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Continuum instruments are integral to robot-assisted minimally invasive surgery (MIS), with tendon-driven mechanisms being the most common. Real-time tension feedback is crucial for precise articulation but remains a challenge in compact actuation unit designs. Additionally, accurate shape and external force sensing of continuum instruments are essential for advanced control and manipulation. This paper presents a compact and modular actuation unit that integrates a torque cell directly into the pulley module to provide real-time tension feedback. Building on this unit, we propose a novel shape-force sensing framework that incorporates polynomial curvature kinematics to accurately model non-constant curvature. The framework combines pose sensor measurements at the instrument tip and actuation tension feedback at the developed actuation unit. Experimental results demonstrate the improved performance of the proposed shape-force sensing framework in terms of shape reconstruction accuracy and force estimation reliability compared to conventional constant-curvature methods.

The Lin-Kernighan-Helsguan (LKH) heuristic is a classic local search algorithm for the Traveling Salesman Problem (TSP). LKH introduces an $\alpha$-value to replace the traditional distance metric for evaluating the edge quality, which leads to a significant improvement. However, we observe that the $\alpha$-value does not make full use of the historical information during the search, and single guiding information often makes LKH hard to escape from some local optima. To address the above issues, we propose a novel way to extract backbone information during the TSP local search process, which is dynamic and can be updated once a local optimal solution is found. We further propose to combine backbone information, $\alpha$-value, and distance to evaluate the edge quality so as to guide the search. Moreover, we abstract their different combinations to arms in a multi-armed bandit (MAB) and use an MAB model to help the algorithm select an appropriate evaluation metric dynamically. Both the backbone information and MAB can provide diverse guiding information and learn from the search history to suggest the best metric. We apply our methods to LKH and LKH-3, which is an extension version of LKH that can be used to solve about 40 variant problems of TSP and Vehicle Routing Problem (VRP). Extensive experiments show the excellent performance and generalization capability of our proposed method, significantly improving LKH for TSP and LKH-3 for two representative TSP and VRP variants, the Colored TSP (CTSP) and Capacitated VRP with Time Windows (CVRPTW).

The high demand for 3D imaging in intelligent robotics is motivating the advances of coherent LiDARs towards high performances with low complexity/cost. However, the current coherent LiDARs suffer from the tight coupling between the high ranging-imaging performance and the high complexity/cost. Herein, we propose a narrowband parallel coherent LiDAR with frequency-interleaving architecture. The LiDAR architecture utilizes narrowband signals for ranging, and interleaves multi-channel sparse and narrowband signals in frequency domain at the receiving end to significantly reduce the required bandwidth and the number of detection branches, facilitating massive parallelization with low system complexity/cost. In experiments, a ranging precision of 0.49 mm that approaches the shot noise limit, and a power sensitivity of -95 dBm (~9 photons) are achieved. Parallel 3D imaging with an equivalent imaging rate of 10 Mpixel/s and a 2 cm ranging precision is also demonstrated using only two 150 MHz receiving branches. With these desirable properties, this new LiDAR opens an avenue for the LiDAR ecosystem.

In this paper, the problem of distributively searching the Stackelberg equilibria of aggregative games with bilevel structures is studied. Different from the traditional aggregative games, here the aggregation is determined by the minimizer of the objective function in the inner level, which depends on players' actions in the outer level. Moreover, the global objective function in the inner level is formed by the sum of some local bifunctions, each of which is strongly convex with respect to the second argument and is only available to a specific player. To handle this problem, first, we propose a second order gradient-based distributed algorithm, where the Hessain matrices associated with the objective functions in the inner level is involved. By the algorithm, players update their actions in the outer level while cooperatively minimizing the sum of the bifunctions in the inner level to estimate the aggregation by communicating with their neighbors via a connected graph. Under mild assumptions on the graph and cost functions, we prove that the actions of players and the estimate on the aggregation asymptotically converge to the Stackelberg equilibrium. Then, for the case where the Hessain matrices associated with the objective functions in the inner level are not available, we propose a first order gradient-based distributed algorithm, where a distributed two-point estimate strategy is developed to estimate the gradients of cost functions in the outer level. Under the same conditions, we prove that the convergence errors of players' actions and the estimate on the aggregation to the Stackelberg equilibrium are linear with respect to the estimate parameters. Finally, simulations are provided to demonstrate the effectiveness of our theoretical results.

