多限制攀岩机器人的运动计划必须考虑机器人的姿势，联合扭矩，以及它如何使用接触力与环境相互作用。本文着重于使用非传统运动来探索不可预测的环境（例如火星洞穴）的机器人运动计划。我们的机器人概念Reachbot使用可扩展和可伸缩的动臂作为四肢，在攀爬时实现了大型可伸缩度工作区。每个可扩展的动臂都由旨在抓住岩石表面的微生物抓地力封顶。 Reachbot利用其大型工作空间来绕过障碍物，裂缝和挑战地形。我们的计划方法必须具有多功能性，以适应可变的地形特征和鲁棒性，以减轻用刺抓握随机性质的风险。在本文中，我们引入了一种图形遍历算法，以根据适用于握把的可用地形特征选择一个离散的grasps序列。该离散的计划是由一个解耦运动计划者互补的，该计划者使用基于抽样的计划和顺序凸面编程的组合来考虑身体运动和最终效应器运动的交替阶段，以优化单个阶段。我们使用运动规划师在模拟的2D洞穴环境中计划轨迹，至少有95％的成功概率，并在基线轨迹上表现出改善的鲁棒性。最后，我们通过对2D平面原型进行实验来验证运动计划算法。

Three main points: 1. Data Science (DS) will be increasingly important to heliophysics; 2. Methods of heliophysics science discovery will continually evolve, requiring the use of learning technologies [e.g., machine learning (ML)] that are applied rigorously and that are capable of supporting discovery; and 3. To grow with the pace of data, technology, and workforce changes, heliophysics requires a new approach to the representation of knowledge.

In the Earth's magnetosphere, there are fewer than a dozen dedicated probes beyond low-Earth orbit making in-situ observations at any given time. As a result, we poorly understand its global structure and evolution, the mechanisms of its main activity processes, magnetic storms, and substorms. New Artificial Intelligence (AI) methods, including machine learning, data mining, and data assimilation, as well as new AI-enabled missions will need to be developed to meet this Sparse Data challenge.

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Federated Learning (FL) is a collaborative machine learning (ML) framework that combines on-device training and server-based aggregation to train a common ML model among distributed agents. In this work, we propose an asynchronous FL design with periodic aggregation to tackle the straggler issue in FL systems. Considering limited wireless communication resources, we investigate the effect of different scheduling policies and aggregation designs on the convergence performance. Driven by the importance of reducing the bias and variance of the aggregated model updates, we propose a scheduling policy that jointly considers the channel quality and training data representation of user devices. The effectiveness of our channel-aware data-importance-based scheduling policy, compared with state-of-the-art methods proposed for synchronous FL, is validated through simulations. Moreover, we show that an "age-aware" aggregation weighting design can significantly improve the learning performance in an asynchronous FL setting.

Purpose: The aim of this study was to demonstrate the utility of unsupervised domain adaptation (UDA) in automated knee osteoarthritis (OA) phenotype classification using a small dataset (n=50). Materials and Methods: For this retrospective study, we collected 3,166 three-dimensional (3D) double-echo steady-state magnetic resonance (MR) images from the Osteoarthritis Initiative dataset and 50 3D turbo/fast spin-echo MR images from our institute (in 2020 and 2021) as the source and target datasets, respectively. For each patient, the degree of knee OA was initially graded according to the MRI Osteoarthritis Knee Score (MOAKS) before being converted to binary OA phenotype labels. The proposed UDA pipeline included (a) pre-processing, which involved automatic segmentation and region-of-interest cropping; (b) source classifier training, which involved pre-training phenotype classifiers on the source dataset; (c) target encoder adaptation, which involved unsupervised adaption of the source encoder to the target encoder and (d) target classifier validation, which involved statistical analysis of the target classification performance evaluated by the area under the receiver operating characteristic curve (AUROC), sensitivity, specificity and accuracy. Additionally, a classifier was trained without UDA for comparison. Results: The target classifier trained with UDA achieved improved AUROC, sensitivity, specificity and accuracy for both knee OA phenotypes compared with the classifier trained without UDA. Conclusion: The proposed UDA approach improves the performance of automated knee OA phenotype classification for small target datasets by utilising a large, high-quality source dataset for training. The results successfully demonstrated the advantages of the UDA approach in classification on small datasets.

