.20 GPa to 22.96 GPa and a yield strength between 68.37 MPa and 149.40 MPa, it meets bone implant performance requirements and demonstrates significant application potential.
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    Real-Time Prediction of Elbow Motion Through sEMG-Based Hybrid BP-LSTM Network
    Ma Yiyuan, Chen Huaiyuan, Chen Weidong
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 455-462.   DOI: 10.1007/s12204-024-2581-y
    Abstract843)      PDF(pc) (823KB)(265)       Save
    In the face of the large number of people with motor function disabilities, rehabilitation robots have attracted more and more attention. In order to promote the active participation of the user’s motion intention in the assisted rehabilitation process of the robots, it is crucial to establish the human motion prediction model. In this paper, a hybrid prediction model built on long short-term memory (LSTM) neural network using surface electromyography (sEMG) is applied to predict the elbow motion of the users in advance. This model includes two sub-models: a back-propagation neural network and an LSTM network. The former extracts a preliminary prediction of the elbow motion, and the latter corrects this prediction to increase accuracy. The proposed model takes time series data as input, which includes the sEMG signals measured by electrodes and the continuous angles from inertial measurement units. The offline and online tests were carried out to verify the established hybrid model. Finally, average root mean square errors of 3.52 ◦ and 4.18 ◦ were reached respectively for offline and online tests, and the correlation coefficients for both were above 0.98.
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    Transformer-Based Contrastive Learning Method for Automated Sleep Stages Classification
    Ma Jin, Ren Ze, Zhang Tongtong, Ding Ying, Lu Yilei, Peng Yinghong
    J Shanghai Jiaotong Univ Sci    2025, 30 (4): 720-732.   DOI: 10.1007/s12204-024-2734-z
    Abstract819)      PDF(pc) (1520KB)(227)       Save
    Automated sleep stages classification facilitates clinical experts in conducting treatment for sleep disorders, as it is more time-efficient concerning the analysis of whole-night polysomnography (PSG). However, most of the existing research only focused on public databases with channel systems incompatible with the current clinical measurements. To narrow the gap between theoretical models and real clinical practice, we propose a novel deep learning model, by combining the vision transformer with supervised contrastive learning, realizing the efficient sleep stages classification. Experimental results show that the model facilitates an easier classification of multi-channel PSG signals. The mean F1-scores of 79.2% and 76.5% on two public databases outperform the previous studies, showing the model’s great capability, and the performance of the proposed method on the children’s small database also presents a high mean accuracy of 88.6%. Our proposed model is validated not only on the public databases but the provided clinical database to strictly evaluate its clinical usage in practice.
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    Influence of Height of Bionic Hexagonal Texture on Tactile Perception
    Wang Lei, Zhu Yuqin, Fang Xingxing, Wang Shuai, Tang Wei
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 463-471.   DOI: 10.1007/s12204-023-2648-1
    Abstract718)      PDF(pc) (2519KB)(168)       Save
    It is significant to process textures with special functions similar to animal surfaces based on bionics and improve the friction stability and contact comfort of contact surfaces for the surface texture design of tactile products. In this paper, a bionic hexagonal micro-convex texture was prepared on an acrylic surface by laser processing. The friction mechanism of a finger touching the bionic hexagonal micro-convex texture under different touch speeds and pressures, and the effect of the height of the texture on tactile perception were investigated by finite element, subjective evaluation, friction, and EEG tests. The results showed that the deformation friction was the main friction component when the finger touched the bionic hexagonal texture, and the slipperiness and friction factor showed a significant negative correlation. As the touch speed decreased or the touch force increased, the hysteresis friction of the fingers as well as the interlocking friction increased, and the slipperiness perception decreased. The bionic hexagonal texture with higher convexity caused a higher friction factor, lower slipperiness perception, and lower P300 peak. Hexagonal textures with lower convexity, lower friction factor, and higher slipperiness perception required greater brain attentional resources and intensity of tactile information processing during tactile perception.
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    Self-Adaptive LSAC-PID Approach Based on Lyapunov Reward Shaping for Mobile Robots
    YU Xinyi, XU Siyu, FAN Yuehai, OU Linlin
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1085-1102.   DOI: 10.1007/s12204-023-2631-x
    Abstract718)      PDF(pc) (2455KB)(284)       Save
    In order to solve the control problem of multiple-input multiple-output (MIMO) systems in complex and variable control environments, a model-free adaptive LSAC-PID method based on deep reinforcement learning (RL) is proposed in this paper for automatic control of mobile robots. According to the environmental feedback, the RL agent of the upper controller outputs the optimal parameters to the lower MIMO PID controllers, which can realize the real-time PID optimal control. First, a model-free adaptive MIMO PID hybrid control strategy is presented to realize real-time optimal tuning of control parameters in terms of soft-actor-critic (SAC) algorithm, which is state-of-the-art RL algorithm. Second, in order to improve the RL convergence speed and the control performance, a Lyapunov-based reward shaping method for off-policy RL algorithm is designed, and a self-adaptive LSAC-PID tuning approach with Lyapunov-based reward is then determined. Through the policy evaluation and policy improvement of the soft policy iteration, the convergence and optimality of the proposed LSAC-PID algorithm are proved mathematically. Finally, based on the proposed reward shaping method, the reward function is designed to improve the system stability for the line-following robot. The simulation and experiment results show that the proposed adaptive LSAC-PID approach has good control performance such as fast convergence speed, high generalization and high real-time performance, and achieves real-time optimal tuning of MIMO PID parameters without the system model and control loop decoupling.
