Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have often been designed with cable-driven arms and tools because cables allow for larger motors to be placed at the base of the robot, further from the operating area where space is at a premium. However, by connecting the joint to its motor with a cable, any stretch in the cable can lead to errors in kinematic estimation from encoders at the motor, which can result in difficulties for accurate control of the surgical tool. In this work, we propose an efficient data-driven calibration of positioning joints of such robots, in this case the RAVEN-II surgical robotics research platform. While the calibration takes only 8-21 minutes, the accuracy of the calibrated joints remains high during a 6-hour heavily loaded operation, suggesting desirable feasibility in real practice. The calibration models take original robot states as input and are trained using zig-zag trajectories within a desired sparsity, requiring no additional sensors after training. Compared to fixed offset compensation, the Deep Neural Network calibration model can further reduce 76 percent of error and achieve accuracy of 0.104 deg, 0.120 deg, and 0.118 mm in joints 1, 2, and 3, respectively. In contrast to end-to-end models, experiments suggest that the DNN model achieves better accuracy and faster convergence when outputting the error to correct original inaccurate joint positions. Furthermore, a linear regression model is shown to have 160 times faster inference speed than DNN models for application within the 1000 Hz servo control loop, with slightly compromised accuracy.

As a combat veteran and more recently an industry technologist and university professor, I have observed with concern the increasing automation--and dehumanization--of warfare. Sarah Underwood's discussion of autonomous weapons in her news story "Potential and Peril" (June 2017) highlighting this trend also reminded me of the current effort to update the ACM Code of Ethics, which says nothing about the responsibilities of ACM members in defense industries building the software and hardware in weapons systems. Underwood said understanding the limitations, dangers, and potential of autonomous and other warfare technologies must be a priority for those designing such systems in order to minimize the "collateral damage" of civilian casualties and property/infrastructure destruction. Defense technologists must be aware of and follow appropriate ethical guidelines for creating and managing automated weapons systems of any kind. Removing human control and moral reasoning from weapons will not make wars less likely or less harmful to humans.

We propose a decision making framework to optimize the resilience of road networks to natural disasters such as floods. Our model generalizes an existing one for this problem by allowing roads with a broad class of stochastic delay models. We then present a fast algorithm based on the sample average approximation (SAA) method and network design techniques to solve this problem approximately. On a small existing benchmark, our algorithm produces near-optimal solutions and the SAA method converges quickly with a small number of samples. We then apply our algorithm to a large real-world problem to optimize the resilience of a road network to failures of stream crossing structures to minimize travel times of emergency medical service vehicles. On medium-sized networks, our algorithm obtains solutions of comparable quality to a greedy baseline method but is 30–60 times faster. Our algorithm is the only existing algorithm that can scale to the full network, which has many thousands of edges.

Current manifold alignment methods can effectively align data sets that are drawn from a non-intersecting set of manifolds. However, as data sets become increasingly high-dimensional and complex, this assumption may not hold. This paper proposes a novel manifold alignment algorithm, low rank alignment (LRA), that uses a low rank representation (instead of a nearest neighbor graph construction) to embed and align data sets drawn from mixtures of manifolds. LRA does not require the tuning of a sensitive nearest neighbor hyperparameter or prior knowledge of the number of manifolds, both of which are common drawbacks with existing techniques. We demonstrate the effectiveness of our algorithm in two real-world applications: a transfer learning task in spectroscopy and a canonical information retrieval task.