Recent advances in diffusion-based models have significantly broadened their scope, extending well beyond image generation to encompass zero-shot segmentation tasks. In this work, we introduce a novel, training-free approach that harnesses both self- and cross-attention maps to achieve highly detailed hair segmentation. Our method demonstrates remarkable efficacy in producing fine-grained results without the need for additional training.

With the rapid deployment of vision systems on edge devices, energy-efficient and temporally aware image deraining models are increasingly needed. We propose SpikeRain, a spiking neural network (SNN) that achieves competitive deraining performance with substantially lower computational cost than conventional artificial neural networks (ANNs). Unlike ANN-based approaches with dense activations and high memory demands, SpikeRain leverages the event-driven sparse-firing nature of spiking neurons for efficient temporal integration and contextual learning. Built on an encoder-decoder framework, SpikeRain incorporates three spiking native modules: a Dense Spiking Residual Block (DSRB) for temporal integration and feature reuse, a Multi-Dimensional Spiking Attention (MDSA) module to model temporal channel spatial dependencies, and an Adaptive Residual Feature Enhancement (ARFE) block with gated attention to refine salient features. Experiments on synthetic and real-world benchmarks show that SpikeRain achieves state-of-the-art PSNR and SSIM while reducing parameters by approximately 40% and FLOPs by approximately 89%, with energy efficiency on par with existing SNN methods. These results highlight the potential of SNNs for real-time low-power image restoration on neuromorphic platforms. SpikeRain code is available on GitHub.

This study presents a reinforcement learning-based interval type-2 (IT-2) fuzzy formation tracking control strategy for leader-follower flexible joint robots (FJRs), addressing challenges arising from nonlinearities, unmodeled dynamics, and unknown external disturbances. The proposed approach employs fractional-order sliding mode control (FOSMC) to guarantee finite-time convergence of the tracking error with rigorously proven stability. Unlike conventional backstepping methods, the IT-2 fuzzy FOSMC framework effectively addresses uncertainties and disturbances. By considering the memory effect of fractional calculus, a Hamilton-Jacobi-Bellman equation for the formation tracking dynamics is derived using an auxiliary system and equivalent transformation. A novel cost function based on the derivative of the formation tracking error is introduced, resulting in a discounted cost that accounts for the Laplacian matrix$\widehat{L}$under a performance constraint. The optimal cost function and formation sliding mode control policy are shown to be gradually approximable via policy iteration. To achieve intelligent near-optimal control, a reinforcement learning algorithm based on an actor-critic neural network architecture is implemented, enabling all agents to compensate for system uncertainties and maintain formation tracking with the leader. Lyapunov stability analysis confirms that all follower FJRs can track the leader using actor-critic update laws for neural network weights, with distributed tracking error designs ensuring convergence to optimal values. Simulation results validate the proposed approach, demonstrating reduced chattering, improved formation tracking, and enhanced robustness.

This study presents a novel reinforcement learning (RL)-based, predefined-time tracking fault-tolerant control (FTC) scheme with prescribed performance for handling unknown stochastic nonlinear systems (SNSs) operating in various environments with actuator faults. The scheme addresses multiple actuator fault types, including loss-in-effectiveness (LIE) and lock-in-place (LIP), within a unified theoretical framework in which some actuators may become partially or completely disabled. This framework learns the stochastic nonlinear dynamics and control behaviors of the system using fuzzy logic systems (FLSs) within an RL-based identifier-critic-actor (ICA) structure. By combining prescribed performance control with predefined-time control, the proposed controller achieves fault-tolerant tracking performance, guarantees that all signals are probabilistically bounded, and preserves the output within a specified range. Unlike traditional FTC methods, which depend on knowing the system model to handle LIP faults and bias, this method addresses LIP faults without requiring prior knowledge of the system and achieves different performance levels by utilizing an RL-based ICA to adjust the FLS weights. A practical example using a single-link robot arm driven by a brushed dc (BDC) motor demonstrates the effectiveness and improved performance of the developed FTC scheme.

