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Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions

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Geodesy and Geodynamics 2024年第2期15卷 166-176页

作者： Mokhamad Nur Cahyadi Tahiyatul Asfihani Hendy Fitrian Suhandri risa Erfianti Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 6011Indonesia Research Center of Marine and Earth Science Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mathematics Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Centre of Studies for Surveying Science&Geomatics Universiti Teknologi Mara(UiTM)Shah Alam 40450Malaysia

For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various *** receivers are mini-size,less expensive than geodetic-grade receivers,and in high *** of these outstanding features,low-cost GNSS receivers are potentially poorer hardwares with internal signal processing,resulting in lower *** typically come with low-cost GNSS antenna that has lower performance than their counterparts,particularly for multipath ***,this research evaluated the low-cost GNSS device performance using a high-rate kinematic *** this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the *** position and navigation parameter data were obtained from the IMU readings,even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a *** research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s *** data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential GNSS-IMU(DGNSS/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system *** result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone *** addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass *** application could still not gain the expected position accuracy under signal outage conditions.

关键词： LoW-cost GNSS GNSS/IMU Single Point Positioning-IMU(SPP/IMU) Differential GNSS-IMU(DGNSS/IMU) Unscented Kalman Filter(UKF) Outageconditions

Mixed-decomposed convolutional network:A lightweight yet efficient convolutional neural network for ocular disease recognition

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 319-332页

作者： Xiaoqing Zhang Xiao Wu Zunjie Xiao Lingxi Hu Zhongxi Qiu Qingyang Sun risa Higashita Jiang Liu Research Institute of Trustworthy Autonomous Systems and Department of Computer Science and Engineering Southern University of Science and TechnologyShenzhenChina Tomey Corporation NagoyaJapan Guangdong Provincial Key Laboratory of Brain‐inspired Intelligent Computation Department of Computer Science and EngineeringSouthern University of Science and TechnologyShenzhenChina Singapore Eye Research Institute SingaporeSingapore

Eye health has become a global health concern and attracted broad *** the years,researchers have proposed many state-of-the-art convolutional neural networks(CNNs)to assist ophthalmologists in diagnosing ocular diseases efficiently and ***,most existing methods were dedicated to constructing sophisticated CNNs,inevitably ignoring the trade-off between performance and model *** alleviate this paradox,this paper proposes a lightweight yet efficient network architecture,mixeddecomposed convolutional network(MDNet),to recognise ocular *** MDNet,we introduce a novel mixed-decomposed depthwise convolution method,which takes advantage of depthwise convolution and depthwise dilated convolution operations to capture low-resolution and high-resolution patterns by using fewer computations and fewer *** conduct extensive experiments on the clinical anterior segment optical coherence tomography(AS-OCT),LAG,University of California San Diego,and CIFAR-100 *** results show our MDNet achieves a better trade-off between the performance and model complexity than efficient CNNs including MobileNets and ***,our MDNet outperforms MobileNets by 2.5%of accuracy by using 22%fewer parameters and 30%fewer computations on the AS-OCT dataset.

关键词： artificial intelligence deep learning deep neural networks image analysis image classification medical applications medical image processing

Current perspectives of viral

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World Journal of Gastroenterology 2024年第18期30卷 2402-2417页

作者： Daisuke Usuda Yuki Kaneoka Rikuo Ono Masashi Kato Yuto Sugawara Runa Shimizu Tomotari Inami Eri Nakajima Shiho Tsuge Riki Sakurai Kenji Kawai Shun Matsubara risa Tanaka Makoto Suzuki Shintaro Shimozawa Yuta Hotchi Ippei Osugi risa Katou Sakurako Ito Kentaro Mishima Akihiko Kondo Keiko Mizuno Hiroki Takami Takayuki Komatsu Tomohisa Nomura Manabu Sugita Department of Emergency and Critical Care Medicine Juntendo University Nerima HospitalNerima 177-8521TokyoJapan Department of Sports Medicine Faculty of MedicineJuntendo UniversityBunkyo 113-8421TokyoJapan

