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arXiv 2025年

作者： Adriani, O. Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Garre, S. Alves Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Argüelles, C. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Gualandi, F. Benfenati Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Berti, E. Bertin, V. Betti, P. Biagi, S. Boettcher, M. Bonanno, D. Bottai, S. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Wasseige, G. Decoene, V. Deguire, P. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Duverne, P. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. El Mentawi, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gal, T. Méndez, J. García Soto, A. Garcia Oliver, C. Gatius Geißelbrecht, N. Genton, E. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi, A. Ibnsalih, W. Idrissi Illuminati, G. Janik, O. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kalaczyński, P. Kamp, N. Keegans, J. Kikvadze, V. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Krupa, L. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. INFN Sezione di Firenze via Sansone 1 Sesto Fiorentino50019 Italy Università di Firenze Dipartimento di Fisica e Astronomia via Sansone 1 Sesto Fiorentino50019 Italy INFN Sezione di Catania INFN-CT Via Santa Sofia 64 Catania95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Université de Haute Alsace rue des Frères Lumière Mulhouse68093 Cedex France Khalifa University of Science and Technology Department of Physics PO Box 127788 Abu Dhabi United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France IFIC - Instituto de Física Corpuscular CSIC - Universitat de València c/Catedrático José Beltrán 2 Paterna Valencia46980 Spain Università di Napoli "Federico II" Dip. Scienze Fisiche "E. Pancini" Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma00185 Italy Universitat Politècnica de Catalunya Laboratori d’Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú08800 Spain Subatech IMT Atlantique IN2P3-CNRS Nantes Université 4 rue Alfred Kastler - La Chantrerie BP Nantes20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia46730 Spain Harvard University Department of Physics Laboratory for Particle Physics and Cosmology Lyman Laboratory 17 Oxford St. CambridgeMA02138 United States Université Paris Cité CNRS ParisF-75013 France INFN Sezione di Genova Via Dodecaneso 33 Genova16146 Italy Università di Genova Via Dodecaneso 33 Genova16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen14050 France Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava842

On the 13th February 2023 the KM3NeT/ARCA telescope observed a track-like event compatible with a ultra-high-energy muon with an estimated energy of 120 PeV, produced by a neutrino with an even higher energy, making it the most energetic neutrino event ever detected. A diffuse cosmogenic component is expected to originate from the interactions of ultra-high-energy cosmic rays with ambient photon and matter fields. The flux level required by the KM3NeT/ARCA event is however in tension with the standard cosmogenic neutrino predictions based on the observations collected by the Pierre Auger Observatory and Telescope Array over the last decade of the ultra-high-energy cosmic rays above the ankle (hence from the local Universe, z 1). We show here that both observations can be reconciled by extending the integration of the equivalent cosmogenic neutrino flux up to a redshift of z 6 and assuming a subdominant fraction of protons in the ultra-high-energy cosmic-ray flux, thus placing constraints on known cosmic accelerators. © 2025, CC BY.

关键词： Cosmic rays

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

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arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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Believing in BERT: Using expressive communication to enhance trust and counteract operational error in physical Human-robot interaction

Believing in BERT: Using expressive communication to enhance...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Adriana Hamacher Nadia Bianchi-Berthouze Anthony G. Pipe Kerstin Eder University College UCL Interaction Centre London UK Bristol Robotics Laboratory Bristol UK Verification and Validation for Safety in Robots research theme Bristol Robotics Laboratory Bristol UK Department of Computer Science University of Bristol UK

Strategies are necessary to mitigate the impact of unexpected behavior in collaborative robotics, and research to develop solutions is lacking. Our aim here was to explore the benefits of an affective interaction, as opposed to a more efficient, less error prone but non-communicative one. The experiment took the form of an omelet-making task, with a wide range of participants interacting directly with BERT2, a humanoid robot assistant. Having significant implications for design, results suggest that efficiency is not the most important aspect of performance for users; a personable, expressive robot was found to be preferable over a more efficient one, despite a considerable trade off in time taken to perform the task. Our findings also suggest that a robot exhibiting human-like characteristics may make users reluctant to `hurt its feelings'; they may even lie in order to avoid this.

关键词： Bit error rate Collaboration Humanoid robots Reliability Electronic mail Speech recognition

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A Novel Extended Potential Field Controller for Use on Aerial Robots

A Novel Extended Potential Field Controller for Use on Aeria...

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IEEE International Conference on Automation science and Engineering

作者： Alexander C. Woods Hung M. La Quang P. Ha Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada Reno 89557 USA School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024100

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.

关键词： Drones Navigation Robot sensing systems Target tracking Stability analysis

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A hybrid model and kinematic-free control framework for a low-cost deformable manipulator using in home service

A hybrid model and kinematic-free control framework for a lo...

