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Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an aging population, relatively simple and safe diagnosis tasks may need to be performed using robotics and automation technologies, without specialists and hospitals. This study presents an automated robotic platform for remote auscultation, which is a highly cost-effective screening tool for detecting abnormal clinical signs. The developed robotic platform is composed of a 6-degree-of-freedom cooperative robotic arm, light detection and ranging (LiDAR) camera, and a spring-based mechanism holding an electric stethoscope. The platform enables autonomous stethoscope positioning based on external body information acquired using the LiDAR camera-based multi-way registration; the platform also ensures safe and flexible contact, maintaining the contact force within a certain range through the passive mechanism. Our preliminary results confirm that the robotic platform enables estimation of the landing positions required for cardiac examinations based on the depth and landmark information of the body surface. It also handles the stethoscope while maintaining the contact force without relying on the push-in displacement by the robotic arm.

Makespan minimization on parallel identical machines is a classical and intensively studied problem in scheduling, and a classic example for online algorithm analysis with Graham's famous list scheduling algorithm dating back to the 1960s. In this problem, jobs arrive over a list and upon an arrival, the algorithm needs to assign the job to a machine. The goal is to minimize the makespan, that is, the maximum machine load. In this paper, we consider the variant with an additional cardinality constraint: The algorithm may assign at most $k$ jobs to each machine where $k$ is part of the input. While the offline (strongly NP-hard) variant of cardinality constrained scheduling is well understood and an EPTAS exists here, no non-trivial results are known for the online variant. We fill this gap by making a comprehensive study of various different online models. First, we show that there is a constant competitive algorithm for the problem and further, present a lower bound of $2$ on the competitive ratio of any online algorithm. Motivated by the lower bound, we consider a semi-online variant where upon arrival of a job of size $p$, we are allowed to migrate jobs of total size at most a constant times $p$. This constant is called the migration factor of the algorithm. Algorithms with small migration factors are a common approach to bridge the performance of online algorithms and offline algorithms. One can obtain algorithms with a constant migration factor by rounding the size of each incoming job and then applying an ordinal algorithm to the resulting rounded instance. With this in mind, we also consider the framework of ordinal algorithms and characterize the competitive ratio that can be achieved using the aforementioned approaches.

High-order implicit shock tracking is a new class of numerical methods to approximate solutions of conservation laws with non-smooth features. These methods align elements of the computational mesh with non-smooth features to represent them perfectly, allowing high-order basis functions to approximate smooth regions of the solution without the need for nonlinear stabilization, which leads to accurate approximations on traditionally coarse meshes. The hallmark of these methods is the underlying optimization formulation whose solution is a feature-aligned mesh and the corresponding high-order approximation to the flow; the key challenge is robustly solving the central optimization problem. In this work, we develop a robust optimization solver for high-order implicit shock tracking methods so they can be reliably used to simulate complex, high-speed, compressible flows in multiple dimensions. The proposed method integrates practical robustness measures into a sequential quadratic programming method, including dimension- and order-independent simplex element collapses, mesh smoothing, and element-wise solution re-initialization, which prove to be necessary to reliably track complex discontinuity surfaces, such as curved and reflecting shocks, shock formation, and shock-shock interaction. A series of nine numerical experiments -- including two- and three-dimensional compressible flows with complex discontinuity surfaces -- are used to demonstrate: 1) the robustness of the solver, 2) the meshes produced are high-quality and track continuous, non-smooth features in addition to discontinuities, 3) the method achieves the optimal convergence rate of the underlying discretization even for flows containing discontinuities, and 4) the method produces highly accurate solutions on extremely coarse meshes relative to approaches based on shock capturing.

In this article, we tackle for the first time the problem of dynamic memory-efficient Searchable Symmetric Encryption (SSE). In the term "memory-efficient" SSE, we encompass both the goals of local SSE, and page-efficient SSE. The centerpiece of our approach is a novel connection between those two goals. We introduce a map, called the Generic Local Transform, which takes as input a page-efficient SSE scheme with certain special features, and outputs an SSE scheme with strong locality properties. We obtain several results. (1) First, for page-efficient SSE, we build a dynamic scheme with page efficiency $O(\log \log N)$ and storage efficiency $O(1)$, called LayeredSSE. The main technical innovation behind LayeredSSE is a new weighted extension of the two-choice allocation process, of independent interest. (2) Second, we introduce the Generic Local Transform, and combine it with LayeredSSE to build a dynamic SSE scheme with storage efficiency $O(1)$, locality $O(1)$, and read efficiency $O(\log\log N)$, under the condition that the longest list is of size $O(N^{1-1/\log \log \lambda})$. This matches, in every respect, the purely static construction of Asharov et al. presented at STOC 2016: dynamism comes at no extra cost. (3) Finally, by applying the Generic Local Transform to a variant of the Tethys scheme by Bossuat et al. from Crypto 2021, we build an unconditional static SSE with storage efficiency $O(1)$, locality $O(1)$, and read efficiency $O(\log^\varepsilon N)$, for an arbitrarily small constant $\varepsilon > 0$. To our knowledge, this is the construction that comes closest to the lower bound presented by Cash and Tessaro at Eurocrypt 2014.