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    Multi-Label Image Classification Model Based on Multiscale Fusion and Adaptive Label Correlation
    YE Jihua, JIANG Lu, XIAO Shunjie, ZONG Yi, JIANG Aiwen
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 889-898.   DOI: 10.1007/s12204-023-2688-6
    Abstract704)      PDF(pc) (866KB)(268)       Save
    At present, research on multi-label image classification mainly focuses on exploring the correlation between labels to improve the classification accuracy of multi-label images. However, in existing methods, label correlation is calculated based on the statistical information of the data. This label correlation is global and depends on the dataset, not suitable for all samples. In the process of extracting image features, the characteristic information of small objects in the image is easily lost, resulting in a low classification accuracy of small objects. To this end, this paper proposes a multi-label image classification model based on multiscale fusion and adaptive label correlation. The main idea is: first, the feature maps of multiple scales are fused to enhance the feature information of small objects. Semantic guidance decomposes the fusion feature map into feature vectors of each category, then adaptively mines the correlation between categories in the image through the self-attention mechanism of graph attention network, and obtains feature vectors containing category-related information for the final classification. The mean average precision of the model on the two public datasets of VOC 2007 and MS COCO 2014 reached 95.6% and 83.6%, respectively, and most of the indicators are better than those of the existing latest methods.
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    Multi-Scale Dynamic Hypergraph Convolutional Network for Traffic Flow Forecasting
    DONG Zhaoxian, YU Shuo, SHEN Yanming
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 880-888.   DOI: 10.1007/s12204-023-2682-z
    Abstract655)      PDF(pc) (665KB)(203)       Save
    This paper focuses on the problem of traffic flow forecasting, with the aim of forecasting future traffic conditions based on historical traffic data. This problem is typically tackled by utilizing spatio-temporal graph neural networks to model the intricate spatio-temporal correlations among traffic data. Although these methods have achieved performance improvements, they often suffer from the following limitations: These methods face challenges in modeling high-order correlations between nodes. These methods overlook the interactions between nodes at different scales. To tackle these issues, in this paper, we propose a novel model named multi-scale dynamic hypergraph convolutional network (MSDHGCN) for traffic flow forecasting. Our MSDHGCN can effectively model the dynamic higher-order relationships between nodes at multiple time scales, thereby enhancing the capability for traffic forecasting. Experiments on two real-world datasets demonstrate the effectiveness of the proposed method.
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    MAGPNet: Multi-Domain Attention-Guided Pyramid Network for Infrared Small Object Detection
    DING Leqi, WANG Biyun, YAO Lixiu, CAI Yunze
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 935-951.   DOI: 10.1007/s12204-024-2694-3
    Abstract654)      PDF(pc) (1860KB)(299)       Save
    To overcome the obstacles of poor feature extraction and little prior information on the appearance of infrared dim small targets, we propose a multi-domain attention-guided pyramid network (MAGPNet). Specifically, we design three modules to ensure that salient features of small targets can be acquired and retained in the multi-scale feature maps. To improve the adaptability of the network for targets of different sizes, we design a kernel aggregation attention block with a receptive field attention branch and weight the feature maps under different perceptual fields with attention mechanism. Based on the research on human vision system, we further propose an adaptive local contrast measure module to enhance the local features of infrared small targets. With this parameterized component, we can implement the information aggregation of multi-scale contrast saliency maps. Finally, to fully utilize the information within spatial and channel domains in feature maps of different scales, we propose the mixed spatial-channel attention-guided fusion module to achieve high-quality fusion effects while ensuring that the small target features can be preserved at deep layers. Experiments on public datasets demonstrate that our MAGPNet can achieve a better performance over other state-of-the-art methods in terms of the intersection of union, Precision, Recall, and F-measure. In addition, we conduct detailed ablation studies to verify the effectiveness of each component in our network.
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    Fault Identification Method for In-Core Self-Powered Neutron Detectors Combining Graph Convolutional Network and Stacking Ensemble Learning
    LIN Weiqing, LU Yanzhen, MIAO Xiren, QIU Xinghua
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 1018-1027.   DOI: 10.1007/s12204-023-2684-x
    Abstract627)      PDF(pc) (1454KB)(180)       Save
    Self-powered neutron detectors (SPNDs) play a critical role in monitoring the safety margins and overall health of reactors, directly affecting safe operation within the reactor. In this work, a novel fault identification method based on graph convolutional networks (GCN) and Stacking ensemble learning is proposed for SPNDs. The GCN is employed to extract the spatial neighborhood information of SPNDs at different positions, and residuals are obtained by nonlinear fitting of SPND signals. In order to completely extract the time-varying features from residual sequences, the Stacking fusion model, integrated with various algorithms, is developed and enables the identification of five conditions for SPNDs: normal, drift, bias, precision degradation, and complete failure. The results demonstrate that the integration of diverse base-learners in the GCN-Stacking model exhibits advantages over a single model as well as enhances the stability and reliability in fault identification. Additionally, the GCN-Stacking model maintains higher accuracy in identifying faults at different reactor power levels.