This paper addresses the challenge of teleoperating continuum instruments for minimally invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic formulation to quantitatively investigate teleoperation commands for continuum instruments under remote center of motion (RCM) constraints. Using redundancy resolution methods, we investigate the kinematic performance during teleoperation, comparing linear and angular commands within a task-priority scheme. For experimental validation, an instrument module (IM) was designed and integrated with a 7-DoF manipulator. Assessments, simulations, and experimental validations demonstrated the effectiveness of the proposed framework. The experiments involved several tasks: trajectory tracking of the IM tip along multiple paths with varying priorities for linear and angular teleoperation commands, pushing a ball along predefined paths on a silicon board, following a pattern on a pegboard, and guiding the continuum tip through rings on a ring board using a standard surgical kit., Comment: 16 pages (Two Column Version), submitted to ASME Journal of Mechanisms and Robotics, under review

Accurate $N$-body simulations of multiple systems such as binaries and triples are essential for understanding the formation and evolution of interacting binaries and binary mergers, including gravitational wave sources, blue stragglers and X-ray binaries. The logarithmic time-transformed explicit symplectic integrator (LogH), also known as algorithmic regularization, is a state-of-the-art method for this purpose.However, we show that this method is accurate for isolated Kepler orbits because of its ability to trace Keplerian trajectories, but much less accurate for hierarichal triple systems. The method can lead to an unphysical secular evolution of inner eccentricity in Kozal-Lidov triples, despite a small energy error. We demonstrate that hybrid methods, which apply LogH to the inner binary and alternative methods to the outer bodies, are significantly more effective, though not symplectic. Additionally, we introduce a more efficient hybrid method, BlogH, which eliminates the need for time synchronization and is time symmetric. The method is implemented in the few-body code SDAR. We explore suitable criteria for switching between the LogH and BlogH methods for general triple systems. These hybrid methods have the potential to enhance the integration performance of hierarchial triples., Comment: 20 pages, 17 figures, accepted for ApJ

Neural network force field models such as DeePMD have enabled highly efficient large-scale molecular dynamics simulations with ab initio accuracy. However, building such models heavily depends on the training data obtained by costly electronic structure calculations, thereby it is crucial to carefully select and label the most representative configurations during model training to improve both extrapolation capability and training efficiency. To address this challenge, based on the Kalman filter theory we propose the Kalman Prediction Uncertainty (KPU) to quantify uncertainty of the model's prediction. With KPU we design the Active Learning by KPU (ALKPU) method, which can efficiently select representative configurations that should be labelled during model training. We prove that ALKPU locally leads to the fastest reduction of model's uncertainty, which reveals its rationality as a general active learning method. We test the ALKPU method using various physical system simulations and demonstrate that it can efficiently coverage the system's configuration space. Our work demonstrates the benefits of ALKPU as a novel active learning method, enhancing training efficiency and reducing computational resource demands.

This paper introduces the Global Challenge for Safe and Secure Large Language Models (LLMs), a pioneering initiative organized by AI Singapore (AISG) and the CyberSG R&D Programme Office (CRPO) to foster the development of advanced defense mechanisms against automated jailbreaking attacks. With the increasing integration of LLMs in critical sectors such as healthcare, finance, and public administration, ensuring these models are resilient to adversarial attacks is vital for preventing misuse and upholding ethical standards. This competition focused on two distinct tracks designed to evaluate and enhance the robustness of LLM security frameworks. Track 1 tasked participants with developing automated methods to probe LLM vulnerabilities by eliciting undesirable responses, effectively testing the limits of existing safety protocols within LLMs. Participants were challenged to devise techniques that could bypass content safeguards across a diverse array of scenarios, from offensive language to misinformation and illegal activities. Through this process, Track 1 aimed to deepen the understanding of LLM vulnerabilities and provide insights for creating more resilient models.

