脑出血（ICH）是最致命的中风子类型，死亡率高达52％。由于颅骨切开术引起的潜在皮质破坏，保守管理（注意等待）历史上一直是一种常见的治疗方法。最小的侵入性疏散最近已成为一种可公认的治疗方法，用于体积30-50 mL的深座性血肿的患者，但适当的可视化和工具敏感性仍然受到常规内窥镜方法的限制，尤其是较大的血肿体积（> 50 mL）。在本文中，我们描述了Aspihre的发展（脑部出血机器人疏散的手术平台），这是有史以来的第一个同心管机器人，该机器人使用现成的塑料管来进行MR引导ICH撤离，改善工具敏感性和程序可视化。机器人运动学模型是基于基于校准的方法和试管力学建模开发的，使模型可以考虑可变曲率和扭转偏转。使用可变增益PID算法控制旋转精度为0.317 +/- 0.3度。硬件和理论模型在一系列系统的基准和MRI实验中进行了验证，导致1.39 +\ -0.54 mm的管尖的位置精度。验证靶向准确性后，在MR引导的幻影凝块疏散实验中测试了机器人的疏散功效。该机器人能够在5分钟内撤离最初38.36 mL的凝块，使残留血肿为8.14 mL，远低于15 mL指南，表明良好的后疏散临床结果。

Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle base frame without the need for any fiducial markers or features. We base our approach on matching absolute GNSS and estimated lidar poses in real-time. Comparing rotation components allows us to improve the robustness of the solution than traditional least-square approach comparing translation components only. Additionally, instead of comparing all corresponding poses, we select poses comprising maximum mutual information based on our novel observability criteria. This allows us to identify a subset of the poses helpful for real-time calibration. We also provide stopping criteria for ensuring calibration completion. To validate our approach extensive tests were carried out on data collected using Scania test vehicles (7 sequences for a total of ~ 6.5 Km). The results presented in this paper show that our approach is able to accurately determine the extrinsic calibration for various combinations of sensor setups.

Extensible objects form a challenging case for NRSfM, owing to the lack of a sufficiently constrained extensible model of the point-cloud. We tackle the challenge by proposing 1) convex relaxations of the isometric model up to quasi-isometry, and 2) convex relaxations involving the equiareal deformation model, which preserves local area and has not been used in NRSfM. The equiareal model is appealing because it is physically plausible and widely applicable. However, it has two main difficulties: first, when used on its own, it is ambiguous, and second, it involves quartic, hence highly nonconvex, constraints. Our approach handles the first difficulty by mixing the equiareal with the isometric model and the second difficulty by new convex relaxations. We validate our methods on multiple real and synthetic data, including well-known benchmarks.

The relevance of machine learning (ML) in our daily lives is closely intertwined with its explainability. Explainability can allow end-users to have a transparent and humane reckoning of a ML scheme's capability and utility. It will also foster the user's confidence in the automated decisions of a system. Explaining the variables or features to explain a model's decision is a need of the present times. We could not really find any work, which explains the features on the basis of their class-distinguishing abilities (specially when the real world data are mostly of multi-class nature). In any given dataset, a feature is not equally good at making distinctions between the different possible categorizations (or classes) of the data points. In this work, we explain the features on the basis of their class or category-distinguishing capabilities. We particularly estimate the class-distinguishing capabilities (scores) of the variables for pair-wise class combinations. We validate the explainability given by our scheme empirically on several real-world, multi-class datasets. We further utilize the class-distinguishing scores in a latent feature context and propose a novel decision making protocol. Another novelty of this work lies with a \emph{refuse to render decision} option when the latent variable (of the test point) has a high class-distinguishing potential for the likely classes.

The use of multilingual language models for tasks in low and high-resource languages has been a success story in deep learning. In recent times, Arabic has been receiving widespread attention on account of its dialectal variance. While prior research studies have tried to adapt these multilingual models for dialectal variants of Arabic, it still remains a challenging problem owing to the lack of sufficient monolingual dialectal data and parallel translation data of such dialectal variants. It remains an open problem on whether the limited dialectical data can be used to improve the models trained in Arabic on its dialectal variants. First, we show that multilingual-BERT (mBERT) incrementally pretrained on Arabic monolingual data takes less training time and yields comparable accuracy when compared to our custom monolingual Arabic model and beat existing models (by an avg metric of +$6.41$). We then explore two continual pre-training methods-- (1) using small amounts of dialectical data for continual finetuning and (2) parallel Arabic to English data and a Translation Language Modeling loss function. We show that both approaches help improve performance on dialectal classification tasks ($+4.64$ avg. gain) when used on monolingual models.