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    Real-Time Lightweight Convolutional Neural Network for Polyp Detection in Endoscope Images
    Si Bingqi, Pang Chenxi, Wang Zhiwu, Jiang Pingping, Yan Guozheng
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 521-534.   DOI: 10.1007/s12204-023-2671-2
    Abstract608)      PDF(pc) (1563KB)(159)       Save
    Colorectal cancer is the most common cancer with a second mortality rate. Polyp lesion is a precursor symptom of colorectal cancer. Detection and removal of polyps can effectively reduce the mortality of patients in the early period. However, mass images will be generated during an endoscopy, which will greatly increase the workload of doctors, and long-term mechanical screening of endoscopy images will also lead to a high misdiagnosis rate. Aiming at the problem that computer-aided diagnosis models deeply depend on the computational power in the polyp detection task, we propose a lightweight model, coordinate attention-YOLOv5-Lite-Prune, based on the YOLOv5 algorithm, which is different from state-of-the-art methods proposed by the existing research that applied object detection models or their variants directly to prediction task without any lightweight processing, such as faster region-based convolutional neural networks, YOLOv3, YOLOv4, and single shot multibox detector. The innovations of our model are as follows: First, the lightweight EfficientNetLite network is introduced as the new feature extraction network. Second, the depthwise separable convolution and its improved modules with different attention mechanisms are used to replace the standard convolution in the detection head structure. Then, the α-intersection over union loss function is applied to improve the precision and convergence speed of the model. Finally, the model size is compressed with a pruning algorithm. Our model effectively reduces parameter amount and computational complexity without significant accuracy loss. Therefore, the model can be successfully deployed on the embedded deep learning platform, and detect polyps with a speed above 30 frames per second, which means the model gets rid of the limitation that deep learning models must rely on high-performance servers.
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    Research Advances on Non-Line-of-Sight Imaging Technology
    LIU Mengge, LIU Hao, HE Xin, JIN Shaohui, CHEN Pengyun, XU Mingliang
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 833-854.   DOI: 10.1007/s12204-023-2686-8
    Abstract581)      PDF(pc) (2547KB)(345)       Save
    Non-line-of-sight imaging recovers hidden objects around the corner by analyzing the diffuse reflection light on the relay surface that carries hidden scene information. Due to its huge application potential in the fields of autonomous driving, defense, medical imaging, and post-disaster rescue, non-line-of-sight imaging has attracted considerable attention from researchers at home and abroad, especially in recent years. The research on non-line-of-sight imaging primarily focuses on imaging systems, forward models, and reconstruction algorithms. This paper systematically summarizes the existing non-line-of-sight imaging technology in both active and passive scenes, and analyzes the challenges and future directions of non-line-of-sight imaging technology.
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    CenterRCNN: Two-Stage Anchor-Free Object Detection Using Center Keypoint-Based Region Proposal Network
    LIU Chen, LI Wenfa, XU Yunwen, LI Dewei
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 1028-1036.   DOI: 10.1007/s12204-023-2667-y
    Abstract570)      PDF(pc) (1904KB)(210)       Save
    The classic two-stage object detection algorithms such as faster regions with convolutional neural network features (Faster RCNN) suffer from low speed and anchor hyper-parameter sensitive problems caused by dense anchor mechanism in region proposal network (RPN). Recently, the anchor-free method CenterNet shows the effectiveness of perceiving and classifying object by its center. However, the severe coincidence false positive problem between confusing categories caused by the multiple binary classifiers makes it still insufficient in accuracy. We introduce a two-stage network CenterRCNN to take advantage of both and overcome their shortcomings. CenterRPN is proposed as the first stage to give proposals that incorporate the center keypoint idea into RPN to perceive foreground objects, replacing dense anchor-based RPN. Then the proposals are classified by the multi-classifier of RCNN header that focuses more on the difference between confusing categories and only outputs the maximum probability one of them. To sum up, CenterRPN can eliminate the drawbacks of dense anchor based RPN in Faster RCNN, and multi-classifier’s classification ability is better than that of multiple binary classifiers in CenterNet. The experiment demonstrates that CenterRCNN outperforms both basic algorithms in the accuracy, and the speed is improved as compared with Faster RCNN.
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    Tugboat Scheduling Problem Considering Time Windows and Flexible Returning Way to Base
    ZHONG Ming, WU Ying, WU Chunli, WANG Fang
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1276-1288.   DOI: 10.1007/s12204-023-2657-0
    Abstract557)      PDF(pc) (883KB)(187)       Save
    In ports, inbound and outbound ships usually need tugboats to provide berthing and unberthing services. The decision-making problem on tugboat scheduling is important because it involves not only ships’ turnaround time at port but also tugboat operation costs. Encouraged by the problem faced by the tugboat operator, we formulate a mixed-integer programming model for tugboat scheduling problem with several practical constraints considered, such as dynamic arrival and departure of ships, qualification of tugboats, synchronization, and a flexible returning way to base to minimize the tugboat operation costs generated within the planning period. The model is inspired by genetic algorithm framework with three-dimensional coding. Effectiveness of our model and proposed solution method are testified and validated through experiments and computational results. This research helps to provide a scientific scheduling method and some insights for managers.
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    Omnidirectional Human Behavior Recognition Method Based on Frequency-Modulated Continuous-Wave Radar
    Sun Chang, Wang Shaohong, Lin Yanping
    J Shanghai Jiaotong Univ Sci    2025, 30 (4): 637-645.   DOI: 10.1007/s12204-024-2580-z
    Abstract554)      PDF(pc) (1094KB)(349)       Save
    Frequency-modulated continuous-wave radar enables the non-contact and privacy-preserving recognition of human behavior. However, the accuracy of behavior recognition is directly influenced by the spatial relationship between human posture and the radar. To address the issue of low accuracy in behavior recognition when the human body is not directly facing the radar, a method combining local outlier factor with Doppler information is proposed for the correction of multi-classifier recognition results. Initially, the information such as distance, velocity, and micro-Doppler spectrogram of the target is obtained using the fast Fourier transform and histogram of oriented gradients - support vector machine methods, followed by preliminary recognition. Subsequently, Platt scaling is employed to transform recognition results into confidence scores, and finally, the Doppler - local outlier factor method is utilized to calibrate the confidence scores, with the highest confidence classifier result considered as the recognition outcome. Experimental results demonstrate that this approach achieves an average recognition accuracy of 96.23% for comprehensive human behavior recognition in various orientations.
