Learned and Controlled Autonomous Robotic Exploration in an Extreme, Unknown Environment

Exploring and traversing extreme terrain with surface robots is difficult, but highly desirable for many applications, including exploration of planetary surfaces, search and rescue, among others. For these applications, to ensure the robot can predictably locomote, the interaction between the terrain and vehicle, terramechanics, must be incorporated into the model of the robot's locomotion. Modeling terramechanic effects is difficult and may be impossible in situations where the terrain is not known a priori. For these reasons, learning a terramechanics model online is desirable to increase the predictability of the robot's motion. A problem with previous implementations of learning algorithms is that the terramechanics model and corresponding generated control policies are not easily interpretable or extensible. If the models were of interpretable form, designers could use the learned models to inform vehicle and/or control design changes to refine the robot architecture for future applications. This paper explores a new method for learning a terramechanics model and a control policy using a model-based genetic algorithm. The proposed method yields an interpretable model, which can be analyzed using preexisting analysis methods. The paper provides simulation results that show for a practical application, the genetic algorithm performance is approximately equal to the performance of a state-of-the-art neural network approach, which does not provide an easily interpretable model.Comment: Published in: 2019 IEEE Aerospace Conference Date of Conference: 2-9 March 2019 Date Added to IEEE Xplore: 20 June 201

Semantic Communication-Empowered Physical-layer Network Coding

In a two-way relay channel (TWRC), physical-layer network coding (PNC) doubles the system throughput by turning superimposed signals transmitted simultaneously by different end nodes into useful network-coded information (known as PNC decoding). Prior works indicated that the PNC decoding performance is affected by the relative phase offset between the received signals from different nodes. In particular, some "bad" relative phase offsets could lead to huge performance degradation. Previous solutions to mitigate the relative phase offset effect were limited to the conventional bit-oriented communication paradigm, aiming at delivering a given information stream as quickly and reliably as possible. In contrast, this paper puts forth the first semantic communication-empowered PNC-enabled TWRC to address the relative phase offset issue, referred to as SC-PNC. Despite the bad relative phase offsets, SC-PNC directly extracts the semantic meaning of transmitted messages rather than ensuring accurate bit stream transmission. We jointly design deep neural network (DNN)-based transceivers at the end nodes and propose a semantic PNC decoder at the relay. Taking image delivery as an example, experimental results show that the SC-PNC TWRC achieves high and stable reconstruction quality for images under different channel conditions and relative phase offsets, compared with the conventional bit-oriented counterparts

Two-Stage Hybrid Supervision Framework for Fast, Low-resource, and Accurate Organ and Pan-cancer Segmentation in Abdomen CT

Abdominal organ and tumour segmentation has many important clinical applications, such as organ quantification, surgical planning, and disease diagnosis. However, manual assessment is inherently subjective with considerable inter- and intra-expert variability. In the paper, we propose a hybrid supervised framework, StMt, that integrates self-training and mean teacher for the segmentation of abdominal organs and tumors using partially labeled and unlabeled data. We introduce a two-stage segmentation pipeline and whole-volume-based input strategy to maximize segmentation accuracy while meeting the requirements of inference time and GPU memory usage. Experiments on the validation set of FLARE2023 demonstrate that our method achieves excellent segmentation performance as well as fast and low-resource model inference. Our method achieved an average DSC score of 89.79\% and 45.55 \% for the organs and lesions on the validation set and the average running time and area under GPU memory-time cure are 11.25s and 9627.82MB, respectively

Clinical Study of Azithromycin in Treatment of Respiratory Tract Infections in Children

Objective: To observe the clinical efficacy and safety of azithromycin in the treatment of respiratory tract infections in children. Method: This study was select 110 cases of respiratory tract infection in our hospital from April 2013 to December 2014 as the research object. According to the random grouping method, the children were divided into two groups, 55 cases in the control group and 55 cases in the treatment group. On the basis of conventional treatment, the control group was treated with erythromycin 15 to 30 mg/kg per day for 1 week while for the treatment group was treated with Azithromycin 10 mg/kg per day by intravenous drip, and 8 mg/kg per day was administered orally for 4 days. To observe the clinical symptoms, signs, chest X-ray and adverse reactions of two groups before and after treatment. Results: The treatment group cure rate was significantly higher than that of the control group (p < 0.05), cough and fever disappearance time is shorter than that of the control group (p < 0.05), adverse reactions occurred rate of treatment group was lower than that of the control group (p < 0.05). Conclusion: The efficacy of azithromycin in the treatment of respiratory tract infections in children is reliable, less adverse reactions and it is worthy of promotion