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Novel GNSS-INS Integration Scheme With UKF-Based Dynamic IMU Calibration and Dual-layer Design for Reliable Navigation 基于ukf的动态IMU标定与可靠导航双层设计的GNSS-INS集成新方案
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-15 DOI: 10.1109/LSENS.2026.3654361
R. C. Ajay Krishna;Banibrata Mukherjee
In this work, a robust and improved loosely coupled (LC) Global Navigation Satellite System (GNSS)- Inertial Navigation System (INS) integration scheme incorporating three important features, such as dynamic inertial measurement unit (IMU) calibration, Mahalanobis distance-based outlier rejection (MDOR) mechanism, and innovation-based adaptive estimation (IAE) technique, is presented for reliable and accurate navigation. Unscented Kalman filter (UKF)-based dynamic calibration of IMU is adapted here because it accurately transmits statistical distributions without linearization, which is better at managing nonlinear INS dynamics than the extended Kalman filter. Further, MDOR mechanism is proposed to identify and exclude erroneous GNSS measurements before the filter update, whereas, IAE technique is proposed to dynamically tune the filter’s noise covariance. A hardware setup is developed using a GNSS receiver, IMU sensor, and microcontroller to capture data for real vehicular trajectories. The proposed framework has been implemented in MATLAB and further experimentally demonstrated with real trajectory data. The navigation accuracy of the proposed method exhibits upto 75% improvement with respect to conventional LC integration. The contribution lies on careful integration and validation of dual-layer architecture with interlayer feedback mechanism and nested-architecture for known UKF-based IMU calibration. The proposed framework can provide a precise navigation solution to improve resilience even in partial GNSS challenging areas.
本文提出了一种鲁棒和改进的松耦合(LC)全球导航卫星系统(GNSS)-惯性导航系统(INS)集成方案,该方案结合了动态惯性测量单元(IMU)校准、基于马氏距离的离群值抑制(MDOR)机制和基于创新的自适应估计(IAE)技术等三个重要特征,以实现可靠和精确的导航。本文采用基于Unscented卡尔曼滤波(UKF)的IMU动态定标方法,因为UKF能准确地传递统计分布而不需要线性化,比扩展卡尔曼滤波更能有效地管理非线性惯性导航系统的动态特性。进一步,提出了MDOR机制,在滤波器更新前识别和排除GNSS测量误差;提出了IAE技术,动态调整滤波器的噪声协方差。利用GNSS接收器、IMU传感器和微控制器开发了硬件设置,以捕获真实车辆轨迹的数据。该框架已在MATLAB中实现,并进一步用真实轨迹数据进行了实验验证。与传统的LC集成相比,该方法的导航精度提高了75%。贡献在于仔细集成和验证双层结构与层间反馈机制和嵌套结构已知的基于ukf的IMU校准。提出的框架可以提供精确的导航解决方案,即使在部分GNSS具有挑战性的地区也可以提高弹性。
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引用次数: 0
A Low-Power BJT-Based CMOS Temperature Sensor Using a Common-Mode Error Suppression Sampling Scheme From −50 °C to 150 °C 采用共模误差抑制采样方案的低功耗bjt CMOS温度传感器- 50°C至150°C
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-15 DOI: 10.1109/LSENS.2026.3654225
Da Xu;Zhenghao Lu;Zheng Shi;Xiaopeng Yu
A CMOS temperature sensor targeting automotive and industrial applications is presented. The sensor integrates a BJT-based sensing frontend with a second-order $Sigma Delta$ ADC. To address the accumulation of common-mode error in the integrator under low supply voltages, which can lead to large input common-mode deviations that reduce the integrator amplifier gain and degrade the ADC SNR, a novel sampling scheme is proposed. By means of a carefully designed sampling sequence, the proposed scheme maintains the amplifier input common-mode voltage within a small and predictable range, thereby stabilizing the amplifier gain and preventing SNR degradation. In addition, the sampling scheme reduces the number of ADC input branches, which effectively minimizes leakage current. To further enhance the measurement accuracy, a finite BJT current-gain compensation resistor and a bitstream-controlled dynamic element matching (BSC-DEM) technique are employed in the sensing frontend. Fabricated in a 180 nm CMOS process, the prototype achieves an inaccuracy of $pm$1.0 °C (3$sigma$) from −50 °C to 150 °C. The sensor consumes 6.3 μA from a 1.8 V supply at room temperature, achieves a resolution of 0.018 °C, and occupies an active area of 0.1 mm$^{2}$.