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    Multi-Human Pose Estimation by Deep Learning-Based Sequential Approach for Human Keypoint Position and Human Body Detection
    TAHIR Rizwana, CAI Yunze
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1103-1113.   DOI: 10.1007/s12204-023-2658-z
    Abstract525)      PDF(pc) (1005KB)(269)       Save
    Recent multimedia and computer vision research has focused on analyzing human behavior and activity using images. Skeleton estimation, known as pose estimation, has received a significant attention. For human pose estimation, deep learning approaches primarily emphasize on the keypoint features. Conversely, in the case of occluded or incomplete poses, the keypoint feature is insufficiently substantial, especially when there are multiple humans in a single frame. Other features, such as the body border and visibility conditions, can contribute to pose estimation in addition to the keypoint feature. Our model framework integrates multiple features, namely the human body mask features, which can serve as a constraint to keypoint location estimation, the body keypoint features, and the keypoint visibility via mask region-based convolutional neural network (Mask- RCNN). A sequential multi-feature learning setup is formed to share multi-features across the structure, whereas, in the Mask-RCNN, the only feature that could be shared through the system is the region of interest feature. By two-way up-scaling with the shared weight process to produce the mask, we have addressed the problems of improper segmentation, small intrusion, and object loss when Mask-RCNN is used, for instance, segmentation. Accuracy is indicated by the percentage of correct keypoint, and our model can identify 86.1% of the correct keypoints.
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    Gait Learning Reproduction for Quadruped Robots Based on Experience Evolution Proximal Policy Optimization
    LI Chunyang, ZHU Xiaoqing, RUAN Xiaogang, LIU Xinyuan, ZHANG Siyuan
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1125-1133.   DOI: 10.1007/s12204-023-2666-z
    Abstract523)      PDF(pc) (1430KB)(196)       Save
    Bionic gait learning of quadruped robots based on reinforcement learning has become a hot research topic. The proximal policy optimization (PPO) algorithm has a low probability of learning a successful gait from scratch due to problems such as reward sparsity. To solve the problem, we propose a experience evolution proximal policy optimization (EEPPO) algorithm which integrates PPO with priori knowledge highlighting by evolutionary strategy. We use the successful trained samples as priori knowledge to guide the learning direction in order to increase the success probability of the learning algorithm. To verify the effectiveness of the proposed EEPPO algorithm, we have conducted simulation experiments of the quadruped robot gait learning task on Pybullet. Experimental results show that the central pattern generator based radial basis function (CPG-RBF) network and the policy network are simultaneously updated to achieve the quadruped robot’s bionic diagonal trot gait learning task using key information such as the robot’s speed, posture and joints information. Experimental comparison results with the traditional soft actor-critic (SAC) algorithm validate the superiority of the proposed EEPPO algorithm, which can learn a more stable diagonal trot gait in flat terrain.
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    Named Entity Identification of Chinese Poetry and Wine Culture Based on ALBERT
    YANG Zhuang, LI Zhaofei, WANG Jihua, WEI Xudong, ZHANG Yijie
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 1065-1072.   DOI: 10.1007/s12204-023-2675-y
    Abstract519)      PDF(pc) (513KB)(201)       Save
    The task of identifying Chinese named entities of Chinese poetry and wine culture is a key step in the construction of a knowledge graph and a question and answer system. Aimed at the characteristics of Chinese poetry and wine culture entities with different lengths and high training cost of named entity recognition models at the present stage, this study proposes a lite BERT+bi-directional long short-term memory+ attentional mechanisms +conditional random field (ALBERT+BILSTM+Att+CRF). The method first obtains the characterlevel semantic information by ALBERT module, then extracts its high-dimensional features by BILSTM module, weights the original word vector and the learned text vector by attention layer, and finally predicts the true label in CRF module (including five types: poem title, author, time, genre, and category). Through experiments on data sets related to Chinese poetry and wine culture, the results show that the method is more effective than existing mainstream models and can efficiently extract important entity information in Chinese poetry and wine culture, which is an effective method for the identification of named entities of varying lengths of poetry.
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    Computer Aided Diagnosis for COVID-19 in CT Images Utilizing Transfer Learning and Attention Mechanism
    Fan Xinggang, Liu Jiaxian, Li Chao, Yang Youdong, Gu Wenting, Jiang Xinyang
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 566-581.   DOI: 10.1007/s12204-023-2646-3
    Abstract518)      PDF(pc) (911KB)(159)       Save
    Various and intricate varieties of lung disease have made it challenging for computer aided diagnosis to appropriately segment lung lesions utilizing computed tomography (CT) images. This study integrates transfer learning with the attention mechanism to construct a deep learning model that can automatically detect new coronary pneumonia on lung CT images. In this study, using VGG16 pre-trained by ImageNet as the encoder, the decoder was established utilizing the U-Net structure. The attention module is incorporated during each concatenate procedure, permitting the model to concentrate on the critical information and identify the crucial components efficiently. The public COVID-19-CT-Seg-Benchmark dataset was utilized for experiments, and the highest scores for Dice, F1, and Accuracy were 0.907 1, 0.907 6, and 0.996 5, respectively. The generalization performance was assessed concurrently, with performance metrics including Dice, F1, and Accuracy over 0.8. The experimental findings indicate the feasibility of the segmentation network proposed in this study.
