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A Deep Learning Framework for Soft Robots with Synthetic Data

Sapai S, Loo JY, Ding ZY, Tan CP, Baskaran VM, Nurzaman SG

Soft Robot, 2023 Dec;10(6):1224-1240.
PMID: 37590485 DOI: 10.1089/soro.2022.0188

Data-driven methods with deep neural networks demonstrate promising results for accurate modeling in soft robots. However, deep neural network models rely on voluminous data in discovering the complex and nonlinear representations inherent in soft robots. Consequently, while it is not always possible, a substantial amount of effort is required for data acquisition, labeling, and annotation. This article introduces a data-driven learning framework based on synthetic data to circumvent the exhaustive data collection process. More specifically, we propose a novel time series generative adversarial network with a self-attention mechanism, Transformer TimeGAN (TTGAN) to precisely learn the complex dynamics of a soft robot. On top of that, the TTGAN is incorporated with a conditioning network that enables it to produce synthetic data for specific soft robot behaviors. The proposed framework is verified on a widely used pneumatic-based soft gripper as an exemplary experimental setup. Experimental results demonstrate that the TTGAN generates synthetic time series data with realistic soft robot dynamics. Critically, a combination of the synthetic and only partially available original data produces a data-driven model with estimation accuracy comparable to models obtained from using complete original data.
Fulltext Measurement challenge: protocol for international case-control comparison of mammographic measures that predict breast cancer risk

Dench E, Bond-Smith D, Darcey E, Lee G, Aung YK, Chan A, et al.

BMJ Open, 2019 Dec 31;9(12):e031041.
PMID: 31892647 DOI: 10.1136/bmjopen-2019-031041

INTRODUCTION: For women of the same age and body mass index, increased mammographic density is one of the strongest predictors of breast cancer risk. There are multiple methods of measuring mammographic density and other features in a mammogram that could potentially be used in a screening setting to identify and target women at high risk of developing breast cancer. However, it is unclear which measurement method provides the strongest predictor of breast cancer risk.
METHODS AND ANALYSIS: The measurement challenge has been established as an international resource to offer a common set of anonymised mammogram images for measurement and analysis. To date, full field digital mammogram images and core data from 1650 cases and 1929 controls from five countries have been collated. The measurement challenge is an ongoing collaboration and we are continuing to expand the resource to include additional image sets across different populations (from contributors) and to compare additional measurement methods (by challengers). The intended use of the measurement challenge resource is for refinement and validation of new and existing mammographic measurement methods. The measurement challenge resource provides a standardised dataset of mammographic images and core data that enables investigators to directly compare methods of measuring mammographic density or other mammographic features in case/control sets of both raw and processed images, for the purposes of the comparing their predictions of breast cancer risk.
ETHICS AND DISSEMINATION: Challengers and contributors are required to enter a Research Collaboration Agreement with the University of Melbourne prior to participation in the measurement challenge. The Challenge database of collated data and images are stored in a secure data repository at the University of Melbourne. Ethics approval for the measurement challenge is held at University of Melbourne (HREC ID 0931343.3).

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