本文考虑通过模型量化提高联邦学习（FL）的无线通信和计算效率。在提出的Bitwidth FL方案中，Edge设备将其本地FL模型参数的量化版本训练并传输到协调服务器，从而将它们汇总为量化的全局模型并同步设备。目的是共同确定用于本地FL模型量化的位宽度以及每次迭代中参与FL训练的设备集。该问题被视为一个优化问题，其目标是在每卷工具采样预算和延迟要求下最大程度地减少量化FL的训练损失。为了得出解决方案，进行分析表征，以显示有限的无线资源和诱导的量化误差如何影响所提出的FL方法的性能。分析结果表明，两个连续迭代之间的FL训练损失的改善取决于设备的选择和量化方案以及所学模型固有的几个参数。给定基于线性回归的这些模型属性的估计值，可以证明FL训练过程可以描述为马尔可夫决策过程（MDP），然后提出了基于模型的增强学习（RL）方法来优化动作的方法选择迭代。与无模型RL相比，这种基于模型的RL方法利用FL训练过程的派生数学表征来发现有效的设备选择和量化方案，而无需强加其他设备通信开销。仿真结果表明，与模型无RL方法和标准FL方法相比，提出的FL算法可以减少29％和63％的收敛时间。

ICECUBE是一种用于检测1 GEV和1 PEV之间大气和天体中微子的光学传感器的立方公斤阵列，该阵列已部署1.45 km至2.45 km的南极的冰盖表面以下1.45 km至2.45 km。来自ICE探测器的事件的分类和重建在ICeCube数据分析中起着核心作用。重建和分类事件是一个挑战，这是由于探测器的几何形状，不均匀的散射和冰中光的吸收，并且低于100 GEV的光，每个事件产生的信号光子数量相对较少。为了应对这一挑战，可以将ICECUBE事件表示为点云图形，并将图形神经网络（GNN）作为分类和重建方法。 GNN能够将中微子事件与宇宙射线背景区分开，对不同的中微子事件类型进行分类，并重建沉积的能量，方向和相互作用顶点。基于仿真，我们提供了1-100 GEV能量范围的比较与当前ICECUBE分析中使用的当前最新最大似然技术，包括已知系统不确定性的影响。对于中微子事件分类，与当前的IceCube方法相比，GNN以固定的假阳性速率（FPR）提高了信号效率的18％。另外，GNN在固定信号效率下将FPR的降低超过8（低于半百分比）。对于能源，方向和相互作用顶点的重建，与当前最大似然技术相比，分辨率平均提高了13％-20％。当在GPU上运行时，GNN能够以几乎是2.7 kHz的中位数ICECUBE触发速率的速率处理ICECUBE事件，这打开了在在线搜索瞬态事件中使用低能量中微子的可能性。

接近周期性的模式（NPP）在人造场景中无处不在，由瓷砖图案组成，其外观差异是由照明，缺陷或设计元素引起的。良好的NPP表示对许多应用程序有用，包括图像完成，分割和几何重新映射。但是代表NPP是具有挑战性的，因为它需要保持全球一致性（瓷砖图案布局），同时保留局部变化（外观差异）。使用大型数据集或单图像优化斗争在一般场景上训练的方法以满足这些约束，而明确模型周期性的方法对周期性检测错误并不强大。为了应对这些挑战，我们使用基于坐标的MLP学习具有单图像优化的神经隐式表示。我们设计一个输入功能翘曲模块和周期性指导的补丁损失，以处理全球一致性和局部变化。为了进一步提高鲁棒性，我们引入了一个周期性建议模块，以在我们的管道中搜索和使用多个候选周期。我们在单个和多平面场景上展示了我们方法对500多个建筑物，架子，壁纸，地面和蒙德里安图案的有效性。

唇裂是一种先天性异常，需要专家手术修复。外科医生必须具有丰富的经验和理论知识才能进行手术，并且已经提出了人工智能（AI）方法来指导外科医生改善手术结局。如果可以使用AI来预测修复的唇唇的外观，那么外科医生可以将其用作辅助手术技术来调整其手术技术并改善结果。为了在保护患者隐私时探索这个想法的可行性，我们提出了一种基于深度学习的图像镶嵌方法，该方法能够覆盖唇裂，并产生唇彩，而无需裂缝。我们的实验是在两个现实世界中的裂口数据集上进行的，并由专家cleft唇外科医生评估，以证明该方法的可行性。