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    Comparative Study on Tissue Differentiation of Bone Marrow Mesenchymal Stem Cells in Irregular Versus Regular Bone Tissue Engineering Scaffolds
    Hai Jizhe, Xu Qingyu, Shan Chunlong, Li Haijie, Xu Zhiguo, Jing Lei
    J Shanghai Jiaotong Univ Sci    2025, 30 (4): 625-636.   DOI: 10.1007/s12204-025-2819-3
    Abstract507)      PDF(pc) (3038KB)(309)       Save
    In bone tissue engineering microstructure design, adjusting the structural design of biomimetic bone scaffolds can provide distinct differentiation stimuli to cells on the scaffold surface. This study explored the biomechanical impacts of different biomimetic microstructures on advanced bone tissue engineering scaffolds. Two irregular bone scaffolds (homogeneous/radial gradient) based on the Voronoi tesselation algorithm and eight regular lattice scaffolds involving pillar body centered cubic, vintiles, diamond, and cube (homogeneous/radial gradient) with constant 80% porosity were constructed. Mechanical stimulation differentiation algorithms, finite element analysis, and computational fluid dynamics were used to investigate the effects of different pore structures on the octahedral shear strain and fluid flow shear stress within the scaffolds, thereby elucidating the differentiation capabilities of the five structural bone/cartilage cell types. The findings demonstrated that irregular structures and radial-gradient designs promoted osteogenic differentiation, whereas regular structures and homogeneous designs facilitated chondrogenic differentiation. The highest percentages of osteoblast and chondrocyte differentiation were observed in radial-gradient irregular scaffolds. This research provides insights into the microstructure design of bone tissue engineering implants.
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    Load Stability Analysis of a Floating Multi-Robot Coordinated Towing System
    SU Cheng, ZHAO Xiangtang, YAN Zengzhen, ZHAO Zhigang, MENG Jiadong
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1162-1170.   DOI: 10.1007/s12204-023-2634-7
    Abstract502)      PDF(pc) (1557KB)(162)       Save
    Cranes used at sea have some shortcomings in terms of flexibility, efficiency, and safety. Therefore, a floating multi-robot coordinated towing system is planned to fulfill the offshore towing requirements. It is difficult to study the stability of a floating multi-robot coordinated towing system by ancient strategies. First, the minimum tension of the rope and the minimum singular value of the stiffness matrix were separately used to analyze the load stability. The advantages and disadvantages of the two methods were discussed. Then, the two stability analysis methods were normalized and weighted to obtain the method based on minimum tension and minimum singular to comprehensively analyze the stability of the load. Finally, the effect of different weighting coefficients on the load stability was analyzed, which led to a reasonable weighting coefficient to evaluate the load stability by comparing with a single analysis method. The research results provide a basis for the motion planning and coordinated control of the towing system.
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    Magnetic Resonance Imaging Reconstruction Based on Butterfly Dilated Geometric Distillation
    Duolin, Xu Boyu, Ren Yong, Yang Xin
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 591-599.   DOI: 10.1007/s12204-024-2701-8
    Abstract494)      PDF(pc) (1354KB)(148)       Save
    In order to improve the reconstruction accuracy of magnetic resonance imaging (MRI), an accurate natural image compressed sensing (CS) reconstruction network is proposed, which combines the advantages of model-based and deep learning-based CS-MRI methods. In theory, enhancing geometric texture details in linear reconstruction is possible. First, the optimization problem is decomposed into two problems: linear approximation and geometric compensation. Aimed at the problem of image linear approximation, the data consistency module is used to deal with it. Since the processing process will lose texture details, a neural network layer that explicitly combines image and frequency feature representation is proposed, which is named butterfly dilated geometric distillation network. The network introduces the idea of butterfly operation, skillfully integrates the features of image domain and frequency domain, and avoids the loss of texture details when extracting features in a single domain. Finally, a channel feature fusion module is designed by combining channel attention mechanism and dilated convolution. The attention of the channel makes the final output feature map focus on the more important part, thus improving the feature representation ability. The dilated convolution enlarges the receptive field, thereby obtaining more dense image feature data. The experimental results show that the peak signal-tonoise ratio of the network is 5.43 dB, 5.24 dB and 3.89 dB higher than that of ISTA-Net+, FISTA and DGDN networks on the brain data set with a Cartesian sampling mask CS ratio of 10%.
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    Magnetic Tracking System with Capability of Automatic Magnetic Moment Measurement
    Tian Siyu, Gao Jinyang, Huang Peng, Ma Xinyu, Ma Ziyu
    J Shanghai Jiaotong Univ Sci    2025, 30 (4): 646-657.   DOI: 10.1007/s12204-024-2720-5
    Abstract471)      PDF(pc) (4401KB)(227)       Save
    Magnetic tracking technologies have a promising application in detecting the real-time position and attitude of a capsule endoscope. However, most of them need to measure the magnetic moment of a permanent magnet (PM) embedded in the capsule accurately in advance, which can cause inconvenience to practical application. To solve this problem, this paper proposes a magnetic tracking system with the capability of measuring the magnetic moment of the PM automatically. The system is constructed based on a 4 × 4 magnetic sensor array, whose sensing data is analyzed to determine the magnetic moment by referring to a magnetic dipole model. With the determined magnetic moment, a method of fusing the linear calculation and Levenberg-Marquardt algorithms is proposed to determine the 3D position and 2D attitude of the PM. The experiments verified that the proposed system can achieve localization errors of 0.48mm, 0.42mm, and 0.83mm and orientation errors of 0.66 ◦ , 0.64 ◦ , and 0.87◦ for a PM (∅10mm × 10mm) at vertical heights of 5 cm, 10 cm, and 15 cm from the magnetic sensor array, respectively.