介绍了一种针对汽车和工业应用的CMOS温度传感器。该传感器集成了基于bjt的传感前端和二阶$Sigma Delta$ ADC。针对低电源电压下积分器共模误差累积导致输入共模偏差过大,降低积分器放大器增益,降低ADC信噪比的问题,提出了一种新的采样方案。通过精心设计的采样序列,该方案将放大器输入共模电压保持在一个小而可预测的范围内,从而稳定放大器增益并防止信噪比下降。此外,该采样方案减少了ADC输入支路的数量,有效地减小了漏电流。为了进一步提高测量精度,传感前端采用了有限BJT电流增益补偿电阻和比特流控制动态元件匹配(BSC-DEM)技术。在180 nm CMOS工艺中制造,原型在- 50°C到150°C之间实现了$pm$ 1.0°C (3 $sigma$)的误差。该传感器在室温下的功耗为6.3 μA,电源电压为1.8 V,分辨率为0.018℃,有效面积为0.1 mm $^{2}$。
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引用次数: 0
DARF-Net: A Dual Attention Retinex-Based Fusion Network for Low-Light Image Enhancement DARF-Net:一种基于双注意视黄醇的弱光图像增强融合网络
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2026.3651748
Samprit Bose;Agnesh Chandra Yadav;Maheshkumar H. Kolekar
Low-light images often suffer from poor contrast, reduced visibility, and detail loss, with artifacts and distortions under complex lighting further complicating enhancement. To address these challenges, we introduce DARF-Net, a Retinex-inspired framework that separates input images into illumination and reflectance components for targeted enhancement. Our method, which uses an illumination-guided multihead attention module as the generator of a generative adversarial network, improves the illumination map, while a variational autoencoder supplemented with a spatial attention module improves the reflectance map. Together, the two attention modules improve brightness, structure, and overall visual quality. Comprehensive tests on the LOL and SICE datasets show that DARF-Net outperforms the state-of-the-art techniques in terms of peak signal-to-noise ratio, structural similarity index, and learned perceptual image patch similarity metrics while retaining computational efficiency.
低光图像通常会出现对比度差、可见度降低和细节丢失的问题,在复杂的光线下还会出现伪影和失真,从而使增强变得更加复杂。为了应对这些挑战,我们引入了DARF-Net,这是一个受retina启发的框架,可将输入图像分离为照明和反射率组件,以进行有针对性的增强。我们的方法使用光照引导的多头注意力模块作为生成式对抗网络的生成器,改进了光照图,而补充了空间注意力模块的变分自编码器改进了反射率图。这两个注意力模块一起改善了亮度、结构和整体视觉质量。在LOL和SICE数据集上的综合测试表明,DARF-Net在保持计算效率的同时,在峰值信噪比、结构相似性指数和学习感知图像补丁相似性指标方面优于最先进的技术。
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引用次数: 0
Analysis of Pregnancy Progression in Term Condition Using Propagation Features and Uterine EMG Measurements 利用繁殖特征和子宫肌电图测量分析足月妊娠进展
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2026.3651315
Vinothini S;Punitha N;Karthick P A;Ramakrishnan S
Pregnancy involves various anatomical and physiological changes, with weak and inefficient uterine contractions during early stages. As labor approaches, uterine activity becomes more coordinated due to enhanced synchronization of electrical signals. Monitoring this progression is critical for improving maternal and fetal health through early detection of complications and timely interventions. Uterine electromyography (uEMG) is a noninvasive technique for assessing uterine electrical activity and has emerged as a promising tool for tracking pregnancy progression. This study aims to evaluate synchronization measures derived from multichannel uEMG signals to characterize pregnancy progression. uEMG signals obtained from the publicly available databases are considered during before (T1) and after (T2) 26 weeks of gestation from term delivery. Signals from three bipolar channels, with a fourth derived channel, are preprocessed using a four-pole Butterworth bandpass filter (0.3–3 Hz) to mitigate noise. Propagation features, including maximum cross-correlation, mean coherence, peak coherence, imaginary coherence, and phase locking value (PLV), are extracted across all channel pairs. Random forest (RF)-based feature importance ranking is employed for feature selection, and machine learning classifiers, such as RF, adaptive boosting, and support vector machine, are used for classification. Results show that propagation features are able to characterize the pregnancy progression. Coherence-based measures decrease with increasing gestation, whereas PLV consistently increases in both intersubject and intrasubject analyses, indicating enhanced localized phase alignment. The RF model achieves 73.3% accuracy in intrasubject and 67.4% accuracy in intersubject analyses. These findings suggest that propagation features derived from uEMG can effectively characterize pregnancy progression and may aid in monitoring uterine physiological changes throughout gestation.
