Learning scalable and transferable multi-robot/machine sequential assignment planning via graph embedding

Can the success of reinforcement learning methods for simple combinatorial optimization problems be extended to multi-robot sequential assignment planning? In addition to the challenge of achieving near-optimal performance in large problems, transferability to an unseen number of robots and tasks is another key challenge for real-world applications. In this paper, we suggest a method that achieves the first success in both challenges for robot/machine scheduling problems. Our method comprises of three components. First, we show a robot scheduling problem can be expressed as a random probabilistic graphical model (PGM). We develop a mean-field inference method for random PGM and use it for Q-function inference. Second, we show that transferability can be achieved by carefully designing two-step sequential encoding of problem state. Third, we resolve the computational scalability issue of fitted Q-iteration by suggesting a heuristic auction-based Q-iteration fitting method enabled by transferability we achieved. We apply our method to discrete-time, discrete space problems (Multi-Robot Reward Collection (MRRC)) and scalably achieve 97% optimality with transferability. This optimality is maintained under stochastic contexts. By extending our method to continuous time, continuous space formulation, we claim to be the first learning-based method with scalable performance among multi-machine scheduling problems; our method scalability achieves comparable performance to popular metaheuristics in Identical parallel machine scheduling (IPMS) problems

Only-Train-Once MR Fingerprinting for Magnetization Transfer Contrast Quantification

Magnetization transfer contrast magnetic resonance fingerprinting (MTC-MRF) is a novel quantitative imaging technique that simultaneously measures several tissue parameters of semisolid macromolecule and free bulk water. In this study, we propose an Only-Train-Once MR fingerprinting (OTOM) framework that estimates the free bulk water and MTC tissue parameters from MR fingerprints regardless of MRF schedule, thereby avoiding time-consuming process such as generation of training dataset and network training according to each MRF schedule. A recurrent neural network is designed to cope with two types of variants of MRF schedules: 1) various lengths and 2) various patterns. Experiments on digital phantoms and in vivo data demonstrate that our approach can achieve accurate quantification for the water and MTC parameters with multiple MRF schedules. Moreover, the proposed method is in excellent agreement with the conventional deep learning and fitting methods. The flexible OTOM framework could be an efficient tissue quantification tool for various MRF protocols.Comment: Accepted at 25th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI'22

A SIMULTANEOUS VIEW INTERPOLATION AND MULTIPLEXING METHOD USING STEREO IMAGE PAIRS FOR LENTICULAR DISPLAY

ABSTRACT Nowadays, the slanted lenticular display becomes a representative one among the commercially introduced autostereoscopic displays. The paper presents a simple method to correct the lenticular alignment error by compensating the correction coefficients to the view number determination formula. Then, based on the corrected view numbers, the proposed algorithm simultaneously performs floating-point viewpoint generation and multiplexing on the scanline using the stereo image pairs and its depth information. Experimental results show that lenticular images, in which distortion and artifact due to lenticular alignment error are considerably reduced, are generated rapidly by using the proposed algorithm. Index Terms-Three-dimensional displays, Stereo vision

High-energy mid-infrared sub-cycle pulse synthesis from a parametric amplifier

High-energy phase-stable sub-cycle mid-infrared pulses can provide unique opportunities to explore phase-sensitive strong-field light-matter interactions in atoms, molecules and solids. At the mid-infrared wavelength, the Keldysh parameter could be much smaller than unity even at relatively modest laser intensities, enabling the study of the strong-field sub-cycle electron dynamics in solids without damage. Here we report a high-energy sub-cycle pulse synthesiser based on a mid-infrared optical parametric amplifier and its application to high-harmonic generation in solids. The signal and idler combined spectrum spans from 2.5 to 9.0 μm. We coherently synthesise the passively carrier-envelope phase-stable signal and idler pulses to generate 33 μJ, 0.88-cycle, multi-gigawatt pulses centred at ~4.2 μm, which is further energy scalable. The mid-infrared sub-cycle pulse is used for driving high-harmonic generation in thin silicon samples, producing harmonics up to ~19th order with a continuous spectral coverage due to the isolated emission by the sub-cycle driver

Source-Frequency Phase-Referencing Observation of AGNs with KaVA Using Simultaneous Dual-Frequency Receiving

The KVN(Korean VLBI Network)-style simultaneous multi-frequency receiving mode is demonstrated to be promising for mm-VLBI observations. Recently, other Very long baseline interferometry (VLBI) facilities all over the globe start to implement compatible optics systems. Simultaneous dual/multi-frequency VLBI observations at mm wavelengths with international baselines are thus possible. In this paper, we present the results from the first successful simultaneous 22/43 GHz dual-frequency observation with KaVA(KVN and VERA array), including images and astrometric results. Our analysis shows that the newly implemented simultaneous receiving system has brought a significant extension of the coherence time of the 43 GHz visibility phases along the international baselines. The astrometric results obtained with KaVA are consistent with those obtained with the independent analysis of the KVN data. Our results thus confirm the good performance of the simultaneous receiving systems for the non-KVN stations. Future simultaneous observations with more global stations bring even higher sensitivity and micro-arcsecond level astrometric measurements of the targets.Comment: 8 pages, 6 figures, Published in JKA

Pravastatin Attenuates Acute Radiation-Induced Enteropathy and Improves Epithelial Cell Function

Background and Aim: Radiation-induced enteropathy is frequently observed after radiation therapy for abdominal and pelvic cancer or occurs secondary to accidental radiation exposure. The acute effects of irradiation on the intestine might be attributed to inhibition of mitosis in the crypts, as the loss of proliferative functions impairs development of the small intestinal epithelium and its barrier function. Especially, oxidative damage to intestinal epithelial cells is a key event in the initiation and progression of radiation-induced enteropathy. Pravastatin is widely used clinically to lower serum cholesterol levels and has been reported to have anti-inflammatory effects on endothelial cells. Here, we investigated the therapeutic effects of pravastatin on damaged epithelial cells after radiation-induced enteritis using in vitro and in vivo systems.Materials and Methods: To evaluate the effects of pravastatin on intestinal epithelial cells, we analyzed proliferation and senescence, oxidative damage, and inflammatory cytokine expression in an irradiated human intestinal epithelial cell line (InEpC). In addition, to investigate the therapeutic effects of pravastatin in mice, we performed histological analysis, bacterial translocation assays, and intestinal permeability assays, and also assessed inflammatory cytokine expression, using a radiation-induced enteropathy model.Results: Histological damage such as shortening of villi length and impaired intestinal crypt function was observed in whole abdominal-irradiated mice. However, damage was attenuated in pravastatin-treated animals, in which normalization of intestinal epithelial cell differentiation was also observed. Using in vitro and in vivo systems, we also showed that pravastatin improves the proliferative properties of intestinal epithelial cells and decreases radiation-induced oxidative damage to the intestine. In addition, pravastatin inhibited levels of epithelial-derived inflammatory cytokines including IL-6, IL-1β, and TNF-α in irradiated InEpC cells. We also determined that pravastatin could rescue intestinal barrier dysfunction via anti-inflammatory effects using the mouse model.Conclusion: Pravastatin has a therapeutic effect on intestinal lesions and attenuates radiation-induced epithelial damage by suppressing oxidative stress and the inflammatory response