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    Hyperspectral Satellite Image Classification Based on Feature Pyramid Networks With 3D Convolution
    CHEN Cheng, PENG Pan, TAO Wei, ZHAO Hui
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1073-1084.   DOI: 10.1007/s12204-023-2645-4
    Abstract471)      PDF(pc) (2107KB)(295)       Save
    Recent advances in convolution neural network (CNN) have fostered the progress in object recognition and semantic segmentation, which in turn has improved the performance of hyperspectral image (HSI) classification. Nevertheless, the difficulty of high dimensional feature extraction and the shortage of small training samples seriously hinder the future development of HSI classification. In this paper, we propose a novel algorithm for HSI classification based on three-dimensional (3D) CNN and a feature pyramid network (FPN), called 3D-FPN. The framework contains a principle component analysis, a feature extraction structure and a logistic regression. Specifically, the FPN built with 3D convolutions not only retains the advantages of 3D convolution to fully extract the spectral-spatial feature maps, but also concentrates on more detailed information and performs multi-scale feature fusion. This method avoids the excessive complexity of the model and is suitable for small sample hyperspectral classification with varying categories and spatial resolutions. In order to test the performance of our proposed 3D-FPN method, rigorous experimental analysis was performed on three public hyperspectral data sets and hyperspectral data of GF-5 satellite. Quantitative and qualitative results indicated that our proposed method attained the best performance among other current state-of-the-art end-to-end deep learning-based methods.
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    Image Mosaic Method of Capsule Endoscopy Intestinal Wall Based on Improved Weighted Fusion
    Ma Ting, Wu Jianfang, Hu Feng, Nie Wei, Liu Youxin
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 535-544.   DOI: 10.1007/s12204-023-2637-4
    Abstract457)      PDF(pc) (2442KB)(155)       Save
    There is still a dearth of systematic study on picture stitching techniques for the natural tubular structures of intestines, and traditional stitching techniques have a poor application to endoscopic images with deep scenes. In order to recreate the intestinal wall in two dimensions, a method is developed. The normalized Laplacian algorithm is used to enhance the image and transform it into polar coordinates according to the characteristics that intestinal images are not obvious and usually arranged in a circle, in order to extract the new image segments of the current image relative to the previous image. The improved weighted fusion algorithm is then used to sequentially splice the segment images. The experimental results demonstrate that the suggested approach can improve image clarity and minimize noise while maintaining the information content of intestinal images. In addition, the method’s seamless transition between the final portions of a panoramic image also demonstrates that the stitching trace has been removed.
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    Physics-Guided Neural Network with Gini Impurity-Based Structural Optimizer for Prediction of Membrane-Type Acoustic Material Transmission Loss
    Pan Xinrong, Liu Xuewen, Zhu Bo, Wang Yingyi
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 613-624.   DOI: 10.1007/s12204-023-2655-2
    Abstract446)      PDF(pc) (1064KB)(179)       Save
    With the rapid development of machine learning, the prediction of the performance of acoustic metamaterials using neural networks is replacing the traditional experiment-based testing methods. In this paper, a Gini impurity-based artificial neural network structural optimizer (GIASO) is proposed to optimize the neural network structure, and the effects of five different initialization algorithms on the model performance and structure optimization are investigated. Two physically guided models with additional resonant frequencies and sound transmission loss formula are achieved to further improve the prediction accuracy of the model. The results show that GIASO utilizing the gray wolf optimizer as the initialization method can significantly improve the prediction performance of the model. Simultaneously, the physical guidance model with additional resonant frequencies has the best performance and can better predict the edge data points. Eventually, the effect of each input parameter on the sound transmission loss is explained by combining sensitivity analysis and theoretical formulation.
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    Simulation-Based Novel Hybrid Proportional Derivative/H-Infinity Controller Design for Improved Trajectory Tracking of a Two-Link Robot Arm
    BANKOLE Adesola Temitope, IGBONOBA Ezekiel Endurance Chukwuemeke
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1179-1187.   DOI: 10.1007/s12204-023-2660-5
    Abstract444)      PDF(pc) (707KB)(179)       Save
    A hybrid control strategy integrating proportional derivative (PD) and the H-infinity control methodology is proposed for a serial two-link robotic manipulator with the goal of improving the tracking performance of the robot arm. The H-infinity controller has the ability to achieve a high performance and robustness in the presence of disturbances and uncertainties, while the PD controller is effective in stabilizing the manipulator. Simulation results using Matlab and Simulink show that the proposed hybrid controller, which integrates the advantages of both PD and H-infinity controllers, has the lowest rise time for the second link, the lowest settling time for the two links, the lowest peak time for both links, and the fastest decay of the error response. In addition, the hybrid control scheme also has the lowest mean square error value, with a 53.3% improvement over the H-infinity controller and a 91.8% improvement over the PD controller, indicating an improved trajectory tracking performance when compared with pure PD and pure H-infinity controllers, respectively. It was also found that the hybrid controller has the lowest integral absolute error, integral square error, integral time absolute error, and integral time square error for the second link, while the error values for the first link are satisfactory, showing a superior performance of the hybrid controller above the PD and H-infinity controllers, respectively.
