对于痴呆症筛查和监测，标准化测试在临床常规中起着关键作用，因为它们旨在通过测量各种认知任务的性能来最大程度地降低主观性。在本文中，我们报告了一项由半标准化病史组成的研究，然后进行了两个标准化的神经心理学测试，即SKT和CERAD-NB。这些测试包括基本任务，例如命名对象，学习单词列表，以及广泛使用的工具，例如MMSE。大多数任务是在口头上执行的，因此应适用于基于成绩单的自动评分。对于第一批30例患者，我们根据手动和自动转录分析了专家手动评估与自动评估之间的相关性。对于SKT和CERAD-NB，我们都可以使用手动笔录观察到高至完美的相关性。对于某些相关性较低的任务，自动评分比人类参考更严格，因为它仅限于音频。使用自动转录，相关性降低，并且与识别精度有关；但是，我们仍然观察到高达0.98（SKT）和0.85（CERAD-NB）的高相关性。我们表明，使用单词替代方案有助于减轻识别错误，并随后改善与专家分数的相关性。

标准化测试在检测认知障碍中起着至关重要的作用。先前的工作表明，使用标准化图片描述任务中的音频数据可以自动检测认知障碍。提出的研究超出了这一点，评估了我们对来自两个标准化神经心理学测试的数据，即德国SKT和德国版本的CERAD-NB，以及患者与心理学家之间的半结构化临床访谈。对于测试，我们关注三个子测试的语音记录：阅读数字（SKT 3），干扰（SKT 7）和口头流利度（Cerad-NB 1）。我们表明，标准化测试的声学特征可用于可靠地区分非受损的人的认知受损个体。此外，我们提供的证据表明，即使是从访谈的随机语音样本中提取的特征也可能是认知障碍的歧视者。在我们的基线实验中，我们使用开米的功能和支持向量机分类器。在改进的设置中，我们表明使用WAV2VEC 2.0功能，我们可以达到高达85％的精度。

Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically do not afford high-fidelity control over the energy stored by the spring. Here, we present the design of a novel lockable compression spring that uses a small capstan clutch to passively lock a mechanical spring. The capstan clutch can lock up to 1000 N force at any arbitrary deflection, unlock the spring in less than 10 ms with a control force less than 1 % of the maximal spring force, and provide an 80 % energy storage and return efficiency (comparable to a highly efficient electric motor operated at constant nominal speed). By retaining the form factor of a regular spring while providing high-fidelity locking capability even under large spring forces, the proposed design could facilitate the development of energy-efficient spring-based actuators and robots.

Springs can provide force at zero net energy cost by recycling negative mechanical work to benefit motor-driven robots or spring-augmented humans. However, humans have limited force and range of motion, and motors have a limited ability to produce force. These limits constrain how much energy a conventional spring can store and, consequently, how much assistance a spring can provide. In this paper, we introduce an approach to accumulating negative work in assistive springs over several motion cycles. We show that, by utilizing a novel floating spring mechanism, the weight of a human or robot can be used to iteratively increase spring compression, irrespective of the potential energy stored by the spring. Decoupling the force required to compress a spring from the energy stored by a spring advances prior works, and could enable spring-driven robots and humans to perform physically demanding tasks without the use of large actuators.

Automatic segmentation is essential for the brain tumor diagnosis, disease prognosis, and follow-up therapy of patients with gliomas. Still, accurate detection of gliomas and their sub-regions in multimodal MRI is very challenging due to the variety of scanners and imaging protocols. Over the last years, the BraTS Challenge has provided a large number of multi-institutional MRI scans as a benchmark for glioma segmentation algorithms. This paper describes our contribution to the BraTS 2022 Continuous Evaluation challenge. We propose a new ensemble of multiple deep learning frameworks namely, DeepSeg, nnU-Net, and DeepSCAN for automatic glioma boundaries detection in pre-operative MRI. It is worth noting that our ensemble models took first place in the final evaluation on the BraTS testing dataset with Dice scores of 0.9294, 0.8788, and 0.8803, and Hausdorf distance of 5.23, 13.54, and 12.05, for the whole tumor, tumor core, and enhancing tumor, respectively. Furthermore, the proposed ensemble method ranked first in the final ranking on another unseen test dataset, namely Sub-Saharan Africa dataset, achieving mean Dice scores of 0.9737, 0.9593, and 0.9022, and HD95 of 2.66, 1.72, 3.32 for the whole tumor, tumor core, and enhancing tumor, respectively. The docker image for the winning submission is publicly available at (https://hub.docker.com/r/razeineldin/camed22).

