Control System Design and Experiments for Autonomous Underwater Helicopter Docking Procedure Based on Acoustic-inertial-optical Guidance

A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical guidance. Unlike conventional Autonomous Underwater Vehicles (AUVs), the maneuverability requirements for AUHs are more stringent during the docking procedure, requiring it to remain stationary or have minimal horizontal movement while moving vertically. The docking procedure is divided into two stages: Homing and Landing, each stage utilizing different guidance methods. Additionally, a segmented aligning strategy operating at various altitudes and a linear velocity decision are both adopted in Landing stage. Due to the unique structure of the Subsea Docking System (SDS), the AUH is required to dock onto the SDS in a fixed orientation with specific attitude and altitude. Therefore, a particular criterion is proposed to determine whether the AUH has successfully docked onto the SDS. Furthermore, the effectiveness and robustness of the proposed control method in AUH's docking procedure are demonstrated through pool experiments and sea trials.

Multi-Scale Temporal Transformer For Speech Emotion Recognition

Speech emotion recognition plays a crucial role in human-machine interaction systems. Recently various optimized Transformers have been successfully applied to speech emotion recognition. However, the existing Transformer architectures focus more on global information and require large computation. On the other hand, abundant speech emotional representations exist locally on different parts of the input speech. To tackle these problems, we propose a Multi-Scale TRansfomer (MSTR) for speech emotion recognition. It comprises of three main components: (1) a multi-scale temporal feature operator, (2) a fractal self-attention module, and (3) a scale mixer module. These three components can effectively enhance the transformer's ability to learn multi-scale local emotion representations. Experimental results demonstrate that the proposed MSTR model significantly outperforms a vanilla Transformer and other state-of-the-art methods across three speech emotion datasets: IEMOCAP, MELD and, CREMAD. In addition, it can greatly reduce the computational cost.

AS-Speech: Adaptive Style For Speech Synthesis

In recent years, there has been significant progress in Text-to-Speech (TTS) synthesis technology, enabling the high-quality synthesis of voices in common scenarios. In unseen situations, adaptive TTS requires a strong generalization capability to speaker style characteristics. However, the existing adaptive methods can only extract and integrate coarse-grained timbre or mixed rhythm attributes separately. In this paper, we propose AS-Speech, an adaptive style methodology that integrates the speaker timbre characteristics and rhythmic attributes into a unified framework for text-to-speech synthesis. Specifically, AS-Speech can accurately simulate style characteristics through fine-grained text-based timbre features and global rhythm information, and achieve high-fidelity speech synthesis through the diffusion model. Experiments show that the proposed model produces voices with higher naturalness and similarity in terms of timbre and rhythm compared to a series of adaptive TTS models.

Automated architectural space layout planning using a physics-inspired generative design framework

The determination of space layout is one of the primary activities in the schematic design stage of an architectural project. The initial layout planning defines the shape, dimension, and circulation pattern of internal spaces; which can also affect performance and cost of the construction. When carried out manually, space layout planning can be complicated, repetitive and time consuming. In this work, a generative design framework for the automatic generation of spatial architectural layout has been developed. The proposed approach integrates a novel physics-inspired parametric model for space layout planning and an evolutionary optimisation metaheuristic. Results revealed that such a generative design framework can generate a wide variety of design suggestions at the schematic design stage, applicable to complex design problems.

A Comprehensive Survey of Large Language Models and Multimodal Large Language Models in Medicine

Since the release of ChatGPT and GPT-4, large language models (LLMs) and multimodal large language models (MLLMs) have garnered significant attention due to their powerful and general capabilities in understanding, reasoning, and generation, thereby offering new paradigms for the integration of artificial intelligence with medicine. This survey comprehensively overviews the development background and principles of LLMs and MLLMs, as well as explores their application scenarios, challenges, and future directions in medicine. Specifically, this survey begins by focusing on the paradigm shift, tracing the evolution from traditional models to LLMs and MLLMs, summarizing the model structures to provide detailed foundational knowledge. Subsequently, the survey details the entire process from constructing and evaluating to using LLMs and MLLMs with a clear logic. Following this, to emphasize the significant value of LLMs and MLLMs in healthcare, we survey and summarize 6 promising applications in healthcare. Finally, the survey discusses the challenges faced by medical LLMs and MLLMs and proposes a feasible approach and direction for the subsequent integration of artificial intelligence with medicine. Thus, this survey aims to provide researchers with a valuable and comprehensive reference guide from the perspectives of the background, principles, and clinical applications of LLMs and MLLMs.

Time2Stop: Adaptive and Explainable Human-AI Loop for Smartphone Overuse Intervention

Despite a rich history of investigating smartphone overuse intervention techniques, AI-based just-in-time adaptive intervention (JITAI) methods for overuse reduction are lacking. We develop Time2Stop, an intelligent, adaptive, and explainable JITAI system that leverages machine learning to identify optimal intervention timings, introduces interventions with transparent AI explanations, and collects user feedback to establish a human-AI loop and adapt the intervention model over time. We conducted an 8-week field experiment (N=71) to evaluate the effectiveness of both the adaptation and explanation aspects of Time2Stop. Our results indicate that our adaptive models significantly outperform the baseline methods on intervention accuracy (>32.8\% relatively) and receptivity (>8.0\%). In addition, incorporating explanations further enhances the effectiveness by 53.8\% and 11.4\% on accuracy and receptivity, respectively. Moreover, Time2Stop significantly reduces overuse, decreasing app visit frequency by 7.0$\sim$8.9\%. Our subjective data also echoed these quantitative measures. Participants preferred the adaptive interventions and rated the system highly on intervention time accuracy, effectiveness, and level of trust. We envision our work can inspire future research on JITAI systems with a human-AI loop to evolve with users.