As a well-known open cluster, NGC 2323 (also called M50) has been widely investigated for over a hundred years and has always been considered a classical single cluster. In this work, with the help of Gaia DR3, we study the binary structure nature of this cluster. Although indistinguishable in the spatial space, the small but undeniable difference in the proper motion indicates that they may be two individual clusters. After investigating the properties of the two clusters, it is found that they have very close positions (three-dimensional $\Delta$pos = 12.3 pc, $\sigma_{\Delta \mathrm{pos}} = 3.4$ pc) and similar tangential velocities (two-dimensional $\Delta$V = 2.2 km s$^{-1}$, $\sigma_{\Delta \mathrm{V}} = 0.02$ km s$^{-1}$), indicating the existence of their physical association. Moreover, the best isochrone fitting ages of the two clusters are the same (158 Myr), further proving their possibly common origin. To comprehensively understand the formation and evolution of this binary cluster, we employ the PETAR $N$-body code to trace back their birthplace and deduce their dynamical evolutionary fate. With observational mean cluster properties, the simulations suggest that they may form together, and then orbit each other as a binary cluster for over 200 Myr. After that, because of their gradual mass loss, the two clusters will eventually separate and evolve into two independent clusters. Meanwhile, the numerical $N$-body simulation suggests that the less massive cluster is unlikely to be the cluster tidal tails created by the differential rotation of the Milky Way., Comment: 14 pages, 8 figures

We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a Level-of-Detail (LoD) 3D map. LoD-Loc mainly achieves this goal by aligning the wireframe derived from the LoD projected model with that predicted by the neural network. Specifically, given a coarse pose provided by the UAV sensor, LoD-Loc hierarchically builds a cost volume for uniformly sampled pose hypotheses to describe pose probability distribution and select a pose with maximum probability. Each cost within this volume measures the degree of line alignment between projected and predicted wireframes. LoD-Loc also devises a 6-DoF pose optimization algorithm to refine the previous result with a differentiable Gaussian-Newton method. As no public dataset exists for the studied problem, we collect two datasets with map levels of LoD3.0 and LoD2.0, along with real RGB queries and ground-truth pose annotations. We benchmark our method and demonstrate that LoD-Loc achieves excellent performance, even surpassing current state-of-the-art methods that use textured 3D models for localization. The code and dataset are available at https://victorzoo.github.io/LoD-Loc.github.io/., Comment: Accepted by NeurIPS 2024; for Project page, see https://victorzoo.github.io/LoD-Loc.github.io/

The opening of the gravitational wave window has significantly enhanced our capacity to explore the universe's most extreme and dynamic sector. In the mHz frequency range, a diverse range of compact objects, from the most massive black holes at the farthest reaches of the Universe to the lightest white dwarfs in our cosmic backyard, generate a complex and dynamic symphony of gravitational wave signals. Once recorded by gravitational wave detectors, these unique fingerprints have the potential to decipher the birth and growth of cosmic structures over a wide range of scales, from stellar binaries and stellar clusters to galaxies and large-scale structures. The TianQin space-borne gravitational wave mission is scheduled for launch in the 2030s, with an operational lifespan of five years. It will facilitate pivotal insights into the history of our universe. This document presents a concise overview of the detectable sources of TianQin, outlining their characteristics, the challenges they present, and the expected impact of the TianQin observatory on our understanding of them., Comment: TianQin Gravitational Wave Whitepaper, 72 pages, 30 figures