Viral hepatitis represents a major danger to public health,and is a globally leading cause of *** five liver-specific viruses:Hepatitis A virus,hepatitis B virus,hepatitis C virus,hepatitis D virus,and hepatitis E virus,each have their own unique epidemiology,structural biology,transmission,endemic patterns,risk of liver complications,and response to antiviral *** remain few options for treatment,in spite of the increasing prevalence of viral-hepatitiscaused liver ***,chronic viral hepatitis is a leading worldwide cause of both liver-related morbidity and mortality,even though effective treatments are available that could reduce or prevent most patients’*** 2016,the World Health Organization released its plan to eliminate viral hepatitis as a public health threat by the year 2030,along with a discussion of current gaps and prospects for both regional and global eradication of viral ***,treatment is sufficiently able to prevent the disease from reaching advanced ***,future therapies must be extremely safe,and should ideally limit the period of treatment necessary.A better understanding of pathogenesis will prove beneficial in the development of potential treatment strategies targeting infections by viral *** review aims to summarize the current state of knowledge on each type of viral hepatitis,together with major innovations.

关键词： Hepatitis A virus Hepatitis B virus Hepatitis C virus Hepatitis D virus Hepatitis E virus Current perspectives

A Case of Warthin’s Tumor Together with IgG4-Related Sialadenitis

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Open Journal of Pathology 2024年第3期14卷 81-89页

作者： Ryogo Aoki risa Ito Asuka Ohashi Riyoko Niwa Masashi Matsuyama Sachiko Oka Naomi Kawaguchi Toshimasa Sakakima Daichi Kodama Naoki Watanabe Daisuke Okamoto Takafumi Naiki Takuji Tanaka Department of Diagnostic Pathology (DDP) & Research Center of Diagnostic Pathology (RC-DiP) Gifu Municipal Hospital Gifu Japan Department of Central Clinical Laboratory Gifu Municipal Hospital Gifu Japan Department of Hematology Gifu Municipal Hospital Gifu Japan

Warthin’s tumor is the second most frequent neoplasm next to pleomorphic adenoma in the salivary gland. The tumor contains the epithelial oncocyte cells with the presence of rich-mitochondria and their surrounding abundant lymphocytes. A relatively new disease entity of IgG4-related disease frequently occurs in the salivary gland. However, the coexistence of Warthin’s tumor and IgG4-related disease is scarcely observed. We have recently experienced a rare case of Warthin’s tumor with IgG4-related sialadenitis. A 51-year-old man presented to our hospital, complaining of a mass with right submandibular tenderness and spontaneous pain. A computed tomography scan of the cervical region revealed a suspicion of lymph node proliferative disease, including malignant lymphoma. Elevated serum levels of IL-2R: 1843 U/ml (reference value 122 - 496 U/ml), IgG: 3430 mg/dl (reference value 861 - 1747 mg/dl), and IgG4: 3140 mg/dl (reference value 11 - 121 mg/dl) were observed. Other laboratory data showed within normal ranges. The cervical tumor was diagnosed as Warthin’s tumor by the findings of fine-needle aspiration cytology and biopsy examination. Immunohistochemistry revealed numerous IgG4- and IgG-positive cells with fibrosis surrounding the epithelial component of Warthin’s tumor, suggesting IgG4-rerated sialadenitis. Finally, we diagnosed the cervical tumor as Warthin tumor with IgG4-related sialadenitis. This is the second report describing a case of Warthin’s tumor with possible involvement of IgG4-related sialadenitis.

关键词： Warthin’s Tumor Sialadenitis IgG4-Related Disease Immunohistochemistry

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面向白内障识别的临床特征校准注意力网络

计算机工程与应用 2024年第3期60卷 321-330页

作者：章晓庆肖尊杰赵宇航巫晓东田理沙刘江南方科技大学计算机科学与工程系广东深圳518055 南方科技大学斯发基斯可信自主系统研究院广东深圳518055 Tomey公司日本名古屋451005 南方科技大学广东省类脑智能计算重点实验室广东深圳518055

近年来,卷积神经网络(convolutional neural network,CNN)模型已经被广泛用于年龄相关性白内障自动分类任务,然而,鲜有研究工作将年龄相关性白内障的临床先验知识注入卷积神经网络架构设计中,以此来提高年龄相关性白内障的分类效果和改... 详细信息

