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In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with occlusion-robust pose estimation and a hand-eye information fusion technique. This system is used to enhance docking precision and force-compliance safety. To train a hand-eye information fusion network model, we generated a self-supervised dataset using this docking system. After training, our pose estimation method showed improved accuracy compared to traditional methods, including observation-only approaches, hand-eye calibration, and conventional state estimation filters. In real-world phantom experiments, our approach demonstrated its effectiveness with reduced position dispersion (1.23\pm 0.81 mm vs. 2.47 \pm 1.22 mm) and force dispersion (0.78\pm 0.57 N vs. 1.15 \pm 0.97 N) compared to the control group. These advancements in semi-autonomy co-manipulation scenarios enhance interaction and stability. The study presents an anti-interference, steady, and precision solution with potential applications extending beyond laparoscopic surgery to other minimally invasive procedures.

Given a torsion pair $(\mathcal{T},\mathcal{F})$ in an abelian category $\mathcal{A}$, there is a t-structure $(\mathcal{U}_\mathcal{T},\mathcal{V}_\mathcal{T})$ determined by $\mathcal{T}$ on the derived category $D^b(\mathcal{A})$. The existence of derived equivalence between heart $\mathcal{B}$ of the t-structure and $\mathcal{A}$ which naturally extends the embedding $\mathcal{B}\to D^b(\mathcal{A})$ is determined by the completeness of the torsion pair [6]. When $\mathcal{A}$ is the module category of a finite-dimensional hereditary algebra and $\mathcal{U}_\mathcal{T}$ is closed under Serre functor, then there exists a triangle equivalence $D^b(\mathcal{B})\to D^b(\mathcal{A})$ [21]. In this case, we give a straightforward proof of the fact torsion pair $(\mathcal{T},\mathcal{F})$ is complete if and only if $\mathcal{U}_\mathcal{T}$ is closed under the Serre functor., Comment: 18pages

This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges for getting high-quality training data associated with co-manipulated robotic arms that can be equipped with a variety of tools, a common scenario in industrial but also clinical and research contexts. Utilizing the Unified Robotics Description Format (URDF) to implement a symbolic Python implementation of the Recursive Newton-Euler Algorithm (RNEA), the approach aids in dynamically estimating parameters such as inertia using regression analyses on data from real robots. The excitation trajectory was evaluated and achieved on par criteria when compared to state-of-the-art reported results which didn't consider self-collision and tool calibrations. Furthermore, physical Human-Robot Interaction (pHRI) admittance control experiments were conducted in a surgical context to evaluate the derived inverse dynamics model showing a 30.1\% workload reduction by the NASA TLX questionnaire.

Cluster exchange groupoids are introduced by King-Qiu as an enhancement of cluster exchange graphs to study stability conditions and quadratic differentials. In this paper, we introduce the exchange groupoid for any finite Coxeter-Dynkin diagram $\Delta$ and show that the fundamental group of which is isomorphic to the corresponding braid group associated with $\Delta$., Comment: 19 pages, 8 figures

This paper describes a Two-step Band-split Neural Network (TBNN) approach for full-band acoustic echo cancellation. Specifically, after linear filtering, we split the full-band signal into wide-band (16KHz) and high-band (16-48KHz) for residual echo removal with lower modeling difficulty. The wide-band signal is processed by an updated gated convolutional recurrent network (GCRN) with U$^2$ encoder while the high-band signal is processed by a high-band post-filter net with lower complexity. Our approach submitted to ICASSP 2023 AEC Challenge has achieved an overall mean opinion score (MOS) of 4.344 and a word accuracy (WAcc) ratio of 0.795, leading to the 2$^{nd}$ (tied) in the ranking of the non-personalized track., Comment: Accepted by ICASSP 2023

Owing to the development and advancement of artificial intelligence, numerous works were established in the human facial expression recognition system. Meanwhile, the detection and classification of micro-expressions are attracting attentions from various research communities in the recent few years. In this paper, we first review the processes of a conventional optical-flow-based recognition system, which comprised of facial landmarks annotations, optical flow guided images computation, features extraction and emotion class categorization. Secondly, a few approaches have been proposed to improve the feature extraction part, such as exploiting GAN to generate more image samples. Particularly, several variations of optical flow are computed in order to generate optimal images to lead to high recognition accuracy. Next, GAN, a combination of Generator and Discriminator, is utilized to generate new "fake" images to increase the sample size. Thirdly, a modified state-of-the-art Convolutional neural networks is proposed. To verify the effectiveness of the the proposed method, the results are evaluated on spontaneous micro-expression databases, namely SMIC, CASME II and SAMM. Both the F1-score and accuracy performance metrics are reported in this paper., Comment: 15 pages, 16 figures, 6 tables

For a prime number $p,$ let $\mathbb{Q}_p$ be the field of $p$-adic numbers. In this paper, we established the boundedness of a class of $p$-adic singular integral operators on the $p$-adic generalized Morrey spaces. The corresponding boundedness for the commutators generalized by the $p$-adic singular integral operators and $p$-adic Lipschitz functions or $p$-adic generalized Campanato functions is also considered.

Let $\mathcal{A}$ be an abelian category and $\mathcal{B}$ be the Happel-Reiten-Smal{\o} tilt of $\mathcal{A}$ with respect to a torsion pair. We give necessary and sufficient conditions for the existence of a derived equivalence between $\mathcal{B}$ and $\mathcal{A}$, which is compatible with the inclusion of $\mathcal{B}$ into the derived category of $\mathcal{A}$. In particular, any splitting torsion pair induces a derived equivalence. We prove that for the realization functor of any bounded $t$-structure, its denseness implies its fully-faithfulness.

In this paper, we propose a new family of graphs, matrix graphs, whose vertex set $\mathbb{F}^{N\times n}_q$ is the set of all $N\times n$ matrices over a finite field $\mathbb{F}_q$ for any positive integers $N$ and $n$. And any two matrices share an edge if the rank of their difference is $1$. Next, we give some basic properties of such graphs and also consider two coloring problems on them. Let $\chi'_d(N\times n, q)$ (resp. $\chi_d(N\times n, q)$) denote the minimum number of colors necessary to color the above matrix graph so that no two vertices that are at a distance at most $d$ (resp. exactly $d$) get the same color. These two problems were proposed in the study of scalability of optical networks. In this paper, we determine the exact value of $\chi'_d(N\times n,q)$ and give some upper and lower bounds on $\chi_d(N\times n,q)$., Comment: 9 pages

The global optimization have the very extensive applications in econometrics, science and engineering. However, the global optimization for non-convex objective functions is particularly difficult since most of the existing global optimization methods depend on the local linear search algorithms that easily traps into a local point, or the random search strategies that may frequently not produce good off-springs. According to human behavior, a one-dimensional global search method in the global optimization should adopt alternating descent and ascent (up-hill and down hill) strategies. This paper proposes the human behavior algorithms (HBA) based on alternating descent and ascent approaches along a direction or multiple different directions. Very fortunately, the proposed HBA make a global optimization method have high possibility for finding a global minimum point. Several benchmark experiments test that our HBA are highly effective for solving some benchmark optimization problems., Comment: 22 pages, 12 figures

We show that the homotopy category of injective $A$-modules is generically trivial if and only if the derived category of all modules is generically trivial for an algebra $A$. Moreover we show some connections between the generic objects, locally finiteness and Krull-Gabriel dimension., Comment: 8 pages. Comments are welcome