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In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is proposed to estimate the lumped disturbances. The bi-limit homogeneity and Lyapunov techniques are employed to ensure the convergence of estimation error within a fixed convergence time, independent of the initial estimation error. Then, an observerbased model predictive control strategy is formulated to achieve robust trajectory tracking of quadrotor, attenuating the lumped disturbances and model uncertainties. Finally, simulations and real-world experiments are provided to illustrate the effectiveness of the proposed method.

Integrating the different data modalities of cancer patients can significantly improve the predictive performance of patient survival. However, most existing methods ignore the simultaneous utilization of rich semantic features at different scales in pathology images. When collecting multimodal data and extracting features, there is a likelihood of encountering intra-modality missing data, introducing noise into the multimodal data. To address these challenges, this paper proposes a new end-to-end framework, FORESEE, for robustly predicting patient survival by mining multimodal information. Specifically, the cross-fusion transformer effectively utilizes features at the cellular level, tissue level, and tumor heterogeneity level to correlate prognosis through a cross-scale feature cross-fusion method. This enhances the ability of pathological image feature representation. Secondly, the hybrid attention encoder (HAE) uses the denoising contextual attention module to obtain the contextual relationship features and local detail features of the molecular data. HAE's channel attention module obtains global features of molecular data. Furthermore, to address the issue of missing information within modalities, we propose an asymmetrically masked triplet masked autoencoder to reconstruct lost information within modalities. Extensive experiments demonstrate the superiority of our method over state-of-the-art methods on four benchmark datasets in both complete and missing settings.

Accurately predicting the survival rate of cancer patients is crucial for aiding clinicians in planning appropriate treatment, reducing cancer-related medical expenses, and significantly enhancing patients' quality of life. Multimodal prediction of cancer patient survival offers a more comprehensive and precise approach. However, existing methods still grapple with challenges related to missing multimodal data and information interaction within modalities. This paper introduces SELECTOR, a heterogeneous graph-aware network based on convolutional mask encoders for robust multimodal prediction of cancer patient survival. SELECTOR comprises feature edge reconstruction, convolutional mask encoder, feature cross-fusion, and multimodal survival prediction modules. Initially, we construct a multimodal heterogeneous graph and employ the meta-path method for feature edge reconstruction, ensuring comprehensive incorporation of feature information from graph edges and effective embedding of nodes. To mitigate the impact of missing features within the modality on prediction accuracy, we devised a convolutional masked autoencoder (CMAE) to process the heterogeneous graph post-feature reconstruction. Subsequently, the feature cross-fusion module facilitates communication between modalities, ensuring that output features encompass all features of the modality and relevant information from other modalities. Extensive experiments and analysis on six cancer datasets from TCGA demonstrate that our method significantly outperforms state-of-the-art methods in both modality-missing and intra-modality information-confirmed cases. Our codes are made available at https://github.com/panliangrui/Selector., Comment: Accepted on Computers in Biology and Medicine

Histopathology image segmentation is the gold standard for diagnosing cancer, and can indicate cancer prognosis. However, histopathology image segmentation requires high-quality masks, so many studies now use imagelevel labels to achieve pixel-level segmentation to reduce the need for fine-grained annotation. To solve this problem, we propose an attention-based cross-view feature consistency end-to-end pseudo-mask generation framework named CVFC based on the attention mechanism. Specifically, CVFC is a three-branch joint framework composed of two Resnet38 and one Resnet50, and the independent branch multi-scale integrated feature map to generate a class activation map (CAM); in each branch, through down-sampling and The expansion method adjusts the size of the CAM; the middle branch projects the feature matrix to the query and key feature spaces, and generates a feature space perception matrix through the connection layer and inner product to adjust and refine the CAM of each branch; finally, through the feature consistency loss and feature cross loss to optimize the parameters of CVFC in co-training mode. After a large number of experiments, An IoU of 0.7122 and a fwIoU of 0.7018 are obtained on the WSSS4LUAD dataset, which outperforms HistoSegNet, SEAM, C-CAM, WSSS-Tissue, and OEEM, respectively., Comment: Submitted to BIBM2023

Histopathological images are the gold standard for diagnosing liver cancer. However, the accuracy of fully digital diagnosis in computational pathology needs to be improved. In this paper, in order to solve the problem of multi-label and low classification accuracy of histopathology images, we propose a locally deep convolutional Swim framework (LDCSF) to classify multi-label histopathology images. In order to be able to provide local field of view diagnostic results, we propose the LDCSF model, which consists of a Swin transformer module, a local depth convolution (LDC) module, a feature reconstruction (FR) module, and a ResNet module. The Swin transformer module reduces the amount of computation generated by the attention mechanism by limiting the attention to each window. The LDC then reconstructs the attention map and performs convolution operations in multiple channels, passing the resulting feature map to the next layer. The FR module uses the corresponding weight coefficient vectors obtained from the channels to dot product with the original feature map vector matrix to generate representative feature maps. Finally, the residual network undertakes the final classification task. As a result, the classification accuracy of LDCSF for interstitial area, necrosis, non-tumor and tumor reached 0.9460, 0.9960, 0.9808, 0.9847, respectively. Finally, we use the results of multi-label pathological image classification to calculate the tumor-to-stromal ratio, which lays the foundation for the analysis of the microenvironment of liver cancer histopathological images. Second, we released a multilabel histopathology image of liver cancer, our code and data are available at https://github.com/panliangrui/LSF., Comment: Submitted to BIBM2023