妊娠涉及多种解剖和生理变化,早期子宫收缩乏力,效率低下。随着分娩的临近,由于电信号的同步增强,子宫活动变得更加协调。监测这一进展对于通过早期发现并发症和及时干预改善孕产妇和胎儿健康至关重要。子宫肌电图(uEMG)是一种评估子宫电活动的无创技术,已成为跟踪妊娠进展的有前途的工具。本研究旨在评估来自多通道uEMG信号的同步测量,以表征妊娠进展。从公开可用的数据库中获得的uEMG信号被考虑在妊娠26周之前(T1)和之后(T2)从足月分娩。来自三个双极通道的信号,以及第四个衍生通道,使用四极巴特沃斯带通滤波器(0.3-3 Hz)进行预处理,以减轻噪声。在所有信道对中提取传输特征,包括最大互相关、平均相干、峰值相干、虚相干和锁相值(PLV)。基于随机森林(Random forest, RF)的特征重要性排序用于特征选择,并使用机器学习分类器(如RF、自适应增强和支持向量机)进行分类。结果表明,繁殖特征能够表征妊娠进程。基于相干性的测量随着妊娠的增加而减少,而在主体间和主体内的分析中,PLV持续增加,表明局部相位对齐增强。RF模型在主体内和主体间分析的准确率分别达到73.3%和67.4%。这些发现表明,由uEMG获得的生殖特征可以有效地表征妊娠进展,并可能有助于监测整个妊娠期间子宫的生理变化。
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引用次数: 0
Toward Green Electronics: Screen-Printed MXene-Based Microsupercapacitors on Paper Substrate with Nafion-Based Gel Electrolyte 迈向绿色电子:基于纳米基凝胶电解质的纸基丝网印刷mxene微超级电容器
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2026.3652104
Sushree Sangita Priyadarsini;Aditi Ghosh;Subho Dasgupta
The rise of electronic waste worldwide over the years has given birth to a new field of research of sustainable, biodegradable, green electronics, which generate minimal waste with less carbon emission. A sustainable platform for continuous sensor monitoring in wearable electronics requires a sustainable, clean, safe, and flexible energy storage solution. Research on paper electronics has seen a major flourishing in recent years, where the need of the hour is to find a sustainable energy storage solution. Recently discovered, MXene electrodes typically use H2SO4-based electrolytes, which are quite toxic and harmful. In this work, as an alternative, a novel Nafion-based gel electrolyte has been developed, operating within the same potential window as H2SO4 (0.6 V). This screen-printed, biocompatible microsupercapacitor (MSC) on paper substrates has an outstanding capacitance of 121 mF cm−2 at a voltage scan rate of 1 mV s−1, with only a single pass of screen printing. This strategy provides stable, inexpensive, environment-friendly, scalable, and flexible on-chip MSCs, paving the way for a next-generation energy storage platform for wearable electronics.
