The lethal brain tumor “Glioblastoma” has the propensity to grow over time. To improve patient outcomes, it is essential to classify GBM accurately and promptly in order to provide a focused and individualized treat...The lethal brain tumor “Glioblastoma” has the propensity to grow over time. To improve patient outcomes, it is essential to classify GBM accurately and promptly in order to provide a focused and individualized treatment plan. Despite this, deep learning methods, particularly Convolutional Neural Networks (CNNs), have demonstrated a high level of accuracy in a myriad of medical image analysis applications as a result of recent technical breakthroughs. The overall aim of the research is to investigate how CNNs can be used to classify GBMs using data from medical imaging, to improve prognosis precision and effectiveness. This research study will demonstrate a suggested methodology that makes use of the CNN architecture and is trained using a database of MRI pictures with this tumor. The constructed model will be assessed based on its overall performance. Extensive experiments and comparisons with conventional machine learning techniques and existing classification methods will also be made. It will be crucial to emphasize the possibility of early and accurate prediction in a clinical workflow because it can have a big impact on treatment planning and patient outcomes. The paramount objective is to not only address the classification challenge but also to outline a clear pathway towards enhancing prognosis precision and treatment effectiveness.展开更多
运输易燃固体粉末或特殊液体时,由于其流动性,被运输物资会发生摩擦生热、静电积聚及自发分解等现象,可能引发火情或爆炸等危险情况,故运输工具需要具备稳定的姿态保持能力,同时具有一定的越野性能。基于此,设计一种新型串联式六轮腿运...运输易燃固体粉末或特殊液体时,由于其流动性,被运输物资会发生摩擦生热、静电积聚及自发分解等现象,可能引发火情或爆炸等危险情况,故运输工具需要具备稳定的姿态保持能力,同时具有一定的越野性能。基于此,设计一种新型串联式六轮腿运输机器人,并基于分层控制理论,构建一种拥有腿部扭矩控制器、轮胎转速控制器和TensorFlow腿部角度控制器的控制框架。腿部扭矩控制器基于虚拟模型控制(Virtual Model Control,VMC)算法控制机器人侧倾角、俯仰角和Z方向位移,使其拥有较高的姿态保持能力;轮胎转速控制器利用差速轮运动模型控制横摆角、X和Y方向位移,使其有灵活的转弯性能并减少横向力冲击;引入TensorFlow神经网络框架,依据不同高度的障碍物来控制腿部各个关节角度。对模型进行联合仿真,以验证斜坡工况和台阶工况的效果。结果表明,控制算法能使机器人在斜坡工况中有优秀的姿态保持能力,位置跟踪偏差率均小于5%,姿态角的偏差率均小于3%,相比未引入神经网络的情况,引入神经网络后,机器人可翻越障碍物的高度大幅提升,同时在越障过程中的稳定性更高。展开更多
摘要The lethal brain tumor “Glioblastoma” has the propensity to grow over time. To improve patient outcomes, it is essential to classify GBM accurately and promptly in order to provide a focused and individualized treatment plan. Despite this, deep learning methods, particularly Convolutional Neural Networks (CNNs), have demonstrated a high level of accuracy in a myriad of medical image analysis applications as a result of recent technical breakthroughs. The overall aim of the research is to investigate how CNNs can be used to classify GBMs using data from medical imaging, to improve prognosis precision and effectiveness. This research study will demonstrate a suggested methodology that makes use of the CNN architecture and is trained using a database of MRI pictures with this tumor. The constructed model will be assessed based on its overall performance. Extensive experiments and comparisons with conventional machine learning techniques and existing classification methods will also be made. It will be crucial to emphasize the possibility of early and accurate prediction in a clinical workflow because it can have a big impact on treatment planning and patient outcomes. The paramount objective is to not only address the classification challenge but also to outline a clear pathway towards enhancing prognosis precision and treatment effectiveness.
摘要运输易燃固体粉末或特殊液体时,由于其流动性,被运输物资会发生摩擦生热、静电积聚及自发分解等现象,可能引发火情或爆炸等危险情况,故运输工具需要具备稳定的姿态保持能力,同时具有一定的越野性能。基于此,设计一种新型串联式六轮腿运输机器人,并基于分层控制理论,构建一种拥有腿部扭矩控制器、轮胎转速控制器和TensorFlow腿部角度控制器的控制框架。腿部扭矩控制器基于虚拟模型控制(Virtual Model Control,VMC)算法控制机器人侧倾角、俯仰角和Z方向位移,使其拥有较高的姿态保持能力;轮胎转速控制器利用差速轮运动模型控制横摆角、X和Y方向位移,使其有灵活的转弯性能并减少横向力冲击;引入TensorFlow神经网络框架,依据不同高度的障碍物来控制腿部各个关节角度。对模型进行联合仿真,以验证斜坡工况和台阶工况的效果。结果表明,控制算法能使机器人在斜坡工况中有优秀的姿态保持能力,位置跟踪偏差率均小于5%,姿态角的偏差率均小于3%,相比未引入神经网络的情况,引入神经网络后,机器人可翻越障碍物的高度大幅提升,同时在越障过程中的稳定性更高。