Jiajun Wang

h-index31
2papers
4,046citations

2 Papers

3.6IVJun 26, 2024Code
Multi-modal Evidential Fusion Network for Trustworthy PET/CT Tumor Segmentation

Yuxuan Qi, Li Lin, Jiajun Wang et al.

Accurate tumor segmentation in PET/CT images is crucial for computer-aided cancer diagnosis and treatment. The primary challenge lies in effectively integrating the complementary information from PET and CT images. In clinical settings, the quality of PET and CT images often varies significantly, leading to uncertainty in the modality information extracted by networks. To address this challenge, we propose a novel Multi-modal Evidential Fusion Network (MEFN), which consists of two core stages: Cross-Modal Feature Learning (CFL) and Multi-modal Trustworthy Fusion (MTF). The CFL stage aligns features across different modalities and learns more robust feature representations, thereby alleviating the negative effects of domain gap. The MTF stage utilizes mutual attention mechanisms and an uncertainty calibrator to fuse modality features based on modality uncertainty and then fuse the segmentation results under the guidance of Dempster-Shafer Theory. Besides, a new uncertainty perceptual loss is introduced to force the model focusing on uncertain features and hence improve its ability to extract trusted modality information. Extensive comparative experiments are conducted on two publicly available PET/CT datasets to evaluate the performance of our proposed method whose results demonstrate that our MEFN significantly outperforms state-of-the-art methods with improvements of 3.10% and 3.23% in DSC scores on the AutoPET dataset and the Hecktor dataset, respectively. More importantly, our model can provide radiologists with credible uncertainty of the segmentation results for their decision in accepting or rejecting the automatic segmentation results, which is particularly important for clinical applications. Our code will be available at https://github.com/QPaws/MEFN.

7.3ROSep 16, 2021
Mixed Control for Whole-Body Compliance of a Humanoid Robot

Xiaozhu Ju, Jiajun Wang, Gang Han et al.

The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can oscillate when it is close to the boundary of constraints. It is because the abrupt hit of the bounds gives rise to unrealisable jerks and even infeasible solutions. This paper proposes the mixed control, which blends the single-axis model predictive control (MPC) and proportional derivate (PD) control for the whole-body compliance to overcome these deficiencies. The MPC predicts the distances between the bounds and the control target of the critical tasks, and it provides smooth and feasible solutions by prediction and optimisation in advance. However, applying MPC will inevitably increase the computation time. Therefore, to achieve a 500 Hz servo rate, the PD controllers still regulate other tasks to save computation resources. Also, we use a more efficient null space projection (NSP) whole-body controller instead of the HQP and distribute the single-axis MPCs into four CPU cores for parallel computation. Finally, we validate the desired capabilities of the proposed strategy via Simulations and the experiment on the humanoid robot Walker X.