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    Exploration of Intrafascicular Vagus Nerve Stimulation on Blood Pressure Reduction
    Tian Haoyang, Gu Mingcheng, Li Runhuan, Jin Mingyu, Peng Wei, Sui Xiaohong
    J Shanghai Jiaotong Univ Sci    2025, 30 (4): 702-708.   DOI: 10.1007/s12204-024-2767-3
    Abstract443)      PDF(pc) (865KB)(190)       Save
    The vagus nerve plays a pivotal role in regulating blood pressure, making vagus nerve stimulation a promising therapy for refractory hypertension. Nevertheless, most current research on vagus nerve stimulation for hypertension regulation employs rigid electrodes outside the nerve bundle, with limited exploration into the electrical stimulation paradigms. In this study, we employed the carbon nanotube yarn electrode, a flexible electrode, implanted in the left vagus nerve of rats to compare the modulatory effects of duty cycle and pulse width stimulation paradigms. Furthermore, we conducted a quantitative electrical stimulation experiment using the optimized duty cycle paradigm. The result showed that low-frequency stimulation yielded superior blood pressure regulation, whereas high-frequency stimulation resulted in apnea. In conclusion, intrafascicular vagus nerve stimulation with the duty-cycle paradigm demonstrated superior efficacy in reducing blood pressure compared to the pulse-width paradigm, with an optimal duty cycle identified at 20%. These findings offer valuable insights for optimizing vagus nerve stimulation protocols in the treatment of hypertension.
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    CSC-YOLO: An Image Recognition Model for Surface Defect Detection of Copper Strip and Plates
    ZHANG Guo, CHEN Tao, WANG Jianping
    J Shanghai Jiaotong Univ Sci    2025, 30 (5): 1037-1049.   DOI: 10.1007/s12204-024-2723-2
    Abstract433)      PDF(pc) (1137KB)(207)       Save
    In order to meet the requirements of accurate identification of surface defects on copper strip in industrial production, a detection model of surface defects based on machine vision, CSC-YOLO, is proposed. The model uses YOLOv4-tiny as the benchmark network. First, K-means clustering is introduced into the benchmark network to obtain anchor frames that match the self-built dataset. Second, a cross-region fusion module is introduced in the backbone network to solve the difficult target recognition problem by fusing contextual semantic information. Third, the spatial pyramid pooling-efficient channel attention network (SPP-E) module is introduced in the path aggregation network (PANet) to enhance the extraction of features. Fourth, to prevent the loss of channel information, a lightweight attention mechanism is introduced to improve the performance of the network. Finally, the performance of the model is improved by adding adjustment factors to correct the loss function for the dimensional characteristics of the surface defects. CSC-YOLO was tested on the self-built dataset of surface defects in copper strip, and the experimental results showed that the mAP of the model can reach 93.58%, which is a 3.37% improvement compared with the benchmark network, and FPS, although decreasing compared with the benchmark network, reached 104. CSC-YOLO takes into account the real-time requirements of copper strip production. The comparison experiments with Faster RCNN, SSD300, YOLOv3, YOLOv4, Resnet50-YOLOv4, YOLOv5s, YOLOv7, and other algorithms show that the algorithm obtains a faster computation speed while maintaining a higher detection accuracy.
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    Fast Parallel Magnetic Resonance Imaging Reconstruction Based on Sparsifying Transform Learning and Structured Low-Rank Model
    Duan Jizhong, Xu Yuhán, Huang Huan
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 499-509.   DOI: 10.1007/s12204-023-2647-2
    Abstract426)      PDF(pc) (2742KB)(155)       Save
    The structured low-rank model for parallel magnetic resonance (MR) imaging can efficiently reconstruct MR images with limited auto-calibration signals. To improve the reconstruction quality of MR images, we integrate the joint sparsity and sparsifying transform learning (JTL) into the simultaneous auto-calibrating and k-space estimation (SAKE) structured low-rank model, named JTLSAKE. The alternate direction method of multipliers is exploited to solve the resulting optimization problem, and the optimized gradient method is used to improve the convergence speed. In addition, a graphics processing unit is used to accelerate the proposed algorithm. The experimental results on four in vivo human datasets demonstrate that the reconstruction quality of the proposed algorithm is comparable to that of JTL-based low-rank modeling of local k-space neighborhoods with parallel imaging (JTL-PLORAKS), and the proposed algorithm is 46 times faster than the JTL-PLORAKS, requiring only 4 s to reconstruct a 200 × 200 pixels MR image with 8 channels.
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    Improvement of Prior Image for Metal Artifact Reduction of Computed Tomography
    Sun Wenwu, Zhuang Tiange, Chen Siping
    J Shanghai Jiaotong Univ Sci    2025, 30 (3): 446-454.   DOI: 10.1007/s12204-023-2643-6
    Abstract411)      PDF(pc) (769KB)(151)       Save
    It is not easy to reduce the metal artifacts of computed tomography images. However, the pixel values inside the metal artifact regions vary smoothly, while those on the borders of the metal and the bone regions vary sharply. When the Canny operation by adaptive thresholding is conducted on the raw image, the almost continuous edges can be formed obviously on the borders of the metal and the bone regions, but this kind of information cannot be formed for the metal artifact regions. In this paper, by searching the closed areas formed by the border edges of the bone regions in the Canny image, the metal artifact regions, which are very difficult to discriminate only by intensity thresholding, can be excluded effectively. A novel prior image-based method is thus developed for metal artifact reduction. The experiments demonstrate that the proposed method can be realized easily and reduce the metal artifacts effectively even if multiple large metal objects exist simultaneously in the image. The method is suitable for the clinical application.