The main objective of this study is to develop an intelligent, resilient event-triggered control method for fractional-order multiagent networked systems (FOMANSs) using reinforcement learning (RL) to address challenges resulting from unknown dynamics, actuator faults, and denial-of-service (DoS) attacks. First, the challenge of unknown system dynamics within their environment must be addressed to achieve desired system stability in the face of unknown dynamics or to optimize consensus in FOMANSs. To address this problem, an adaptive learning law is implemented to handle unknown nonlinear dynamics, parameterized by a neural network, which establishes weights for a fuzzy logic system utilized in cooperative tracking protocols. A novel distributed control policy facilitates signal sharing through RL among agents, reducing error variables through learning. Moreover, this study combines an RL algorithm with the sliding mode control strategy to optimize the parameterization of the distributed control protocol, thereby eliminating its constraints on initial conditions. Second, realizing that DoS attacks typically make the actuator signal inaccessible for distributed control protocols, an innovative intelligent dual-event-triggered control strategy is formulated to reduce the effects of DoS attacks. By coordinating nested event triggers across various channels, the distributed control input is protected from incorrect signals from DoS attacks, thus ensuring its resilience. To address this problem, an intelligent security dual-event-triggered control protocol guarantees Mittag-Leffler stability of the closed-loop system and ensures effective sliding motion conditions. This distributed control protocol ensures robust tracking of control tasks and mitigates "Zeno behavior" during event triggering. The proposed control strategy is validated using a single-link flexible-joint robotic manipulator system.

Penalised PET image reconstruction algorithms are often accelerated during early iterations with the use of subsets. However, these methods may exhibit limit cycle behaviour at later iterations due to variations between subsets. Desirable converged images can be achieved for a subclass of these algorithms via the implementation of a relaxed step size sequence, but the heuristic selection of parameters will impact the quality of the image sequence and algorithm convergence rates. In this work, we demonstrate the adaption and application of a class of stochastic variance reduction gradient algorithms for PET image reconstruction using the relative difference penalty and numerically compare convergence performance to BSREM. The two investigated algorithms are: SAGA and SVRG. These algorithms require the retention in memory of recently computed subset gradients, which are utilised in subsequent updates. We present several numerical studies based on Monte Carlo simulated data and a patient data set for fully 3D PET acquisitions. The impact of the number of subsets, different preconditioners and step size methods on the convergence of regions of interest values within the reconstructed images is explored. We observe that when using constant preconditioning, SAGA and SVRG demonstrate reduced variations in voxel values between subsequent updates and are less reliant on step size hyper-parameter selection than BSREM reconstructions. Furthermore, SAGA and SVRG can converge significantly faster to the penalised maximum likelihood solution than BSREM, particularly in low count data.

We investigated the imaging performance of a fast convergent ordered-subsets algorithm with subiteration-dependent preconditioners (SDPs) for positron emission tomography (PET) image reconstruction. In particular, we considered the use of SDP with the block sequential regularized expectation maximization (BSREM) approach with the relative difference prior (RDP) regularizer due to its prior clinical adaptation by vendors. Because the RDP regularization promotes smoothness in the reconstructed image, the directions of the gradients in smooth areas more accurately point toward the objective function's minimizer than those in variable areas. Motivated by this observation, two SDPs have been designed to increase iteration step-sizes in the smooth areas and reduce iteration step-sizes in the variable areas relative to a conventional expectation maximization preconditioner. The momentum technique used for convergence acceleration can be viewed as a special case of SDP. We have proved the global convergence of SDP-BSREM algorithms by assuming certain characteristics of the preconditioner. By means of numerical experiments using both simulated and clinical PET data, we have shown that the SDP-BSREM algorithms substantially improve the convergence rate, as compared to conventional BSREM and a vendor's implementation as Q.Clear. Specifically, SDP-BSREM algorithms converge 35%-50% faster in reaching the same objective function value than conventional BSREM and commercial Q.Clear algorithms. Moreover, we showed in phantoms with hot, cold and background regions that the SDP-BSREM algorithms approached the values of a highly converged reference image faster than conventional BSREM and commercial Q.Clear algorithms.

