Real-Time Marker Localization Learning for GelStereo Tactile Sensing

Visuotactile sensing technology is becoming more popular in tactile sensing, but the effectiveness of the existing marker detection localization methods remains to be further explored. Instead of contour-based blob detection, this paper presents a learning-based marker localization network for GelStereo visuotactile sensing called Marknet. Specifically, the Marknet presents a grid regression architecture to incorporate the distribution of the GelStereo markers. Furthermore, a marker rationality evaluator (MRE) is modelled to screen suitable prediction results. The experimental results show that the Marknet combined with MRE achieves 93.90% precision for irregular markers in contact areas, which outperforms the traditional contour-based blob detection method by a large margin of 42.32%. Meanwhile, the proposed learning-based marker localization method can achieve better real-time performance beyond the blob detection interface provided by the OpenCV library through GPU acceleration, which we believe will lead to considerable perceptual sensitivity gains in various robotic manipulation tasks

Real-time moving object classification with automatic scene division

ABSTRACT We address the problem of moving object classification. Our aim is to classify moving objects of traffic scene videos into pedestrians, bicycles and vehicles. Instead of supervised learning and manual labeling of large training samples, our classifiers are initialized and refined online automatically. With efficient features extracted and organized, the approach can be real-time and achieve high classification accuracy. Once the view or scene changes detected, the algorithm can automatically refine the classifiers and adapt them to new environments. Experimental results demonstrate the effectiveness and robustness of the proposed approach

Experimental Study on Stress and Strain Characteristics of Solidified Clay under Seawater Condition

This paper presents the results of a laboratory study on the stress-strain relationship of solidified clay formed in seawater corrosion condition. An automatic triaxial apparatus was used and the axial stress and strain was monitored continuously. The dry density was 1.0g/cm3, the cement contents were 4, 6, 8 and 10% by weight of dry soil particles, and the curing time was 28, 60 and 90 days respectively. Test results indicate that the stress strain relationship of cemented clay was affected by soil density, cement content and curing period. A behaviour of strain hardening to strain softening occurred with the increase of cement content. Strong structure will form in cemented clay when the admixture content is 10% or more. The increase in strength of the solidified foundation is resulted from the increase in internal friction angle and cohesive force. The cohesive force increases obviously with the increase of the cement content and the curing age, but the change of internal friction angle is not pronounced after reaching a certain value

Distinct distribution and prognostic significance of molecular subtypes of breast cancer in Chinese women: a population-based cohort study

<p>Abstract</p> <p>Background</p> <p>Molecular classification of breast cancer is an important prognostic factor. The distribution of molecular subtypes of breast cancer and their prognostic value has not been well documented in Asians.</p> <p>Methods</p> <p>A total of 2,791 breast cancer patients recruited for a population-based cohort study were evaluated for molecular subtypes of breast cancer by immunohistochemical assays. Data on clinicopathological characteristics were confirmed by centralized pathology review. The average follow-up of the patients was 53.4 months. Overall and disease-free survival by molecular subtypes of breast cancer were evaluated.</p> <p>Results</p> <p>The prevalence of the luminal A, luminal B, human epidermal growth factor receptor 2 (HER2), and triple-negative subtypes were 48.6%, 16.7%, 13.7%, and 12.9%, respectively. The luminal A subtype was more likely to be diagnosed in older women (P = 0.03) and had a stronger correlation with favorable clinicopathological factors (smaller tumor size, lower histologic grade, and earlier TNM stage) than the triple-negative or HER2 subtypes. Women with triple-negative breast cancer had a higher frequency of family history of breast cancer than women with other subtypes (P = 0.048). The 5-year overall/disease-free survival percentages for the luminal A, luminal B, HER2, and triple-negative subtypes were 92.9%/88.6%, 88.6%/85.1%, 83.2%/79.1%, and 80.7%/76.0%, respectively. A similar pattern was observed in multivariate analyses. Immunotherapy was associated with improved overall and disease-free survival for luminal A breast cancer, but reduced disease-free survival (HR = 2.21, 95% CI, 1.09-4.48) for the HER2 subtype of breast cancer.</p> <p>Conclusions</p> <p>The triple-negative and HER2 subtypes were associated with poorer outcomes compared with the luminal A subtype among these Chinese women. The HER2 subtype was more prevalent in this Chinese population compared with Western populations, suggesting the importance of standardized HER2 detection and anti-HER2 therapy to potentially benefit a high proportion of breast cancer patients in China.</p

Human appearance matching across multiple non-overlapping cameras

In this paper, we present a new solution to the problem of appearance matching across multiple non-overlapping cameras. Objects of interest, pedestrians are represented by a set of region signatures centered at points sampled from edges. The problem of frame-to-frame appearance matching is formulated as finding corresponding points in two images as minimization of a cost function over the space of correspondence. The correspondence problem is solved under integer opti-mization framework where the cost function is deter-mined by similarity of region signatures as well as geo-metric constraints between points. Experimental results demonstrate the effectiveness of the proposed method.