Multi-perspective Feedback-attention Coupling Model for Continuous-time Dynamic Graphs

Recently, representation learning over graph networks has gained popularity, with various models showing promising results. Despite this, several challenges persist: 1) most methods are designed for static or discrete-time dynamic graphs; 2) existing continuous-time dynamic graph algorithms focus on a single evolving perspective; and 3) many continuous-time dynamic graph approaches necessitate numerous temporal neighbors to capture long-term dependencies. In response, this paper introduces the Multi-Perspective Feedback-Attention Coupling (MPFA) model. MPFA incorporates information from both evolving and raw perspectives, efficiently learning the interleaved dynamics of observed processes. The evolving perspective employs temporal self-attention to distinguish continuously evolving temporal neighbors for information aggregation. Through dynamic updates, this perspective can capture long-term dependencies using a small number of temporal neighbors. Meanwhile, the raw perspective utilizes a feedback attention module with growth characteristic coefficients to aggregate raw neighborhood information. Experimental results on a self-organizing dataset and seven public datasets validate the efficacy and competitiveness of our proposed model.

Joint Channel Estimation and Turbo Equalization of Single-Carrier Systems over Time-Varying Channels

Block transmission systems have been proven successful over frequency-selective channels. For time-varying channel such as in high-speed mobile communication and underwater communication, existing equalizers assume that channels over different data frames are independent. However, the real-world channels over different data frames are correlated, thereby indicating potentials for performance improvement. In this paper, we propose a joint channel estimation and equalization/decoding algorithm for a single-carrier system that exploits temporal correlations of channel between transmitted data frames. Leveraging the concept of dynamic compressive sensing, our method can utilize the information of several data frames to achieve better performance. The information not only passes between the channel and symbol, but also the channels over different data frames. Numerical simulations using an extensively validated underwater acoustic model with a time-varying channel establish that the proposed algorithm outperforms the former bilinear generalized approximate message passing equalizer and classic minimum mean square error turbo equalizer in bit error rate and channel estimation normalized mean square error. The algorithm idea we present can also find applications in other bilinear multiple measurements vector compressive sensing problems.

Towards Accurate and Compact Architectures via Neural Architecture Transformer

Designing effective architectures is one of the key factors behind the success of deep neural networks. Existing deep architectures are either manually designed or automatically searched by some Neural Architecture Search (NAS) methods. However, even a well-designed/searched architecture may still contain many nonsignificant or redundant modules/operations. Thus, it is necessary to optimize the operations inside an architecture to improve the performance without introducing extra computational cost. To this end, we have proposed a Neural Architecture Transformer (NAT) method which casts the optimization problem into a Markov Decision Process (MDP) and seeks to replace the redundant operations with more efficient operations, such as skip or null connection. Note that NAT only considers a small number of possible transitions and thus comes with a limited search/transition space. As a result, such a small search space may hamper the performance of architecture optimization. To address this issue, we propose a Neural Architecture Transformer++ (NAT++) method which further enlarges the set of candidate transitions to improve the performance of architecture optimization. Specifically, we present a two-level transition rule to obtain valid transitions, i.e., allowing operations to have more efficient types (e.g., convolution->separable convolution) or smaller kernel sizes (e.g., 5x5->3x3). Note that different operations may have different valid transitions. We further propose a Binary-Masked Softmax (BMSoftmax) layer to omit the possible invalid transitions. Extensive experiments on several benchmark datasets show that the transformed architecture significantly outperforms both its original counterpart and the architectures optimized by existing methods.

An Improved Iterative Neural Network for High-Quality Image-Domain Material Decomposition in Dual-Energy CT

Dual-energy computed tomography (DECT) has been widely used in many applications that need material decomposition. Image-domain methods directly decompose material images from high- and low-energy attenuation images, and thus, are susceptible to noise and artifacts on attenuation images. To obtain high-quality material images, various data-driven methods have been proposed. Iterative neural network (INN) methods combine regression NNs and model-based image reconstruction algorithm. INNs reduced the generalization error of (noniterative) deep regression NNs, and achieved high-quality reconstruction in diverse medical imaging applications. BCD-Net is a recent INN architecture that incorporates imaging refining NNs into the block coordinate descent (BCD) model-based image reconstruction algorithm. We propose a new INN architecture, distinct cross-material BCD-Net, for DECT material decomposition. The proposed INN architecture uses distinct cross-material convolutional neural network (CNN) in image refining modules, and uses image decomposition physics in image reconstruction modules. The distinct cross-material CNN refiners incorporate distinct encoding-decoding filters and cross-material model that captures correlations between different materials. We interpret the distinct cross-material CNN refiner with patch perspective. Numerical experiments with extended cardiactorso (XCAT) phantom and clinical data show that proposed distinct cross-material BCD-Net significantly improves the image quality over several image-domain material decomposition methods, including a conventional model-based image decomposition (MBID) method using an edge-preserving regularizer, a state-of-the-art MBID method using pre-learned material-wise sparsifying transforms, and a noniterative deep CNN denoiser.