The proliferation of sensors brings an immense volume of spatio-temporal (ST) data in many domains for various purposes, including monitoring, diagnostics, and prognostics applications. Data curation is a time-consuming process for a large volume of data, making it challenging and expensive to deploy data analytics platforms in new environments. Transfer learning (TL) mechanisms promise to mitigate data sparsity and model complexity by utilizing pre-trained models for a new task. Despite the triumph of TL in fields like computer vision and natural language processing, efforts on complex ST models for anomaly detection (AD) applications are limited. In this study, we present the potential of TL within the context of AD for the Hadron Calorimeter of the Compact Muon Solenoid experiment at CERN. We have transferred the ST AD models trained on data collected from one part of a calorimeter to another. We have investigated different configurations of TL on semi-supervised autoencoders of the ST AD models -- transferring convolutional, graph, and recurrent neural networks of both the encoder and decoder networks. The experiment results demonstrate that TL effectively enhances the model learning accuracy on a target subdetector. The TL achieves promising data reconstruction and AD performance while substantially reducing the trainable parameters of the AD models. It also improves robustness against anomaly contamination in the training data sets of the semi-supervised AD models., Comment: 28 pages, 15 figures, and 9 tables

We theoretically investigate the problem of position detection of an optically levitated Mie particle. The information radiation field (IRF) is proposed and defined to characterize the scattered light carrying complete information about the center-of-mass (c.m.) motion of the particle. Based on the IRF, we suggest an optimal detection scheme for the position of arbitrary particles. We calculate both the information losses of objective collection and mode-matching in levitated optomechanical experiments. Our results conclude that the backward detection scheme, using an incident Gaussian beam focused by a high numerical aperture lens, provides sufficient information to achieve the quantum ground state through cooling of the three-dimensional c.m. motion of the Mie particle.

This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance control. This framework operates within a redundancy resolution method specifically designed for the RCM constraint. We introduce a compact, low-cost, and modular custom-designed instrument module (IM) that ensures integration with the manipulator, featuring a force-torque sensor, a surgical instrument, and an actuation unit for driving the surgical instrument. The paper details the complete teleoperation framework, including the telemanipulation trajectory mapping, kinematic modelling, control strategy, and the integrated admittance controller. Finally, the system capability to perform various surgical tasks was demonstrated, including passing a thread through the rings, picking and placing objects, and trajectory tracking.

Gaia mission and its follow-up observations have discovered binaries containing single BHs and visible stars without mass transfer, so-called Gaia BHs. One important question is if Gaia BHs have binary BHs (BBHs), hereafter Gaia BBHs, instead of single BHs. We have investigated how efficiently Gaia BBHs are formed in open star clusters, one of the promising formation sites of Gaia BHs, by means of gravitational $N$-body simulations. Limiting Gaia BHs' periods to $10^2$-$10^4$ days, we have found that there are no Gaia BBHs in the solar-metallicity environments, while the formation efficiency of Gaia BBHs is not small ($\sim 10^{-6} M_\odot^{-1}$ or $\sim 10$ % of Gaia BHs) in subsolar-metallicity environments. However, the probability of Gaia BBHs hidden in Gaia BHs is only $\sim 1$ %. This is because most of the BBHs merge within $1$ Gyr through gravitational wave radiation. Note that the ages of discovered Gaia BHs are more than $1$ Gyr. If we extend Gaia BHs' periods to $10^4$-$10^5$ days, the probability becomes higher to $\sim 10$ %. In this case, a large fraction of BBHs can have enough wide orbits not to merge within the Hubble time. The probability would not be high for Gaia BHs already discovered and to be discovered in the near future. Nevertheless, we have shown the BH/BBH mass, visible star mass, and eccentricity distributions of Gaia BHs and Gaia BBHs, which will be helpful for follow-up observations to discover Gaia BBHs. A Gaia BH would be more likely to be a Gaia BBH if it has younger age, longer period, lower-mass companion, more circular orbit, lower metallicity, and more massive BH. Our results have implied that Gaia BH3 is unlikely to be a Gaia BBH., Comment: 10 pages, 10 figures, to be submitted to OJAp