近年来,卷积神经网络(convolutional neural network,CNN)模型已经被广泛用于年龄相关性白内障自动分类任务,然而,鲜有研究工作将年龄相关性白内障的临床先验知识注入卷积神经网络架构设计中,以此来提高年龄相关性白内障的分类效果和改善模型决策过程的可解释性。提出了一种临床特征校准注意力网络(clinical feature recalibration attention network,CFANet)模型用于自动识别年龄相关性白内障严重级别。在CFANet中,设计了一个简单且有效的临床特征校准注意力模块(clinical feature recalibration attention block,CFA),其不仅能对不同临床特征类型进行自适应地加权融合,还通过门控操作符来突出重要通道和抑制不重要通道。在一个核性白内障的眼前节光学相干断层成像影像(anterior segment optical coherence tomography,AS-OCT)数据集和一个公开眼科影像数据集上进行了充分实验,实验结果表明,相较于squeeze-and-excitation network(SENet)、efficient channel network(ECANet)、style-based recalibration module(SRM),CFANet在AS-OCT数据集上的分类准确率至少提升了3.54个百分点,同时在公开的眼科影像数据集上的分类结果比先进的神经网络模型和已发表的研究工作提升了1个百分点以上。此外,还通过可视化方法分析临床特征的权重分布和通道的注意力权重分布来提高该文模型决策过程的可解释性。

关键词：年龄相关性白内障分类眼前节光学相干断层成像临床特征校准注意力模块可解释性卷积神经网络可视化

Performance of GPS and IMU sensor fusion using unscented Kalman filter for precise i-Boat navigation in infinite wide waters

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Geodesy and Geodynamics 2023年第3期14卷 265-274页

作者： Mokhamad Nur Cahyadi Tahiyatul Asfihani Ronny Mardiyanto risa Erfianti Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Research Center of Marine and Earth Science-Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mathematics Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Electrical Engineering Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia

The Unmanned Surface Vehicle(USV)navigation system needs an accurate,firm,and reliable performance to avoid obstacles,as well as carry out automatic movements during *** Global Positioning System(GPS)is often used in these systems to provide absolute position ***,the GPS measurements are affected by external conditions such as atmospheric bias and multipath *** leads to the inability of the stand-alone GPS to provide accurate positioning for the USV *** of the solutions to correct the errors of this sensor is by conducting GPS and Inertial Measurement Unit(IMU)*** IMU sensor is complementary to the GPS and not affected by external ***,it accumulates noise as time ***,this study aims to determine the fusion of the GPS and IMU sensors for the i-Boat navigation system,which is a USV developed by Institut Teknologi Sepuluh Nopember(ITS)*** the Unscented Kalman filter(UKF),sensor fusion was carried out based on the state equation defined by the dynamic and kinematic mathematical model of ship motion in 6 degrees of *** the performance of this model was tested through several simulations using different combinations of attitude measurement *** scenarios were conducted in the simulations:attitude measurement inclusion and exclusion(Scenarios I and II,respectively).The results showed that the position estimation in Scenario II was better than in Scenario I,with the Root Mean Square Error(RMSE)value of 0.062 *** simulations showed that the presence of attitude measurement data caused a decrease in the fusion *** UKF simulation with eight measurement parameters(Scenarios A,B and C)and seven measurement parameters(Scenarios D,E and F),as well as analytical attitude movement,indicated that yaw data had the largest noise accumulation compared to roll and pitch.

关键词： GPS IMU Fusion sensor 6 DOF USV motion Unscented Kalman filte

Pathophysiological significance of increased α-synuclein deposition in sympathetic nerves in Parkinson’s disease: a post-mortem observational study

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Translational Neurodegeneration 2022年第1期11卷 737-746页

作者： risa Isonaka Patti Sullivan David S.Goldstein Autonomic Medicine Section Clinical Neurosciences ProgramDivision of Intramural ResearchNational Institute of Neurological Disorders and StrokeNational Institutes of HealthBethesdaMD 20892USA

