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Tracking ripening tomatoes is time consuming and labor intensive. Artificial intelligence technologies combined with those of computer vision can help users optimize the process of monitoring the ripening status of plants. To this end, we have proposed a tomato ripening monitoring approach based on deep learning in complex scenes. The objective is to detect mature tomatoes and harvest them in a timely manner. The proposed approach is declined in two parts. Firstly, the images of the scene are transmitted to the pre-processing layer. This process allows the detection of areas of interest (area of the image containing tomatoes). Then, these images are used as input to the maturity detection layer. This layer, based on a deep neural network learning algorithm, classifies the tomato thumbnails provided to it in one of the following five categories: green, brittle, pink, pale red, mature red. The experiments are based on images collected from the internet gathered through searches using tomato state across diverse languages including English, German, French, and Spanish. The experimental results of the maturity detection layer on a dataset composed of images of tomatoes taken under the extreme conditions, gave a good classification rate.

The notion of an e-value has been recently proposed as a possible alternative to critical regions and p-values in statistical hypothesis testing. In this paper we consider testing the nonparametric hypothesis of symmetry, introduce analogues for e-values of three popular nonparametric tests, define an analogue for e-values of Pitman's asymptotic relative efficiency, and apply it to the three nonparametric tests. We discuss limitations of our simple definition of asymptotic relative efficiency and list directions of further research.

In this work, a Generalized Finite Difference (GFD) scheme is presented for effectively computing the numerical solution of a parabolic-elliptic system modelling a bacterial strain with density-suppressed motility. The GFD method is a meshless method known for its simplicity for solving non-linear boundary value problems over irregular geometries. The paper first introduces the basic elements of the GFD method, and then an explicit-implicit scheme is derived. The convergence of the method is proven under a bound for the time step, and an algorithm is provided for its computational implementation. Finally, some examples are considered comparing the results obtained with a regular mesh and an irregular cloud of points.

The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper extremities. Although there are a few examples of exoskeletons, they need manual operations due to the absence of sensor feedback and no intention prediction of movements. Here, we introduce an intelligent upper-limb exoskeleton system that uses cloud-based deep learning to predict human intention for strength augmentation. The embedded soft wearable sensors provide sensory feedback by collecting real-time muscle signals, which are simultaneously computed to determine the user's intended movement. The cloud-based deep-learning predicts four upper-limb joint motions with an average accuracy of 96.2% at a 200-250 millisecond response rate, suggesting that the exoskeleton operates just by human intention. In addition, an array of soft pneumatics assists the intended movements by providing 897 newton of force and 78.7 millimeter of displacement at maximum. Collectively, the intent-driven exoskeleton can augment human strength by 5.15 times on average compared to the unassisted exoskeleton. This report demonstrates an exoskeleton robot that augments the upper-limb joint movements by human intention based on a machine-learning cloud computing and sensory feedback.

Epilepsy is a clinical neurological disorder characterized by recurrent and spontaneous seizures consisting of abnormal high-frequency electrical activity in the brain. In this condition, the transmembrane potential dynamics are characterized by rapid and sharp wavefronts traveling along the heterogeneous and anisotropic conduction pathways of the brain. This work employs the monodomain model, coupled with specific neuronal ionic models characterizing ion concentration dynamics, to mathematically describe brain tissue electrophysiology in grey and white matter at the organ scale. This multiscale model is discretized in space with the high-order discontinuous Galerkin method on polygonal and polyhedral grids (PolyDG) and advanced in time with a Crank-Nicolson scheme. This ensures, on the one hand, efficient and accurate simulations of the high-frequency electrical activity that is responsible for epileptic seizure and, on the other hand, keeps reasonably low the computational costs by a suitable combination of high-order approximations and agglomerated polytopal meshes. We numerically investigate synthetic test cases on a two-dimensional heterogeneous squared domain discretized with a polygonal grid, and on a two-dimensional brainstem in a sagittal plane with an agglomerated polygonal grid that takes full advantage of the flexibility of the PolyDG approximation of the semidiscrete formulation. Finally, we provide a theoretical analysis of stability and an a-priori convergence analysis for a simplified mathematical problem.

Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on optimal trajectory planning. Since, typically, multiple criteria have to be taken into account, multiobjective optimization problems have to be solved. For the resulting Pareto-optimal motion primitives, we introduce a universal automaton, which can be reduced or reconfigured according to prioritized criteria during planning. We evaluate a corresponding multi-vehicle planning scenario with both simulations and laboratory experiments.

The classification of carotid artery ultrasound images is a crucial means for diagnosing carotid plaques, holding significant clinical relevance for predicting the risk of stroke. Recent research suggests that utilizing plaque segmentation as an auxiliary task for classification can enhance performance by leveraging the correlation between segmentation and classification tasks. However, this approach relies on obtaining a substantial amount of challenging-to-acquire segmentation annotations. This paper proposes a novel weakly supervised auxiliary task learning network model (WAL-Net) to explore the interdependence between carotid plaque classification and segmentation tasks. The plaque classification task is primary task, while the plaque segmentation task serves as an auxiliary task, providing valuable information to enhance the performance of the primary task. Weakly supervised learning is adopted in the auxiliary task to completely break away from the dependence on segmentation annotations. Experiments and evaluations are conducted on a dataset comprising 1270 carotid plaque ultrasound images from Wuhan University Zhongnan Hospital. Results indicate that the proposed method achieved an approximately 1.3% improvement in carotid plaque classification accuracy compared to the baseline network. Specifically, the accuracy of mixed-echoic plaques classification increased by approximately 3.3%, demonstrating the effectiveness of our approach.

Intelligent robot is the ultimate goal in the robotics field. Existing works leverage learning-based or optimization-based methods to accomplish human-defined tasks. However, the challenge of enabling robots to explore various environments autonomously remains unresolved. In this work, we propose a framework named GExp, which enables robots to explore and learn autonomously without human intervention. To achieve this goal, we devise modules including self-exploration, knowledge-base-building, and close-loop feedback based on foundation models. Inspired by the way that infants interact with the world, GExp encourages robots to understand and explore the environment with a series of self-generated tasks. During the process of exploration, the robot will acquire skills from beneficial experiences that are useful in the future. GExp provides robots with the ability to solve complex tasks through self-exploration. GExp work is independent of prior interactive knowledge and human intervention, allowing it to adapt directly to different scenarios, unlike previous studies that provided in-context examples as few-shot learning. In addition, we propose a workflow of deploying the real-world robot system with self-learned skills as an embodied assistant.

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this work, we propose a synthetic data generation method that minimizes human intervention and makes downstream image segmentation algorithms more robust by combining a generated synthetic dataset with a smaller real-world dataset (hybrid dataset). Annotation experiments show that the proposed synthetic scene generation can diminish labelling time dramatically. RGB image segmentation is trained with hybrid dataset and combined with depth information to produce pixel-to-point correspondence of individual segmented objects. The object to grasp is then determined by the confidence score of the segmentation algorithm. Pick-and-place experiments demonstrate that segmentation trained on our hybrid dataset (98.9%, 70%) outperforms the real dataset and a publicly available dataset by (6.7%, 18.8%) and (2.8%, 10%) in terms of labelling and grasping success rate, respectively. Supplementary material is available at //sites.google.com/view/synthetic-dataset-generation.

Graph representation learning for hypergraphs can be used to extract patterns among higher-order interactions that are critically important in many real world problems. Current approaches designed for hypergraphs, however, are unable to handle different types of hypergraphs and are typically not generic for various learning tasks. Indeed, models that can predict variable-sized heterogeneous hyperedges have not been available. Here we develop a new self-attention based graph neural network called Hyper-SAGNN applicable to homogeneous and heterogeneous hypergraphs with variable hyperedge sizes. We perform extensive evaluations on multiple datasets, including four benchmark network datasets and two single-cell Hi-C datasets in genomics. We demonstrate that Hyper-SAGNN significantly outperforms the state-of-the-art methods on traditional tasks while also achieving great performance on a new task called outsider identification. Hyper-SAGNN will be useful for graph representation learning to uncover complex higher-order interactions in different applications.