Recent accelerated MRI reconstruction models have used Deep Neural Networks (DNNs) to reconstruct relatively high-quality images from highly undersampled k-space data, enabling much faster MRI scanning. However, these techniques sometimes struggle to reconstruct sharp images that preserve fine detail while maintaining a natural appearance. In this work, we enhance the image quality by using a Conditional Wasserstein Generative Adversarial Network combined with a novel Adaptive Gradient Balancing (AGB) technique that automates the process of combining the adversarial and pixel-wise terms and streamlines hyperparameter tuning. In addition, we introduce a Densely Connected Iterative Network, which is an undersampled MRI reconstruction network that utilizes dense connections. In MRI, our method minimizes artifacts, while maintaining a high-quality reconstruction that produces sharper images than other techniques. To demonstrate the general nature of our method, it is further evaluated on a battery of image-to-image translation experiments, demonstrating an ability to recover from sub-optimal weighting in multi-term adversarial training.

In this study, we explore the use of a spatially-variant penalty strength in penalized image reconstruction using anatomical priors to reduce the dependence of lesion contrast on surrounding activity and lesion location. This work builds on a previous method to make the local perturbation response (LPR) approximately spatially invariant. While the dependence of lesion contrast on the local properties introduced by the anatomical penalty is intentional, the method aims to reduce the influence from surroundings lying along the lines of response (LORs) but not in the penalty neighborhood structure. The method is evaluated using simulated data, assuming that the anatomical information is absent or well-aligned with the corresponding activity images. Since the parallel level sets (PLS) penalty is convex and has shown promising results in the literature, it is chosen as the representative anatomical penalty and incorporated into the previously proposed preconditioned algorithm (L-BFGS-B-PC) for achieving good image quality and fast convergence rate. A 2D disc phantom with a feature at the center and a 3D XCAT thorax phantom with lesions inserted in different slices are used to study how surrounding activity and lesion location affect the visual appearance and quantitative consistency. A bias and noise analysis is also performed with the 2D disc phantom. The consistency of the algorithm convergence rate with respect to different data noise and background levels is also investigated using the XCAT phantom. Finally, an example of reconstruction for a patient dataset with inserted pseudo lesions is used as a demonstration in a clinical context. We show that applying the spatially-variant penalization with PLS can reduce the dependence of the lesion contrast on the surrounding activity and lesion location. It does not affect the bias and noise trade-off curves for matched local resolution. Moreover, when using the proposed penalization, significant improvement in algorithm convergence rate and convergence consistency is observed.

This paper reports on the feasibility of using a quasi-Newton optimization algorithm, limited-memory Broyden-Fletcher-Goldfarb-Shanno with boundary constraints (L-BFGS-B), for penalized image reconstruction problems in emission tomography (ET). For further acceleration, an additional preconditioning technique based on a diagonal approximation of the Hessian was introduced. The convergence rate of L-BFGS-B and the proposed preconditioned algorithm (L-BFGS-B-PC) was evaluated with simulated data with various factors, such as the noise level, penalty type, penalty strength and background level. Data of three18F-FDG patient acquisitions were also reconstructed. Results showed that the proposed L-BFGS-B-PC outperforms L-BFGS-B in convergence rate for all simulated conditions and the patient data. Based on these results, L-BFGS-B-PC shows promise for clinical application.

Time-of-flight (TOF) positron emission tomography (PET) scanners offer the potential for significantly improved signal-to-noise ratio (SNR) and lesion detectability in clinical PET. However, fully 3D TOF PET image reconstruction is a challenging task due to the huge data size. One solution to this problem is to rebin TOF data into a lower dimensional format. We have recently developed Fourier rebinning methods for mapping TOF data into non-TOF formats that retain substantial SNR advantages relative to sinograms acquired without TOF information. However, mappings for rebinning into non-TOF formats are not unique and optimization of rebinning methods has not been widely investigated. In this paper we address the question of optimal rebinning in order to make full use of TOF information. We focus on FORET-3D, which approximately rebins 3D TOF data into 3D non-TOF sinogram formats without requiring a Fourier transform in the axial direction. We optimize the weighting for FORET-3D to minimize the variance, resulting in H(2)-weighted FORET-3D, which turns out to be the best linear unbiased estimator (BLUE) under reasonable approximations and furthermore the uniformly minimum variance unbiased (UMVU) estimator under Gaussian noise assumptions. This implies that any information loss due to optimal rebinning is as a result only of the approximations used in deriving the rebinning equation and developing the optimal weighting. We demonstrate using simulated and real phantom TOF data that the optimal rebinning method achieves variance reduction and contrast recovery improvement compared to nonoptimized rebinning weightings. In our preliminary study using a simplified simulation setup, the performance of the optimal rebinning method was comparable to that of fully 3D TOF MAP.