Background: Parkinson’s disease (PD) is characterized by intra-neuronal deposition of the protein α-synuclein (α-syn) and by deficiencies of the catecholamines dopamine and norepinephrine (NE) in the brain and heart. Accumulation of α-syn in sympathetic noradrenergic nerves may provide a useful PD biomarker;however, whether α-syn buildup is pathophysiological has been unclear. If it were, one would expect associations of intra-neuronal α-syn deposition with catecholaminergic denervation and with decreased NE contents in the same samples. Methods: We assayed immunoreactive α-syn and tyrosine hydroxylase (TH, a marker of catecholaminergic innerva-tion) concurrently with catecholamines in coded post-mortem scalp skin, submandibular gland (SMG), and apical left ventricular myocardial tissue samples from 14 patients with autopsy-proven PD and 12 age-matched control subjects who did not have a neurodegenerative disease. Results: The PD group had increased α-syn in sympathetic noradrenergically innervated arrector pili muscles (5.7 times control, P < 0.0001), SMG (35 times control, P = 0.0011), and myocardium (11 times control, P = 0.0011). Myocar-dial TH in the PD group was decreased by 65% compared to the control group (P = 0.0008), whereas the groups did not differ in TH in either arrector pili muscles or SMG. Similarly, myocardial NE was decreased by 92% in the PD group (P < 0.0001), but the groups did not differ in NE in either scalp skin or SMG. Conclusions: PD entails increased α-syn in skin, SMG, and myocardial tissues. In skin and SMG, augmented α-syn deposition in sympathetic nerves does not seem to be pathogenic. The pathophysiological significance of intra-neuronal α-syn deposition appears to be organ-selective and prominent in the heart.

关键词： Synuclein Tyrosine hydroxylase Norepinephrine Immunofluorescence Parkinson Post-mortem

Machine Learning for Cataract Classification/Grading on Ophthalmic Imaging Modalities:A Survey

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Machine Intelligence Research 2022年第3期19卷 184-208页

作者： Xiao-Qing Zhang Yan Hu Zun-Jie Xiao Jian-Sheng Fang risa Higashita Jiang Liu Research Institute of Trustworthy Autonomous Systems Southern University of Science and TechnologyShenzhen 518055China Department of Computer Science and Engineering Southern University of Science and TechnologyShenzhen 518055China Tomey Corporation Nagoya 4510051Japan Cixi Institute of Biomedical Engineering Ningbo Institute of Materials Technology and EngineeringChinese Academy of SciencesNingbo 315300China Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Southern University of Science and TechnologyShenzhen 518055China

Cataracts are the leading cause of visual impairment and blindness *** the years,researchers have achieved significant progress in developing state-of-the-art machine learning techniques for automatic cataract classification and grading,aiming to prevent cataracts early and improve clinicians′diagnosis *** survey provides a comprehensive survey of recent advances in machine learning techniques for cataract classification/grading based on ophthalmic *** summarize existing literature from two research directions:conventional machine learning methods and deep learning *** survey also provides insights into existing works of both merits and *** addition,we discuss several challenges of automatic cataract classification/grading based on machine learning techniques and present possible solutions to these challenges for future research.

关键词： Cataract classification and grading ophthalmic image machine learning deep learning

Development and Future Trends of Traditional Kampo Medicine in Japan

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Chinese Medicine and Culture 2022年第1期5卷 58-64页

作者： risa Shibata Gui-Xiang Chu Xun Lin Jin-Rong Fu Gynaecology Department of TCM Longhua Hospital Affiliated to Shanghai University of Traditional Chinese MedicineShanghai 200032China International Office Shanghai University of Traditional Chinese MedicineShanghai 201203China

Traditional Kampo medicine is based on traditional Chinese medicine,which spread to Japan via the Korean Peninsula in the 5th *** practice of Kampo developed gradually under the influence of local Japanese culture and prospered until the Meiji *** appeared in schools successively,such as the School of Later Developments,the School of Classic Methods,the School of Textual Research,and the Integrated ***,the practice of Kampo gradually declined after the Meiji ***,through the continuous efforts of knowledgeable Japanese Kampo practitioners,the practice of Kampo has entered a new era as an indispensable aspect of contemporary Japanese medicine.

关键词： Medical history History Japan Kampo Traditional Chinese medicine