Precise skin lesion classification is still challenging due to two problems, i.e., (1) inter-class similarity and intra-class variation of skin lesion images, and (2) the weak generalization ability of single Deep Convolutional Neural Network trained with limited data. Therefore, we propose a Global-Part Convolutional Neural Network (GP-CNN) model, which treats the fine-grained local information and global context information with equal importance. The Global-Part model consists of a Global Convolutional Neural Network (G-CNN) and a Part Convolutional Neural Network (P-CNN). Specifically, the G-CNN is trained with downscaled dermoscopy images, and is used to extract the global-scale information of dermoscopy images and produce the Classification Activation Map (CAM). While the P-CNN is trained with the CAM guided cropped image patches and is used to capture local-scale information of skin lesion regions. Additionally, we present a data-transformed ensemble learning strategy, which can further boost the classification performance by integrating the different discriminant information from GP-CNNs that are trained with original images, color constancy transformed images, and feature saliency transformed images, respectively. The proposed method is evaluated on the ISIC 2016 and ISIC 2017 Skin Lesion Challenge (SLC) classification datasets. Experimental results indicate that the proposed method can achieve the state-of-the-art skin lesion classification performance (i.e., an AP value of 0.718 on the ISIC 2016 SLC dataset and an Average Auc value of 0.926 on the ISIC 2017 SLC dataset) without any external data, compared with other current methods which need to use external data.

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.