MOTIVATION: Biological networks are often modeled by random graphs. A better modeling vehicle is a multigraph where each pair of nodes is connected by a Poisson number of edges. In the current model, the mean number of edges equals the product of two propensities, one for each node. In this context it is possible to construct a simple and effective algorithm for rapid maximum likelihood estimation of all propensities. Given estimated propensities, it is then possible to test statistically for functionally connected nodes that show an excess of observed edges over expected edges. The model extends readily to directed multigraphs. Here, propensities are replaced by outgoing and incoming propensities. RESULTS: The theory is applied to real data on neuronal connections, interacting genes in radiation hybrids, interacting proteins in a literature curated database, and letter and word pairs in seven Shaskespearean plays. AVAILABILITY: All data used are fully available online from their respective sites. Source code and software is available from http://code.google.com/p/poisson-multigraph/.

Meiotic mapping of quantitative trait loci regulating expression (eQTLs) has allowed the construction of gene networks. However, the limited mapping resolution of these studies has meant that genotype data are largely ignored, leading to undirected networks that fail to capture regulatory hierarchies. Here we use high resolution mapping of copy number eQTLs (ceQTLs) in a mouse-hamster radiation hybrid (RH) panel to construct directed genetic networks in the mammalian cell. The RH network covering 20,145 mouse genes had significant overlap with, and similar topological structures to, existing biological networks. Upregulated edges in the RH network had significantly more overlap than downregulated. This suggests repressive relationships between genes are missed by existing approaches, perhaps because the corresponding proteins are not present in the cell at the same time and therefore unlikely to interact. Gene essentiality was positively correlated with connectivity and betweenness centrality in the RH network, strengthening the centrality-lethality principle in mammals. Consistent with their regulatory role, transcription factors had significantly more outgoing edges (regulating) than incoming (regulated) in the RH network, a feature hidden by conventional undirected networks. Directed RH genetic networks thus showed concordance with pre-existing networks while also yielding information inaccessible to current undirected approaches.

We present accurate and efficient methods for estimating the spatial resolution and noise properties of nonquadratically regularized image reconstruction for positron emission tomography (PET). It is well known that quadratic regularization tends to over-smooth sharp edges. Many types of edge-preserving nonquadratic penalties have been proposed to overcome this problem. However, there has been little research on the quantitative analysis of nonquadratic regularization due to its nonlinearity. In contrast, quadratically regularized estimators are approximately linear and are well understood in terms of resolution and variance properties. We derive new approximate expressions for the linearized local perturbation response (LLPR) and variance using the Taylor expansion with the remainder term. Although the expressions are implicit, we can use them to accurately predict resolution and variance for nonquadratic regularization where the conventional expressions based on the first-order Taylor truncation fail. They also motivate us to extend the use of a certainty-based modified penalty to nonquadratic regularization cases in order to achieve spatially uniform perturbation responses, analogous to uniform spatial resolution in quadratic regularization. Finally, we develop computationally efficient methods for predicting resolution and variance of nonquadratically regularized reconstruction and present simulations that illustrate the validity of these methods.

We describe a fast forward and back projector pair based on inverse Fourier rebinning for use in iterative image reconstruction for fully 3-D positron emission tomography (PET). The projector pair is used as part of a factored system matrix that takes into account detector-pair response by using shift-variant sinogram blur kernels, thereby combining the computational advantages of Fourier rebinning with iterative reconstruction using accurate system models. The forward projector consists of a 2-D projector, which maps 3-D images into 2-D direct sinograms, followed by exact inverse rebinning which maps the 2-D into fully 3-D sinograms. The back projector is implemented as the transpose of the forward projector and differs from the true exact rebinning operator in the sense that it does not require reprojection to compute missing lines of response (LORs). We compensate for two types of inaccuracies that arise in a cylindrical PET scanner when using inverse Fourier rebinning: 1) nonuniform radial sampling and 2) nonconstant oblique angles in the radial direction in a single oblique sinogram. We examine the effects of these corrections on sinogram accuracy and reconstructed image quality. We evaluate performance of the new projector pair for maximum a posteriori (MAP) reconstruction of simulated and in vivo data. The new projector results in only a small loss in resolution towards the edge of the field-of-view when compared to the fully 3-D geometric projector and requires an order of magnitude less computation.