Due to the high heterogeneity and clinical characteristics of cancer, there are significant differences in multi-omics data and clinical features among subtypes of different cancers. Therefore, the identification and discovery of cancer subtypes are crucial for the diagnosis, treatment, and prognosis of cancer. In this study, we proposed a generalization framework based on attention mechanisms for unsupervised contrastive learning to analyze cancer multi-omics data for the identification and characterization of cancer subtypes. The framework contains a symmetric unsupervised multi-head attention encoder, which can deeply extract contextual features and long-range dependencies of multi-omics data, reducing the impact of noise in multi-omics data. Importantly, the proposed framework includes a decoupled contrastive learning model (DEDUCE) based on a multi-head attention mechanism to learn multi-omics data features and clustering and identify cancer subtypes. This method clusters subtypes by calculating the similarity between samples in the feature space and sample space of multi-omics data. The basic idea is to decouple different attributes of multi-omics data features and learn them as contrasting terms. Construct a contrastive loss function to measure the difference between positive examples and negative examples, and minimize this difference, thereby encouraging the model to learn better feature representation. The DEDUCE model conducts large-scale experiments on simulated multi-omics data sets, single-cell multi-omics data sets and cancer multi-omics data sets, and the results are better than 10 deep learning models. Finally, we used the DEDUCE model to reveal six cancer subtypes of AML. By analyzing GO functional enrichment, subtype-specific biological functions and GSEA of AML

Colorectal cancer (CRC) is among the top three malignant tumor types in terms of morbidity and mortality. Histopathological images are the gold standard for diagnosing colon cancer. Cellular nuclei instance segmentation and classification, and nuclear component regression tasks can aid in the analysis of the tumor microenvironment in colon tissue. Traditional methods are still unable to handle both types of tasks end-to-end at the same time, and have poor prediction accuracy and high application costs. This paper proposes a new UNet model for handling nuclei based on the UNet framework, called MGTUNet, which uses Mish, Group normalization and transposed convolution layer to improve the segmentation model, and a ranger optimizer to adjust the SmoothL1Loss values. Secondly, it uses different channels to segment and classify different types of nucleus, ultimately completing the nuclei instance segmentation and classification task, and the nuclei component regression task simultaneously. Finally, we did extensive comparison experiments using eight segmentation models. By comparing the three evaluation metrics and the parameter sizes of the models, MGTUNet obtained 0.6254 on PQ, 0.6359 on mPQ, and 0.8695 on R2. Thus, the experiments demonstrated that MGTUNet is now a state-of-the-art method for quantifying histopathological images of colon cancer., Comment: Published in BIBM2022(regular paper),https://doi.org/10.1109/BIBM55620.2022.9995669

Visual Emotion Analysis (VEA) is attracting increasing attention. One of the biggest challenges of VEA is to bridge the affective gap between visual clues in a picture and the emotion expressed by the picture. As the granularity of emotions increases, the affective gap increases as well. Existing deep approaches try to bridge the gap by directly learning discrimination among emotions globally in one shot without considering the hierarchical relationship among emotions at different affective levels and the affective level of emotions to be classified. In this paper, we present the Multi-level Dependent Attention Network (MDAN) with two branches, to leverage the emotion hierarchy and the correlation between different affective levels and semantic levels. The bottom-up branch directly learns emotions at the highest affective level and strictly follows the emotion hierarchy while predicting emotions at lower affective levels. In contrast, the top-down branch attempt to disentangle the affective gap by one-to-one mapping between semantic levels and affective levels, namely, Affective Semantic Mapping. At each semantic level, a local classifier learns discrimination among emotions at the corresponding affective level. Finally, We integrate global learning and local learning into a unified deep framework and optimize the network simultaneously. Moreover, to properly extract and leverage channel dependencies and spatial attention while disentangling the affective gap, we carefully designed two attention modules: the Multi-head Cross Channel Attention module and the Level-dependent Class Activation Map module. Finally, the proposed deep framework obtains new state-of-the-art performance on six VEA benchmarks, where it outperforms existing state-of-the-art methods by a large margin, e.g., +3.85% on the WEBEmo dataset at 25 classes classification accuracy., Comment: Published in CVPR 2022

In Sound Event Detection (SED) systems, the lengths of median filters for post-processing have never been optimized during training due to several problems. No gradient is received by the lengths so they cannot be learned during back-propagation. The median-filtering inserted in the models also causes block in gradient flowing and the smoothing process misleads the model by ignoring errors. To resolve these problems, we provide different channels of features smoothed to different extents along with the original feature, so the model can optimize the weights while cognizing all the errors. We then use a linear layer to integrate the results and produce a linear combination. We further design the soft-median function to dredge the gradient flow. The proposed framework is called Soft-Median Choice (SMC). Experiments show that the SMC block not only automatically smooths the features based on the training set, but also forces the model to extract common features shared by all the frames of a sound event. The performance of the proposed method outperforms the baseline by over 10% of Event-Based F1 Score (EBFS) in both the validation and the evaluation set, and also slightly outperforms the single model of the state-of-the-art SED system., Comment: 5 pages, 3 figures, 6 tables