多年来,全球电子垃圾的增加催生了一个新的研究领域,即可持续的、可生物降解的、绿色的电子产品,这种电子产品产生的废物最少,碳排放更少。可穿戴电子设备中可持续的连续传感器监测平台需要可持续、清洁、安全和灵活的能量存储解决方案。近年来,纸电子的研究蓬勃发展,迫切需要找到一种可持续的能量存储解决方案。最近发现,MXene电极通常使用基于h2so4的电解质,这是非常有毒和有害的。在这项工作中,作为一种替代方案,一种新型的基于nafion的凝胶电解质已经开发出来,与H2SO4 (0.6 V)在相同的电位窗口内工作。这种丝网印刷的生物相容性微超级电容器(MSC)在纸质基板上具有121 mF cm−2的出色电容,扫描电压速率为1 mV s−1,仅通过一次丝网印刷。这种策略提供了稳定、廉价、环保、可扩展和灵活的片上MSCs,为可穿戴电子产品的下一代储能平台铺平了道路。
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引用次数: 0
A Simple Noninverting Amplifier for Three-Wire Resistive Sensors Using a Single-Supply Ratiometric Measurement 一种简单的非反相放大器,用于三线电阻传感器,采用单电源比例测量
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2026.3652667
Apinan Aurasopon;J. Jittakort;Sanya Kuankid
This letter presents a simple and accurate interface circuit for three-wire resistive sensors based on a noninverting amplifier and a two-phase ratiometric measurement technique. The circuit is excited by a single positive reference voltage, while an analog switch alternates two current paths to produce distinct steady-state output levels corresponding to different lead-wire configurations. Digital averaging of these steady-state output levels enables effective compensation of lead-wire resistance, op-amp offset, and switch on-resistance effects, with averaging performed digitally after direct ADC sampling. Experimental results demonstrate excellent linearity over the 490–3026 Ω range, corresponding to approximately −130 °C to 525 °C for a Pt1000 sensor, with a maximum relative error of 0.22% and nonlinearity below 0.16% FSS. These results confirm the circuit’s accuracy, simplicity, and suitability for compact, low-power resistive sensor instrumentation.
本文介绍了一种基于非反相放大器和两相比率测量技术的简单而精确的三线电阻传感器接口电路。该电路由单个正参考电压激发,而模拟开关交替两条电流路径,以产生对应于不同引线配置的不同稳态输出电平。对这些稳态输出电平进行数字平均,可以有效地补偿引线电阻、运算放大器偏移和开关导通电阻效应,并在ADC直接采样后进行数字平均。实验结果表明,在490-3026 Ω范围内具有良好的线性,对应于Pt1000传感器约为- 130°C至525°C,最大相对误差为0.22%,非线性小于0.16% FSS。这些结果证实了该电路的准确性,简单性和适用于紧凑,低功耗电阻传感器仪器。
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引用次数: 0
Integrated Fault Detection Using Fuzzy Soft-Sensor and Autoencoder Techniques for Nonlinear Dynamic Systems 基于模糊软测量和自编码器技术的非线性动态系统综合故障检测
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2026.3651304
Ruijie Liu;Zhiqi Ming;Engang Tian;Hongtian Chen
This letter focuses on the fault detection (FD) problems for a class of nonlinear dynamic systems, particularly in scenarios where conventional methods are prone to failure. Specifically, when a Takagi–Sugeno (T-S) fuzzy model is utilized for system approximation, the residual signal generated exhibits complex nonzero dynamics even under healthy operating conditions, which leads to poor FD performance of traditional residual-based methods. To address this problem, this letter proposes an integrated method that combines a T-S fuzzy soft-sensor with an autoencoder. The method first utilizes the fuzzy soft-sensor to generate residuals, and then the autoencoder is employed to learn the residual patterns under normal operation states. Ultimately, the FD is achieved by monitoring the reconstruction error of the autoencoder, which is quantified as the squared prediction error statistic. The final case study on a ship propulsion system validates the feasibility and superiority of the proposed FD method in detecting both actuator and sensor faults.