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    Optimization of Three-Degree-of-Freedom Biomimetic Pectoral Fin Propulsion Law
    Li Bin, Li Zonggang, Li Haoyu, Du Yajiang
    J Shanghai Jiaotong Univ Sci    2026, 31 (1): 195-208.   DOI: 10.1007/s12204-024-2579-5
    Abstract397)      PDF(pc) (3693KB)(49)       Save
    To optimize the movement of the three-degree-of-freedom (3-DOF) pectoral fins, a 3-DOF model of the dolphin-like pectoral fins was established, and the effects of different parameters of the pectoral fins on their propelling performance were simulated using computational fluid dynamics (CFD) technology. Using CFD simulation data as a training set and a multi-layer perceptron (MLP) neural network as a prediction model, the average thrust and lift of the pectoral fin motion under different motion cycles, rowing amplitudes, flapping amplitudes, and feathering amplitudes were predicted and modeled. A multi-objective genetic algorithm was used to obtain the optimal parameter values for maximum thrust and minimum absolute lift, and the optimal motion law for 3-DOF motion was brought. The results showed that the optimal propulsion performance was achieved at a period of 1 s, a rowing amplitude of 36 ◦ , a flapping amplitude of 18 ◦ , and a feathering amplitude of 56 ◦ . Finally, the force and displacement of the robotic fish were collected through indoor pool experiments and compared with the simulation results, indicating that the simulation results are of considerable reliability. The research results have specific guiding significance for the design of the pectoral fins of biomimetic robotic fish.
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    Dynamic Analysis and Trajectory Solution of Multi-Robot Coordinated Towing System
    ZHAO Xiangtang, ZHAO Zhigang, WEI Qizhe, SU Cheng
    J Shanghai Jiaotong Univ Sci    2025, 30 (6): 1134-1143.   DOI: 10.1007/s12204-023-2649-0
    Abstract397)      PDF(pc) (771KB)(174)       Save
    Multi-robot coordinated towing system is an under-constrained system. The dynamic response of the towing system can not be fully controlled since the rope can only provide a unidirectional constraint force to the suspended object. Based on the kinematics of the multi-robot coordinated towing system with fixed-base, the Newton-Euler equations and Udwadia-Kalaba equations were used to establish the dynamics of the towing system. To obtain the motion trajectories with high stability and strong control, the motion trajectories of the towing system were optimized. During the towing, the transition from the relaxation state to the tension state of the rope was treated as a collision between the suspended object and the robot end. The trajectories of the towing system in terms of a single-variable and multiple-variable were solved, respectively. The simulation shows that the optimized trajectories are closer to reality and truly reflect the constraints of the ropes on the suspended object. The research results provide a basis for trajectory planning and control of the towing system.
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    Exploring Functions of a Smartphone-Based Digital Alcohol Consumption Intervention Mini-Program to Address Difficulties of Abstinence for Native Drinkers in China: A Mixed Methods Approach
    Tang Yuzhen, Du Jiang, Zhang Dapeng, Wu Xiaojun, Long Yan, Zhang Lei, Chen Tianzhen
    J Shanghai Jiaotong Univ Sci    2025, 30 (4): 751-758.   DOI: 10.1007/s12204-023-2685-9
    Abstract389)      PDF(pc) (279KB)(204)       Save
    Chinese Wine Culture influences people’s attitudes toward alcohol. The current study focuses on exploring the main features of a localized digital alcohol consumption intervention mini-program to address the difficulties of abstinence for native drinkers, as a promising way for long-term management of rehabilitation from alcohol use disorder. A mixed-method approach was used in this study. The self-report quantitative questionnaire recruited three groups of participants: 89 drinkers, 67 drinkers’ relatives, and 30 medical staff. The focus group qualitative interview inspected 36 participants’ perspectives on the core topics, including 21 drinkers, 4 drinkers’ relatives, and 11 medical staff. The results of combining the quantitative study and qualitative study indicated that the top difficulties of abstinence for native drinkers are the strong craving from the inside, the environmental influence, and the psychological health status, especially emotional states. Correspondingly, the most desired main features in an alcohol consumption digital intervention tool are the daily track of drinking conditions and craving level, periodic feedback reports that can share with others, and mood improvement training. Moreover, the top factors that influence participants’ intention to use/recommend the tool are whether the tool is effective, whether the user experience is good, and whether the tool can replenish the deficiency of the current alcohol treatment. Future work needs to balance what patients want and what others around them expect, so that potential users can benefit best from the digital intervention tool in the context of Chinese culture.
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    Development of Surgical Robot for CT-Guided Lung Biopsy
    Zhang Han, Zhang Guoliang, Feng Shengjie, Li Qingyun, Qu Jieming, Xie Le
    J Shanghai Jiaotong Univ Sci    2026, 31 (1): 1-11.   DOI: 10.1007/s12204-025-2846-0
    Abstract383)      PDF(pc) (1960KB)(133)       Save
    Traditional lung biopsy procedures are complicated and time-consuming due to the lack of realtime imaging guidance, requiring physicians to frequently move between the operating room and computerized tomography (CT) imaging equipment. Robotics has been widely applied in medical surgeries, yet meeting the requirements for lung biopsy procedures with assured accuracy and safety remains a topic of research. This paper introduces a surgical robot for CT-guided lung biopsy. A kinematic analysis of the robot mechanism is conducted, and a master-slave control system tailored for this robot is developed. A force feedback algorithm is proposed to ensure the reliability and realism of the surgical process. Finally, the system’s feasibility is verified by the mechanism positioning accuracy experiment and the targeting accuracy experiment, and in vivo animal experiment is conducted to lay the foundation for clinical application.
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