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IEEE International Conference on Automation science and Engineering (CASE)

作者： Gaofeng Li Lei Sun Shan Xu Dezhen Song Jingtai Liu Tianjin Key Laboratory of Intelligent Robotics NanKai University Tianjin China Department of Computer Science and Engineering Texas A&M University College Station Texas United States

ISBN: (纸本)9781509024100

Home service robot works in unstructured environments with various tasks, where a low-cost, dexterous, and intrinsically safe manipulator is important. Traditionally, a redundant manipulator with high degrees of freedom (DOFs) is employed. However, high DOFs bring problems like high cost, complex physical designing, and heavy weight. Here a novel low-cost deformable manipulator for home service robot, which is composed of rigid joints and deformable links, is introduced. The deformable manipulator can obtain relatively dexterous and extended workspace with fewer joints by bending its deformable links. Considering the typical hybrid behaviors caused by bending operation, a hybrid model and a practical kinematic-free control framework with no prior kinematic information are proposed to describe and control the deformable manipulator. The model and controller have been implemented on a 4-DOF deformable manipulator with two deformable links in simulation. The simulation results validate the proposed deformable manipulator and kinematic-free control.

关键词： Manipulators Deformable models Torque Kinematics Actuators Jacobian matrices

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Coverage-driven verification — An approach to verify code for robots that directly interact with humans 11th

Coverage-driven verification — An approach to verify code f...

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11th International Haifa Verification Conference, HVC 2015

作者： Araiza-Illan, Dejanira Western, David Pipe, Anthony Eder, Kerstin Department of Computer Science and Bristol Robotics Laboratory University of Bristol Bristol United Kingdom Bristol Robotics Laboratory University of the West of England Bristol United Kingdom

ISBN: (纸本)9783319262864

Collaborative robots could transform several industries, such as manufacturing and healthcare, but they present a significant challenge to verification. The complex nature of their working environment necessitates testing in realistic detail under a broad range of circumstances. We propose the use of Coverage-Driven Verification (CDV) to meet this challenge. By automating the simulation-based testing process as far as possible, CDV provides an efficient route to coverage closure. We discuss the need, practical considerations, and potential benefits of transferring this approach from microelectronic design verification to the field of human-robot interaction. We demonstrate the validity and feasibility of the proposed approach by constructing a custom CDV testbench and applying it to the verification of an object handover task. © Springer International Publishing Switzerland 2015.

关键词： Machine design

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Adaptive path planning for multiple vehicles with bounded curvature 1

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11th Latin-American robotics Symposium on robotics, LARS 2014

作者： Macharet, Douglas G. Campos, Mario F.M. Computer Vision and Robotics Laboratory Computer Science Department Universidade Federal de Minas Gerais Belo Horizonte MG Brazil

ISBN: (数字)9783662481349

ISBN: (纸本)9783662481332

In this paper we introduce the k-Dynamic Dubins TSP with Neighborhoods (k-DDTSPN), the problem consisting of planning efficient paths among a set of target regions dynamically selected in the environment for multiple robots with bounded curvature (Dubins vehicle). We propose a decentralized auction-based technique, which uses a greedy constructive strategy to dynamically calculate the cost of insertion of the new region to each path and selects the one with the minimum impact on the length. We provide a formal analysis of the proposed technique, presenting an upper bound for the length of the longest tour. Several trials were executed in a simulated environment, allowing for a statistical investigation of the results. © Springer-Verlag Berlin Heidelberg 2015.

关键词： Traveling salesman problem

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Editorial

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International Journal of Social robotics 2015年第1期7卷 1-2页

作者： Ge, Shuzhi Sam Khatib, Oussama and the Robotics Research Lab Department of Electrical & Computer Engineering The National University of Singapore Singapore Singapore University of Electronic Science and Technology of China Chengdu China Artificial Intelligence Laboratory Department of Computer Science Stanford University StanfordCA United States

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Delay-based numerical stability of the partitioned-solution approach

Delay-based numerical stability of the partitioned-solution ...

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IEEE General Meeting Power& Energy Society

作者： Federico Milano Dept. of EE-Systems TAU Tel Aviv Israel Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering University of Macau Macao China

This paper proposes a technique to evaluate the numerical stability and accuracy of the Partitioned-Solution Method (PSA) for the time domain integration of the Differential Algebraic Equations (DAEs) that are used for power system angle and voltage stability analyses. The partitioned approach consists in solving differential equations and algebraic constraints separately. While efficient, this technique introduces a “mismatch” between state and algebraic variables. The paper states the formal analogy of such a mismatch with a time delay of algebraic variables. Then a Small-signal Stability Analysis (SSSA) for Delay Differential Algebraic Equation (DDAE) is applied to define the numerical stability of the PSA as a function of the integration time step. Results are tested using the IEEE 14-bus system as well as a 1,479-bus model of the all-island Irish system.

关键词： Power system stability Numerical stability Stability analysis Mathematical model Numerical models Delay effects Delays

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Towards verifiably ethical robot behaviour 29

Towards verifiably ethical robot behaviour

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29th AAAI Conference on Artificial Intelligence, AAAI 2015

作者： Dennis, Louise A. Fisher, Michael Winfield, Alan F.T. Department of Computer Science University of Liverpool United Kingdom Bristol Robotics Laboratory University of West of England United Kingdom

ISBN: (纸本)9781577357131

Ensuring that autonomous systems work ethically is both complex and difficult. However, the idea of having an additional 'governor' that assesses options the system has, and prunes them to select the most ethical choices is well understood. Recent work has produced such a governor consisting of a 'consequence engine' that assesses the likely future outcomes of actions then applies a Safety/Ethical logic to select actions. Although this is appealing, it is impossible to be certain that the most ethical options are actually taken. In this paper we extend and apply a well-known agent verification approach to our consequence engine, allowing us to verify the correctness of its ethical decision-making. © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Governors

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