We formulate an {\it effective cone conjecture} for klt Calabi--Yau pairs $(X,\Delta)$, pertaining to the structure of the cone of effective divisors $\mathrm{Eff}(X)$ modulo the action of the subgroup of pseudo-automorphisms $\mathrm{PsAut}(X,\Delta)$. Assuming the existence of good minimal models in dimension $\dim(X)$, known to hold in dimension up to $3$, we prove that the effective cone conjecture for $(X,\Delta)$ is equivalent to the Kawamata--Morrison--Totaro movable cone conjecture for $(X,\Delta)$. As an application, we show that the movable cone conjecture unconditionally holds for the smooth Calabi--Yau threefolds introduced by Schoen and studied by Namikawa, Grassi and Morrison. We also show that for such a Calabi--Yau threefold $X$, all of its minimal models, apart from $X$ itself, have rational polyhedral nef cones., Comment: 31 pages

Intermediate-mass black holes (IMBHs) are those between 100 and 10$^5$ solar masses ($M_{\odot}$); their formation process is debated. One possible origin is the growth of less massive black holes (BHs) via mergers with stars and compact objects within globular clusters (GCs). However, previous simulations have indicated that this process only produces IMBHs $<500 M_{\odot}$ because the gravitational wave recoil ejects them when they merge with other BHs. We perform star-by-star simulations of GC formation, finding that high-density star formation in a GC's parent giant molecular cloud can produce sufficient mergers of massive stars to overcome that mass threshold. We conclude that GCs can form with IMBHs $\gtrsim 10^3 M_{\odot}$, which is sufficiently massive to be retained within the GC even with the expected gravitational wave recoil., Comment: Published online on 30 May 2024 in Science. Main (15 pages, 4 figures) and Supplementary materials (19 pages, 10 figures and 4 tables). The accepted version

We propose a theoretical method to calculate the bound-state $\beta$-decay half-lives of highly-ionized atoms, which is based on the combination of the Takahashi-Yokoi model and our recently-developed projected shell model that can take into account both allowed and first-forbidden transitions of nuclear $\beta$ decay. Three examples that are of much experimental interests, $^{163}$Dy$^{66+}$, $^{187}$Re$^{75+}$ and $^{205}$Tl$^{81+}$ are taken for calculations. The ground and low-lying states of related nuclei are described reasonably. The bound-state $\beta$-decay half-lives of $^{163}$Dy$^{66+}$ and $^{187}$Re$^{75+}$ are described within a factor of two and four by our calculations without and with the quenching factors in allowed and first-forbidden transitions. The bound-state $\beta$-decay half-life of the last $s$-process branching point $^{205}$Tl$^{81+}$ is predicted to be 58 and 305 days for cases without and with the quenching factors in calculations. The presented method provides a theoretical way to calculate systematically the bound-state $\beta$-decay half-lives of nuclei from light to heavy ones including odd-mass and even-mass cases for the first time., Comment: 8 pages, 6 figures, 2 tables, Comments and criticisms are welcome

The presence of young stellar populations in the Large Magellanic Cloud cluster NGC 1783 has caught significant attention, with suggestions ranging from it being a genuine secondary stellar generation to a population of blue straggler stars or simply contamination from background stars. Thanks to multi-epoch observations with the Hubble Space Telescope, proper motions for stars within the field of NGC 1783 have been derived, thus allowing accurate cluster membership determination. Here, we report that the younger stars within NGC 1783 indeed belong to the cluster, and their spatial distribution is more extended compared to the bulk of the older stellar population, consistent with previous studies. Through N-body simulations, we demonstrate that the observed characteristics of the younger stars cannot be explained solely by blue straggler stars in the context of the isolated dynamical evolution of NGC 1783. Instead, accretion of the external, low-mass stellar system can better account for both the inverse spatial concentration and the radial velocity isotropy of the younger stars. We propose that NGC 1783 may have accreted external stars from low-mass stellar systems, resulting in a mixture of external younger stars and blue straggler stars from the older bulk population, thereby accounting for the characteristics of the younger sequence., Comment: 11 pages, 6 figures; accepted for publication in ApJ