本文主要讨论一类非线性动态系统的故障检测(FD)问题,特别是在传统方法容易失效的情况下。具体来说,当使用Takagi-Sugeno (T-S)模糊模型进行系统逼近时,即使在健康运行条件下,产生的残差信号也表现出复杂的非零动态,这导致传统的基于残差的FD方法性能较差。为了解决这个问题,本文提出了一种将T-S模糊软传感器与自动编码器相结合的集成方法。该方法首先利用模糊软传感器产生残差,然后利用自编码器学习正常工作状态下的残差模式。最终,FD通过监测自编码器的重构误差来实现,并将其量化为预测误差统计量的平方。最后以某船舶推进系统为例,验证了FD方法在执行器和传感器故障检测方面的可行性和优越性。
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引用次数: 0
Respiratory Rate Monitoring During Wildland Firefighting Operations: A Comparison of Face-Mounted and Chest-Mounted Wearable Sensors 野外消防行动中的呼吸率监测:面部和胸部可穿戴传感器的比较
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2026.3652005
Mariangela Pinnelli;Chiara Romano;Stefano Marsella;Fabio Tossut;Roberto Setola;Emiliano Schena;Carlo Massaroni
Despite its critical role in assessing physiological strain and mitigating heat- and smoke-related risks, real-time respiratory monitoring is still largely absent in wildland firefighting. This study evaluates two wearable systems for estimating respiratory rate (RR) under operational field conditions (i.e., a multistage fire suppression protocol): a face-mounted system based on a thermistor integrated into a FFP3 facemask (Mask) and a chest-worn commercial strap (Bioharness, BH) with an integrated strain sensor. RR was estimated from raw signals using frequency–domain analysis considering both 25 s and 50 s windows lengths. Pairwise comparisons were performed between RR values estimated from Mask and BH, and, respectively, between each of them and the manufacturer–generated “Summary RR” provided by the BH's onboard processor. Results underscore the influence of signal processing over sensor placement and demonstrate the feasibility of unobtrusive RR tracking using both wearable systems in dynamic, high-risk environments.
尽管实时呼吸监测在评估生理应变和减轻高温和烟雾相关风险方面发挥着关键作用,但在野外消防中仍然很大程度上缺乏实时呼吸监测。本研究评估了两种可穿戴系统,用于在作战现场条件下估计呼吸速率(RR)(即多级灭火协议):一种是基于集成在FFP3面罩(Mask)中的热敏电阻的面部安装系统,另一种是带有集成应变传感器的胸戴商用带(Bioharness, BH)。考虑25秒和50秒窗口长度,使用频域分析从原始信号估计RR。对从Mask和BH估计的RR值进行两两比较,并分别将它们与由BH的板载处理器提供的制造商生成的“Summary RR”进行两两比较。结果强调了信号处理对传感器放置的影响,并证明了在动态、高风险环境中使用两种可穿戴系统进行不显眼的RR跟踪的可行性。
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引用次数: 0
A Compact Dual-Band Antenna Sensor for Multiband Sensing Application 用于多波段传感的紧凑型双频天线传感器
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2025.3647719
Soham Karak;Subha Mandal;Anumoy Ghosh;Gobinda Sen
This work presents the design and execution of a triangular inexpensive microwave sensor for multiband sensing applications. The suggested sensor makes use of a triangular shape split ring resonator as radiating patch, which gives a high Q-factor. The design with footprint of 0.08 λL x 0.3λL size makes it very small and hence useful for portable applications. The sensor's substrate is chosen as a low-loss Arlon material with a dielectric constant of 2.5 and a loss tangent of 0.0013. In order to characterize various oil samples, toluene, and ethanol, the sensor provides a strong sensing characteristic at the ISM bands with a high Q value of 43.24. The highest sensitivity of 10.62% is obtained with the proposed sensor by submerging it within the sample material, hence making it very convenient for real-time monitoring in industrial, agricultural, and health care applications due to its affordability and small size, especially when it comes to guaranteeing food safety. The efficiency of the sensors is confirmed by experimental results, which also show that they have the potential to be widely used in a variety of sensing applications.
