SPEAKER VGG CCT: Cross-corpus Speech Emotion Recognition with Speaker Embedding and Vision Transformers

In recent years, Speech Emotion Recognition (SER) has been investigated mainly transforming the speech signal into spectrograms that are then classified using Convolutional Neural Networks pretrained on generic images and fine tuned with spectrograms. In this paper, we start from the general idea above and develop a new learning solution for SER, which is based on Compact Convolutional Transformers (CCTs) combined with a speaker embedding. With CCTs, the learning power of Vision Transformers (ViT) is combined with a diminished need for large volume of data as made possible by the convolution. This is important in SER, where large corpora of data are usually not available. The speaker embedding allows the network to extract an identity representation of the speaker, which is then integrated by means of a self-attention mechanism with the features that the CCT extracts from the spectrogram. Overall, the solution is capable of operating in real-time showing promising results in a cross-corpus scenario, where training and test datasets are kept separate. Experiments have been performed on several benchmarks in a cross-corpus setting as rarely used in the literature, with results that are comparable or superior to those obtained with state-of-the-art network architectures. Our code is available at https://github.com/JabuMlDev/Speaker-VGG-CCT

Balanced metrics on Hartogs domains

An n-dimensional strictly pseudoconvex Hartogs domain D_F can be equipped with a natural Kaehler metric g_F. In this paper we prove that if m_0g_F is balanced for a given positive integer m_0 then m_0>n and (D_F, g_F) is holomorphically isometric to an open subset of the n-dimensional complex hyperbolic space.Comment: 9 page

Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook

Since the emergence of soft robotics around two decades ago, research interest in the field has escalated at a pace. It is fuelled by the industry's appreciation of the wide range of soft materials available that can be used to create highly dexterous robots with adaptability characteristics far beyond that which can be achieved with rigid component devices. The ability, inherent in soft robots, to compliantly adapt to the environment, has significantly sparked interest from the surgical robotics community. This article provides an in-depth overview of recent progress and outlines the remaining challenges in the development of soft robotics for minimally invasive surgery

Treatment of Lower-GI Post-Surgical Fistulas With the Over-the-Scope Clip

AbstractPost-surgical colorectal leaks and fistulas are severe complications that dramatically increase morbidity and mortality. Over-the-scope clip (OTSC) application, introduced in clinical practice in 2007, represents an innovative technique to seal the visceral wall for acute and chronic colorectal post-surgical leaks and fistula management. Endoscopic closure of colorectal post-surgical leaks and fistulas with OTSC is a safe technique that accomplishes a high success rate in both acute and chronic cases, including rectovaginal, rectovesical, and colocutaneous fistulas. Overall success rate is higher than 80%, as reported in the literature, in both acute and chronic situations. No OTSC-related complications have been described in the lower gastrointestinal tract so far. This article is part of an expert video encyclopedia

Balanced metrics on Cartan and Cartan-Hartogs domains

This paper consists of two results dealing with balanced metrics (in S. Donaldson terminology) on nonconpact complex manifolds. In the first one we describe all balanced metrics on Cartan domains. In the second one we show that the only Cartan-Hartogs domain which admits a balanced metric is the complex hyperbolic space. By combining these results with those obtained in [13] (Kaehler-Einstein submanifolds of the infinite dimensional projective space, to appear in Mathematische Annalen) we also provide the first example of complete, Kaehler-Einstein and projectively induced metric g such that $\alpha g$ is not balanced for all $\alpha >0$.Comment: 11 page

A magnetic internal mechanism for precise orientation of the camera in wireless endoluminal applications

Background and study aims: The use of magnetic fields to control operative devices has been recently described in endoluminal and transluminal surgical applications. The exponential decrease of magnetic field strength with distance has major implications for precision of the remote control. We aimed to assess the feasibility and functionality of a novel wireless miniaturized mechanism, based on magnetic forces, for precise orientation of the camera. Materials and methods: A remotely controllable endoscopic capsule was developed as proof of concept. Two intracapsular moveable permanent magnets allow fine positioning, and an externally applied magnetic field permits gross movement and stabilization. Performance was assessed in ex vivo and in vivo bench tests, using porcine upper and lower gastrointestinal tracts. Results: Fine control of capsule navigation and rotation was achieved in all tests with an external magnet held steadily about 15 cm from the capsule. The camera could be rotated in steps of 1.8°. This was confirmed by ex vivo tests; the mechanism could adjust the capsule view at 40 different locations in a gastrointestinal tract phantom model. Full 360° viewing was possible in the gastric cavity, while the maximal steering in the colonwas 45° in total. In vivo, a similar performance was verified, where the mechanism was successfully operated every 5 cm for 40 cm in the colon, visually sweeping from side to side of the lumen; 360° views were obtained in the gastric fundus and body, while antrally the luminal walls prevented full rotation. Conclusions: We report the feasibility and effectiveness of the combined use of external static magnetic fields and internal actuation to move small permanent intracapsular magnets to achieve wirelessly controllable and precise camera steering. The concept is applicable to capsule endoscopy as to other instrumentation for laparoscopic, endoluminal, or transluminal procedures

Actuation and stiffening in fluid-driven soft robots using low-melting-point material

Soft material robots offer a number of advantages over traditional rigid robots in applications including humanrobot interaction, rehabilitation and surgery. These robots can navigate around obstacles, elongate, squeeze through narrow openings or be squeezed - and they are considered to be inherently safe. The ability to stiffen compliant soft actuators has been achieved by embedding various mechanisms that are generally decoupled from the actuation principle. Miniaturisation becomes challenging due to space limitations which can in turn result in diminution of stiffening effects. Here, we propose to hydraulically actuate soft manipulators with lowmelting- point material and, at the same time, be able to switch between a soft and stiff state. Instead of allocating an additional stiffening chamber within the soft robot, one chamber only is used for actuation and stiffening. Low Melting Point Alloy is integrated into the actuation chamber of a single-compartment soft robotic manipulator and the interfaced robotic syringe pump. Temperature change is enabled through embedded nichrome wires. Our experimental results show higher stiffness factors, from 9-12 opposing the motion of curvature, than those previously found for jamming mechanisms incorporated in separate additional chambers, in the range of 2-8 for the same motion