With the rise of AI and automation, moral decisions are being put into the hands of algorithms that were formerly the preserve of humans. In autonomous driving, a variety of such decisions with ethical implications are made by algorithms for behavior and trajectory planning. Therefore, we present an ethical trajectory planning algorithm with a framework that aims at a fair distribution of risk among road users. Our implementation incorporates a combination of five essential ethical principles: minimization of the overall risk, priority for the worst-off, equal treatment of people, responsibility, and maximum acceptable risk. To the best of the authors' knowledge, this is the first ethical algorithm for trajectory planning of autonomous vehicles in line with the 20 recommendations from the EU Commission expert group and with general applicability to various traffic situations. We showcase the ethical behavior of our algorithm in selected scenarios and provide an empirical analysis of the ethical principles in 2000 scenarios. The code used in this research is available as open-source software.

In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required.

We propose an approach for semantic imitation, which uses demonstrations from a source domain, e.g. human videos, to accelerate reinforcement learning (RL) in a different target domain, e.g. a robotic manipulator in a simulated kitchen. Instead of imitating low-level actions like joint velocities, our approach imitates the sequence of demonstrated semantic skills like "opening the microwave" or "turning on the stove". This allows us to transfer demonstrations across environments (e.g. real-world to simulated kitchen) and agent embodiments (e.g. bimanual human demonstration to robotic arm). We evaluate on three challenging cross-domain learning problems and match the performance of demonstration-accelerated RL approaches that require in-domain demonstrations. In a simulated kitchen environment, our approach learns long-horizon robot manipulation tasks, using less than 3 minutes of human video demonstrations from a real-world kitchen. This enables scaling robot learning via the reuse of demonstrations, e.g. collected as human videos, for learning in any number of target domains.

Text classification of unseen classes is a challenging Natural Language Processing task and is mainly attempted using two different types of approaches. Similarity-based approaches attempt to classify instances based on similarities between text document representations and class description representations. Zero-shot text classification approaches aim to generalize knowledge gained from a training task by assigning appropriate labels of unknown classes to text documents. Although existing studies have already investigated individual approaches to these categories, the experiments in literature do not provide a consistent comparison. This paper addresses this gap by conducting a systematic evaluation of different similarity-based and zero-shot approaches for text classification of unseen classes. Different state-of-the-art approaches are benchmarked on four text classification datasets, including a new dataset from the medical domain. Additionally, novel SimCSE and SBERT-based baselines are proposed, as other baselines used in existing work yield weak classification results and are easily outperformed. Finally, the novel similarity-based Lbl2TransformerVec approach is presented, which outperforms previous state-of-the-art approaches in unsupervised text classification. Our experiments show that similarity-based approaches significantly outperform zero-shot approaches in most cases. Additionally, using SimCSE or SBERT embeddings instead of simpler text representations increases similarity-based classification results even further.

The neural transducer is an end-to-end model for automatic speech recognition (ASR). While the model is well-suited for streaming ASR, the training process remains challenging. During training, the memory requirements may quickly exceed the capacity of state-of-the-art GPUs, limiting batch size and sequence lengths. In this work, we analyze the time and space complexity of a typical transducer training setup. We propose a memory-efficient training method that computes the transducer loss and gradients sample by sample. We present optimizations to increase the efficiency and parallelism of the sample-wise method. In a set of thorough benchmarks, we show that our sample-wise method significantly reduces memory usage, and performs at competitive speed when compared to the default batched computation. As a highlight, we manage to compute the transducer loss and gradients for a batch size of 1024, and audio length of 40 seconds, using only 6 GB of memory.