Hyperbolic periodic points for chain hyperbolic homoclinic classes

In this paper we establish a closing property and a hyperbolic closing property for thin trapped chain hyperbolic homoclinic classes with one dimensional center in partial hyperbolicity setting. Taking advantage of theses properties, we prove that the growth rate of the number of hyperbolic periodic points is equal to the topological entropy. We also obtain that the hyperbolic periodic measures are dense in the space of invariant measures.Comment: 15 pages, 1 figure

Multi-stage Suture Detection for Robot Assisted Anastomosis based on Deep Learning

In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling and suture detection. Due to the complexity of the surgical environment and varying patient anatomies, reliable suture detection is difficult, which is further complicated by occlusion and thread topologies. In this paper, we propose a multi-stage framework for suture thread detection based on deep learning. Fully convolutional neural networks are used to obtain the initial detection and the overlapping status of suture thread, which are later fused with the original image to learn a gradient road map of the thread. Based on the gradient road map, multiple segments of the thread are extracted and linked to form the whole thread using a curvilinear structure detector. Experiments on two different types of sutures demonstrate the accuracy of the proposed framework.Comment: Submitted to ICRA 201

Bayesian Conditional Tensor Factorizations for High-Dimensional Classification

In many application areas, data are collected on a categorical response and high-dimensional categorical predictors, with the goals being to build a parsimonious model for classification while doing inferences on the important predictors. In settings such as genomics, there can be complex interactions among the predictors. By using a carefully-structured Tucker factorization, we define a model that can characterize any conditional probability, while facilitating variable selection and modeling of higher-order interactions. Following a Bayesian approach, we propose a Markov chain Monte Carlo algorithm for posterior computation accommodating uncertainty in the predictors to be included. Under near sparsity assumptions, the posterior distribution for the conditional probability is shown to achieve close to the parametric rate of contraction even in ultra high-dimensional settings. The methods are illustrated using simulation examples and biomedical applications

Objective Evaluation Criteria for Shooting Quality of Stereo Cameras over Short Distance

Stereo cameras are the basic tools used to obtain stereoscopic image pairs, which can lead to truly great image quality. However, some inappropriate shooting conditions may cause discomfort while viewing stereo images. It is therefore considerably necessary to establish the perceptual criteria that can be used to evaluate the shooting quality of stereo cameras. This article proposes objective quality evaluation criteria based on the characteristics of parallel and toed-in camera configurations. Considering the different internal structures and basic shooting principles, this paper focuses on short-distance shooting conditions and establishes assessment criteria for both parallel and toed-in camera configurations. Experimental results show that the proposed evaluation criteria can predict the visual perception of stereoscopic images and effectively evaluate stereoscopic image quality