We study object recognition under the constraint that each object class is only represented by very few observations. In such cases, naive supervised learning would lead to severe over-fitting in deep neural networks due to limited training data. We tackle this problem by creating much more training data through label propagation from the few labeled examples to a vast collection of unannotated images. Our main insight is that such a label propagation scheme can be highly effective when the similarity metric used for propagation is learned and transferred from other related domains with lots of data. We test our approach on semi-supervised learning, transfer learning and few-shot recognition, where we learn our similarity metric using various supervised/unsupervised pretraining methods, and transfer it to unlabeled data across different data distributions. By taking advantage of unlabeled data in this way, we achieve significant improvements on all three tasks. Notably, our approach outperforms current state-of-the-art techniques by an absolute $20\%$ for semi-supervised learning on CIFAR10, $10\%$ for transfer learning from ImageNet to CIFAR10, and $6\%$ for few-shot recognition on mini-ImageNet, when labeled examples are limited.

We present a unified framework tackling two problems: class-specific 3D reconstruction from a single image, and generation of new 3D shape samples. These tasks have received considerable attention recently; however, existing approaches rely on 3D supervision, annotation of 2D images with keypoints or poses, and/or training with multiple views of each object instance. Our framework is very general: it can be trained in similar settings to these existing approaches, while also supporting weaker supervision scenarios. Importantly, it can be trained purely from 2D images, without ground-truth pose annotations, and with a single view per instance. We employ meshes as an output representation, instead of voxels used in most prior work. This allows us to exploit shading information during training, which previous 2D-supervised methods cannot. Thus, our method can learn to generate and reconstruct concave object classes. We evaluate our approach on synthetic data in various settings, showing that (i) it learns to disentangle shape from pose; (ii) using shading in the loss improves performance; (iii) our model is comparable or superior to state-of-the-art voxel-based approaches on quantitative metrics, while producing results that are visually more pleasing; (iv) it still performs well when given supervision weaker than in prior works.

Recent advances in 3D fully convolutional networks (FCN) have made it feasible to produce dense voxel-wise predictions of volumetric images. In this work, we show that a multi-class 3D FCN trained on manually labeled CT scans of several anatomical structures (ranging from the large organs to thin vessels) can achieve competitive segmentation results, while avoiding the need for handcrafting features or training class-specific models. To this end, we propose a two-stage, coarse-to-fine approach that will first use a 3D FCN to roughly define a candidate region, which will then be used as input to a second 3D FCN. This reduces the number of voxels the second FCN has to classify to ~10% and allows it to focus on more detailed segmentation of the organs and vessels. We utilize training and validation sets consisting of 331 clinical CT images and test our models on a completely unseen data collection acquired at a different hospital that includes 150 CT scans, targeting three anatomical organs (liver, spleen, and pancreas). In challenging organs such as the pancreas, our cascaded approach improves the mean Dice score from 68.5 to 82.2%, achieving the highest reported average score on this dataset. We compare with a 2D FCN method on a separate dataset of 240 CT scans with 18 classes and achieve a significantly higher performance in small organs and vessels. Furthermore, we explore fine-tuning our models to different datasets. Our experiments illustrate the promise and robustness of current 3D FCN based semantic segmentation of medical images, achieving state-of-the-art results. Our code and trained models are available for download: //github.com/holgerroth/3Dunet_abdomen_cascade.

A novel multi-atlas based image segmentation method is proposed by integrating a semi-supervised label propagation method and a supervised random forests method in a pattern recognition based label fusion framework. The semi-supervised label propagation method takes into consideration local and global image appearance of images to be segmented and segments the images by propagating reliable segmentation results obtained by the supervised random forests method. Particularly, the random forests method is used to train a regression model based on image patches of atlas images for each voxel of the images to be segmented. The regression model is used to obtain reliable segmentation results to guide the label propagation for the segmentation. The proposed method has been compared with state-of-the-art multi-atlas based image segmentation methods for segmenting the hippocampus in MR images. The experiment results have demonstrated that our method obtained superior segmentation performance.