这项工作提出了一种用于多波段传感应用的三角形廉价微波传感器的设计和执行。该传感器采用三角形分环谐振器作为辐射贴片,具有较高的q系数。占地0.08 λL x 0.3λL尺寸的设计使其非常小,因此适用于便携式应用。传感器的衬底选用介电常数为2.5、损耗正切为0.0013的低损耗Arlon材料。为了表征各种油样、甲苯和乙醇,该传感器在ISM波段具有很强的传感特性,Q值高达43.24。通过将该传感器浸入样品材料中,可以获得10.62%的最高灵敏度,因此由于其价格合理且体积小,因此非常方便在工业,农业和医疗保健应用中进行实时监测,特别是在保证食品安全方面。实验结果证实了传感器的效率,也表明它们具有广泛应用于各种传感应用的潜力。
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引用次数: 0
Evaluation of Shape Variations in Structural MR Images of Fornix in Normal, MCI, and AD Subjects Using Pseudo-Zernike Moments 利用伪zernike矩评估正常、MCI和AD受试者穹窿结构MR图像的形状变化
IF 2.2 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2026-01-12 DOI: 10.1109/LSENS.2026.3651328
Ahsan Ali;Subha Dharmapalan Puthankattil
Alzheimer’s disease (AD) is a degenerative disorder of the brain that affects elderly individuals, leading to cognitive decline and memory loss. Mild cognitive impairment (MCI) is a transition stage between normal cognition (NC) and AD. Early detection of MCI is crucial since it allows for timely intervention to delay AD progression. The onset of AD is associated with tissue alterations in the fornix, a white matter region of the brain responsible for cognition, learning, memory consolidation, and attention. In this study, fornix morphometrics in MCI and AD are characterized using structural magnetic resonance (sMR) brain images and pseudo-Zernike moment (PZM) features. For this study, a publicly available database is used. Initially, a standard pipeline is used to preprocess the sMR brain images, followed by segmentation of the fornix structure using the level set without reinitialization (LSWR) algorithm. Subsequently, 64 PZMs are computed from the fornix region. Statistical tests, such as the Kolmogorov–Smirnov test, student’s t-test, Wilcoxon–Mann–Whitney test, and one-way analysis of variance are employed to identify significant features, and machine learning algorithms also performed for binary classification. The outcomes revealed that the LSWR algorithm segmented the fornix structure at an accuracy of 99%. The PZM features exhibited statistical significance (p < 0.05) in distinguishing MCI and AD, emphasizing their effectiveness in capturing fornix shape variations. The proposed approach employed in this study emphasizes the clinical relevance in differentiating MCI from NC and AD subjects.
阿尔茨海默病(AD)是一种影响老年人的大脑退行性疾病,导致认知能力下降和记忆力丧失。轻度认知障碍(MCI)是正常认知(NC)和AD之间的过渡阶段。早期发现MCI是至关重要的,因为它可以及时干预,延缓AD的进展。阿尔茨海默病的发病与穹窿的组织改变有关,穹窿是大脑中负责认知、学习、记忆巩固和注意力的白质区域。在这项研究中,使用结构磁共振(sMR)脑图像和伪泽尼克矩(PZM)特征来表征MCI和AD的穹窿形态计量学。在这项研究中,使用了一个公开可用的数据库。首先,使用标准流水线对sMR脑图像进行预处理,然后使用无重新初始化的水平集(LSWR)算法对穹窿结构进行分割。随后,从穹窿区计算64个pzm。采用Kolmogorov-Smirnov检验、student’s t检验、Wilcoxon-Mann-Whitney检验、单向方差分析等统计检验来识别显著特征,并采用机器学习算法进行二元分类。结果表明,LSWR算法分割穹窿结构的准确率为99%。PZM特征在区分MCI和AD方面具有统计学意义(p < 0.05),强调了它们在捕获穹窿形状变化方面的有效性。本研究采用的建议方法强调了区分MCI与NC和AD受试者的临床相关性。
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引用次数: 0
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IEEE Sensors Letters
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