The Autonomous Underwater Glider(AUG)is a kind of prevailing underwater intelligent internet vehicle and occupies a dominant position in industrial applications,in which path planning is an essential problem.Due to th...The Autonomous Underwater Glider(AUG)is a kind of prevailing underwater intelligent internet vehicle and occupies a dominant position in industrial applications,in which path planning is an essential problem.Due to the complexity and variability of the ocean,accurate environment modeling and flexible path planning algorithms are pivotal challenges.The traditional models mainly utilize mathematical functions,which are not complete and reliable.Most existing path planning algorithms depend on the environment and lack flexibility.To overcome these challenges,we propose a path planning system for underwater intelligent internet vehicles.It applies digital twins and sensor data to map the real ocean environment to a virtual digital space,which provides a comprehensive and reliable environment for path simulation.We design a value-based reinforcement learning path planning algorithm and explore the optimal network structure parameters.The path simulation is controlled by a closed-loop model integrated into the terminal vehicle through edge computing.The integration of state input enriches the learning of neural networks and helps to improve generalization and flexibility.The task-related reward function promotes the rapid convergence of the training.The experimental results prove that our reinforcement learning based path planning algorithm has great flexibility and can effectively adapt to a variety of different ocean conditions.展开更多
The interpretability of deep learning models has emerged as a compelling area in artificial intelligence research.The safety criteria for medical imaging are highly stringent,and models are required for an explanation...The interpretability of deep learning models has emerged as a compelling area in artificial intelligence research.The safety criteria for medical imaging are highly stringent,and models are required for an explanation.However,existing convolutional neural network solutions for left ventricular segmentation are viewed in terms of inputs and outputs.Thus,the interpretability of CNNs has come into the spotlight.Since medical imaging data are limited,many methods to fine-tune medical imaging models that are popular in transfer models have been built using massive public Image Net datasets by the transfer learning method.Unfortunately,this generates many unreliable parameters and makes it difficult to generate plausible explanations from these models.In this study,we trained from scratch rather than relying on transfer learning,creating a novel interpretable approach for autonomously segmenting the left ventricle with a cardiac MRI.Our enhanced GPU training system implemented interpretable global average pooling for graphics using deep learning.The deep learning tasks were simplified.Simplification included data management,neural network architecture,and training.Our system monitored and analyzed the gradient changes of different layers with dynamic visualizations in real-time and selected the optimal deployment model.Our results demonstrated that the proposed method was feasible and efficient:the Dice coefficient reached 94.48%,and the accuracy reached 99.7%.It was found that no current transfer learning models could perform comparably to the ImageNet transfer learning architectures.This model is lightweight and more convenient to deploy on mobile devices than transfer learning models.展开更多
基金supported by the National Natural Science Foundation of China(No.61871283).
文摘The Autonomous Underwater Glider(AUG)is a kind of prevailing underwater intelligent internet vehicle and occupies a dominant position in industrial applications,in which path planning is an essential problem.Due to the complexity and variability of the ocean,accurate environment modeling and flexible path planning algorithms are pivotal challenges.The traditional models mainly utilize mathematical functions,which are not complete and reliable.Most existing path planning algorithms depend on the environment and lack flexibility.To overcome these challenges,we propose a path planning system for underwater intelligent internet vehicles.It applies digital twins and sensor data to map the real ocean environment to a virtual digital space,which provides a comprehensive and reliable environment for path simulation.We design a value-based reinforcement learning path planning algorithm and explore the optimal network structure parameters.The path simulation is controlled by a closed-loop model integrated into the terminal vehicle through edge computing.The integration of state input enriches the learning of neural networks and helps to improve generalization and flexibility.The task-related reward function promotes the rapid convergence of the training.The experimental results prove that our reinforcement learning based path planning algorithm has great flexibility and can effectively adapt to a variety of different ocean conditions.
基金The National Natural Science Foundation of China (62176048)provided funding for this research.
文摘The interpretability of deep learning models has emerged as a compelling area in artificial intelligence research.The safety criteria for medical imaging are highly stringent,and models are required for an explanation.However,existing convolutional neural network solutions for left ventricular segmentation are viewed in terms of inputs and outputs.Thus,the interpretability of CNNs has come into the spotlight.Since medical imaging data are limited,many methods to fine-tune medical imaging models that are popular in transfer models have been built using massive public Image Net datasets by the transfer learning method.Unfortunately,this generates many unreliable parameters and makes it difficult to generate plausible explanations from these models.In this study,we trained from scratch rather than relying on transfer learning,creating a novel interpretable approach for autonomously segmenting the left ventricle with a cardiac MRI.Our enhanced GPU training system implemented interpretable global average pooling for graphics using deep learning.The deep learning tasks were simplified.Simplification included data management,neural network architecture,and training.Our system monitored and analyzed the gradient changes of different layers with dynamic visualizations in real-time and selected the optimal deployment model.Our results demonstrated that the proposed method was feasible and efficient:the Dice coefficient reached 94.48%,and the accuracy reached 99.7%.It was found that no current transfer learning models could perform comparably to the ImageNet transfer learning architectures.This model is lightweight and more convenient to deploy on mobile devices than transfer learning models.