We describe a fast and globally convergent fully four-dimensional incremental gradient (4DIG) algorithm to estimate the continuous-time tracer density from list mode positron emission tomography (PET) data. Detection of 511-keV photon pairs produced by positron-electron annihilation is modeled as an inhomogeneous Poisson process whose rate function is parameterized using cubic B-splines. The rate functions are estimated by minimizing the cost function formed by the sum of the negative log-likelihood of arrival times, spatial and temporal roughness penalties, and a negativity penalty. We first derive a computable bound for the norm of the optimal temporal basis function coefficients. Based on this bound we then construct and prove convergence of an incremental gradient algorithm. Fully 4-D simulations demonstrate the substantially faster convergence behavior of the 4DIG algorithm relative to preconditioned conjugate gradient. Four-dimensional reconstructions of real data are also included to illustrate the performance of this method.

No convergent ordered subsets (OS) type image reconstruction algorithms for transmission tomography have been proposed to date. In contrast, in emission tomography, there are two known families of convergent OS algorithms: methods that use relaxation parameters, and methods based on the incremental expectation-maximization (EM) approach. This paper generalizes the incremental EM approach by introducing a general framework, "incremental optimization transfer." The proposed algorithms accelerate convergence speeds and ensure global convergence without requiring relaxation parameters. The general optimization transfer framework allows the use of a very broad family of surrogate functions, enabling the development of new algorithms. This paper provides the first convergent OS-type algorithm for (nonconcave) penalized-likelihood (PL) transmission image reconstruction by using separable paraboloidal surrogates (SPS) which yield closed-form maximization steps. We found it is very effective to achieve fast convergence rates by starting with an OS algorithm with a large number of subsets and switching to the new "transmission incremental optimization transfer (TRIOT)" algorithm. Results show that TRIOT is faster in increasing the PL objective than nonincremental ordinary SPS and even OS-SPS yet is convergent.

Most positron emission tomography (PET) emission scans are corrected for accidental coincidence (AC) events by real-time subtraction of delayed-window coincidences, leaving only the randoms-precorrected data available for image reconstruction. The real-time randoms precorrection compensates in mean for AC events but destroys the Poisson statistics. The exact log-likelihood for randoms-precorrected data is inconvenient, so practical approximations are needed for maximum likelihood or penalized-likelihood image reconstruction. Conventional approximations involve setting negative sinogram values to zero, which can induce positive systematic biases, particularly for scans with low counts per ray. We propose new likelihood approximations that allow negative sinogram values without requiring zero-thresholding. With negative sinogram values, the log-likelihood functions can be nonconcave, complicating maximization; nevertheless, we develop monotonic algorithms for the new models by modifying the separable paraboloidal surrogates and the maximum-likelihood expectation-maximization (ML-EM) methods. These algorithms ascend to local maximizers of the objective function. Analysis and simulation results show that the new shifted Poisson (SP) model is nearly free of systematic bias yet keeps low variance. Despite its simpler implementation, the new SP performs comparably to the saddle-point model which has shown the best performance (as to systematic bias and variance) in randoms-precorrected PET emission reconstruction.

We present two types of globally convergent relaxed ordered subsets (OS) algorithms for penalized-likelihood image reconstruction in emission tomography: modified block sequential regularized expectation-maximization (BSREM) and relaxed OS separable paraboloidal surrogates (OS-SPS). The global convergence proof of the existing BSREM (De Pierro and Yamagishi, 2001) required a few a posteriori assumptions. By modifying the scaling functions of BSREM, we are able to prove the convergence of the modified BSREM under realistic assumptions. Our modification also makes stepsize selection more convenient. In addition, we introduce relaxation into the OS-SPS algorithm (Erdoğan and Fessler, 1999) that otherwise would converge to a limit cycle. We prove the global convergence of diagonally scaled incremental gradient methods of which the relaxed OS-SPS is a special case; main results of the proofs are from (Nedić and Bertsekas, 2001) and (Correa and Lemaréchal, 1993). Simulation results showed that both new algorithms achieve global convergence yet retain the fast initial convergence speed of conventional unrelaxed ordered subsets algorithms.