关于文本到SQL语义解析的最新研究取决于解析器本身或基于简单的启发式方法来理解自然语言查询（NLQ）。合成SQL查询时，没有可用的NLQ的明确语义信息，从而导致不良的概括性能。此外，如果没有词汇级的细粒度查询理解，查询与数据库之间的链接只能依赖模糊的字符串匹配，这会导致实际应用中的次优性能。考虑到这一点，在本文中，我们提出了一个基于令牌级的细粒度查询理解的通用，模块化的神经语义解析框架。我们的框架由三个模块组成：命名实体识别器（NER），神经实体接头（NEL）和神经语义解析器（NSP）。通过共同建模查询和数据库，NER模型可以分析用户意图并确定查询中的实体。 NEL模型将类型的实体链接到数据库中的模式和单元格值。解析器模型利用可用的语义信息并链接结果并根据动态生成的语法合成树结构的SQL查询。新发布的语义解析数据集的Squall实验表明，我们可以在WikiableQuestions（WTQ）测试集上实现56.8％的执行精度，这使最先进的模型的表现优于2.7％。

尽管基于尖峰神经网络（SNN）的神经形态计算体系结构越来越引起人们的兴趣，作为通往生物学上的机器学习的途径，但注意力仍然集中在神经元和突触等计算单元上。本文从这种神经突触的角度转移，试图探索神经胶质细胞的自我修复作用，尤其是星形胶质细胞。这项工作研究了与星形胶质细胞计算神经科学模型的更强相关性，以开发具有更高程度的生物效率的宏模型，从而准确地捕获了自我修复过程的动态行为。硬件软件共同设计分析表明，生物形态的星形胶质细胞调节有可能在神经形态硬件系统中自我修复硬件现实的故障，具有更好的精度和修复收敛，以实现MNIST和F-MNIST数据集的无监督学习任务。

已知DNN容易受到所谓的对抗攻击的攻击，这些攻击操纵输入以引起不正确的结果，这可能对攻击者有益或对受害者造成损害。最近的作品提出了近似计算，作为针对机器学习攻击的防御机制。我们表明，这些方法虽然成功地用于一系列投入，但不足以解决更强大，高信任的对抗性攻击。为了解决这个问题，我们提出了DNNShield，这是一种硬件加速防御，可使响应的强度适应对抗性输入的信心。我们的方法依赖于DNN模型的动态和随机稀疏来有效地实现推理近似值，并通过对近似误差进行细粒度控制。与检测对抗输入相比，DNNShield使用稀疏推理的输出分布特征。当应用于RESNET50时，我们显示出86％的对抗检测率为86％，这超过了最先进的接近状态的检测率，开销较低。我们演示了软件/硬件加速的FPGA原型，该原型降低了DNNShield相对于仅软件CPU和GPU实现的性能影响。

我们提出了一种贪婪算法，以在$ p $输入功能中为非线性预测问题选择$ n $重要功能。在迭代损失最小化过程中，顺序选择这些功能。我们将神经网络用作算法中的预测因子来计算损失，因此我们将方法称为神经贪婪追求（NGP）。NGP在选择$ n \ ll p $时可以有效地选择$ n $功能，并且在顺序选择过程之后，它在降序中提供了特征重要性的概念。我们通过实验表明，NGP比多种特征选择方法（例如Deeplift和Drop-One-One-One Out损失）提供了更好的性能。此外，我们在实验上显示了一种相变行为，当训练数据大小超过阈值时，可以完美选择所有$ n $功能，而无需误报。

张量网络是一种用于表达和近似大量数据的分解类型。给定的数据集，量子状态或更高维的多线性图是由较小的多线性图组成的组成和近似的。这让人联想到如何将布尔函数分解为栅极阵列：这代表了张量分解的特殊情况，其中张量输入的条目被0、1替换，并且分解化精确。相关技术的收集称为张量网络方法：该主题在几个不同的研究领域中独立开发，这些领域最近通过张量网络的语言变得相互关联。该领域中的Tantamount问题涉及张量网络的可表达性和减少计算开销。张量网络与机器学习的合并是自然的。一方面，机器学习可以帮助确定近似数据集的张量网络的分解。另一方面，可以将给定的张量网络结构视为机器学习模型。本文中，调整了张量网络参数以学习或分类数据集。在这项调查中，我们恢复了张量网络的基础知识，并解释了开发机器学习中张量网络理论的持续努力。