Accurate measurement of pressure with a wide dynamic range holds significant importance for various applications. This issue can be realized with a mechanical nano-oscillator, where the pressure-related collisions with surrounding molecules induce its energy dissipation. However, this energy dissipation of the nano-oscillator may be overshadowed by other processes. Here, we apply the second-order coherence analysis to accurately characterize those distinct dissipation processes. Based on an optically levitated nano-oscillator, we successfully obtain precise measurements of the air pressure surrounding the particles from atmosphere to 7E-6 mbar, over 8 orders of magnitude. It proves that the mechanical nano-oscillator is an extremely promising candidate for precision pressure sensing applications. Moreover, the second-order coherence analysis method on a classical system can pave the way to characterize the dynamic properties of an oscillator, which will benefit microscopic thermodynamics, precision measurement, and macroscopic quantum research., Comment: 6 pages. 4 figures

This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the friction bias. This approach is critical for robust execution of precision force-controlled tasks in manufacturing, such as thermoplastic tape replacement that traces surfaces or paths on a workpiece subject to uncertainties deviated from the model. We formulated the proposed method and implemented the framework in ROS2 environment. The approach was validated using kinematic simulations and a hardware platform. Specifically, we demonstrated the approach on a 7-DoF manipulator equipped with a force/torque sensor at the end-effector., Comment: 8 pages, 21st International Conference on Ubiquitous Robots (UR 2024), accepted

In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the instrument is inserted through the trocar, intrinsic physiological movements such as the patient's heartbeat, breathing process, and/or other purposeful body repositioning may deviate the position of the port of entry. This can cause a conflict between the registered RCM and the moved port of entry. To mitigate this conflict, we seek to utilize the interaction forces at the RCM. We develop a novel framework that integrates admittance control into a redundancy resolution method for the RCM kinematic constraint. Using the force/torque sensory feedback at the base of the instrument driving mechanism (IDM), the proposed framework estimates the forces at RCM, rejects forces applied on other locations along the instrument, and uses them in the admittance controller. In this paper, we report analysis from kinematic simulations to validate the proposed framework. In addition, a hardware platform has been completed, and future work is planned for experimental validation., Comment: 7 pages, 21st International Conference on Ubiquitous Robots (UR 2024), accepted

In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework allows for the control of the vehicle along with two manipulators and their end-effectors using two low-cost haptic devices. The UVMS kinematics are derived in order to create an independent resolved motion rate controller for each manipulator, which optimally controls the joint positions to achieve a desired end-effector pose. This desired pose is computed in real-time using a teleoperation controller developed to process the dual haptic device input from the user. A physics-based simulation environment is used to implement this framework for two example tasks as well as provide data for error analysis of user commands. The first task illustrates the functionality of the framework through motion control of the vehicle and manipulators using only the haptic devices. The second task is to grasp an object using both manipulators simultaneously, demonstrating precision and coordination using the framework. The framework code is available at https://github.com/stevens-armlab/uvms_bimanual_sim., Comment: 8 pages, 21st International Conference on Ubiquitous Robots (UR 2024), accepted

Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very few of these robots are capable of actively engaging with humans and undertaking physical manipulation tasks. This limitation is largely attributed to the absence of tools that can realistically simulate physical interactions, especially the contact mechanisms between a robotic gripper and a human body. In this letter, we aim to address key limitations in current developments towards robotic casualty manipulation. Firstly, we present an integrative simulation framework for casualty manipulation. We adapt a finite element method (FEM) tool into the grasping and manipulation scenario, and the developed framework can provide accurate biomechanical reactions resulting from manipulation. Secondly, we conduct a detailed assessment of grasping stability during casualty grasping and manipulation simulations. To validate the necessity and superior performance of the proposed high-fidelity simulation framework, we conducted a qualitative and quantitative comparison of grasping stability analyses between the proposed framework and the state-of-the-art multi-body physics simulations. Through these efforts, we have taken the first step towards a feasible solution for robotic casualty manipulation., Comment: 10 pages, submitted to IEEE T-MRB, under review

Gaia mission offers opportunities to search for compact binaries not involved in binary interactions (hereafter inert compact binaries), and results in the discoveries of binaries containing one black hole (BH) or one neutron star (NS), called "Gaia BHs" and "Gaia NSs", respectively. We have assessed if Gaia BHs and NSs can be formed in open clusters through dynamical interactions. In order to obtain a large number of inert compact binaries similar to Gaia BHs and NSs, we have performed gravitational $N$-body simulations for a large number of open clusters whose total mass is $1.2 \times 10^8 M_\odot$. These clusters have various masses, metallicities, densities, and binary fractions. We have found that open clusters form Gaia BHs ($10^{-6}$-$10^{-5} M_\odot^{-1}$) much more efficiently than Gaia NSs ($\lesssim 10^{-7} M_\odot^{-1}$) for any cluster parameters. This is quite inconsistent with observational results, because the reported numbers of Gaia BHs and NSs are $3$ and $21$, respectively. Additionally, we have switched off NS natal kicks for $10^4$ open clusters each weighing $10^3 M_\odot$ in order to retain a large number of NSs in open clusters. Then, open clusters form inert NS binaries originating from primordial binaries rather than formed through dynamical interactions. This means that Gaia NSs are formed dominantly on isolated fields, not in open clusters, if there is no NS natal kick. We have concluded that Gaia BHs can be dominantly formed in open clusters, however Gaia NSs cannot., Comment: 11 pages, 8 figures, accepted for publication in The Open Journal of Astrophysics

Radiation therapy plays a crucial role in cancer treatment, necessitating precise delivery of radiation to tumors while sparing healthy tissues over multiple days. Computed tomography (CT) is integral for treatment planning, offering electron density data crucial for accurate dose calculations. However, accurately representing patient anatomy is challenging, especially in adaptive radiotherapy, where CT is not acquired daily. Magnetic resonance imaging (MRI) provides superior soft-tissue contrast. Still, it lacks electron density information while cone beam CT (CBCT) lacks direct electron density calibration and is mainly used for patient positioning. Adopting MRI-only or CBCT-based adaptive radiotherapy eliminates the need for CT planning but presents challenges. Synthetic CT (sCT) generation techniques aim to address these challenges by using image synthesis to bridge the gap between MRI, CBCT, and CT. The SynthRAD2023 challenge was organized to compare synthetic CT generation methods using multi-center ground truth data from 1080 patients, divided into two tasks: 1) MRI-to-CT and 2) CBCT-to-CT. The evaluation included image similarity and dose-based metrics from proton and photon plans. The challenge attracted significant participation, with 617 registrations and 22/17 valid submissions for tasks 1/2. Top-performing teams achieved high structural similarity indices (>0.87/0.90) and gamma pass rates for photon (>98.1%/99.0%) and proton (>97.3%/97.0%) plans. However, no significant correlation was found between image similarity metrics and dose accuracy, emphasizing the need for dose evaluation when assessing the clinical applicability of sCT. SynthRAD2023 facilitated the investigation and benchmarking of sCT generation techniques, providing insights for developing MRI-only and CBCT-based adaptive radiotherapy., Comment: Preprint submitted to Medical Image Analysis

Evolutionary Game Theory (EGT) and Artificial Intelligence (AI) are two fields that, at first glance, might seem distinct, but they have notable connections and intersections. The former focuses on the evolution of behaviors (or strategies) in a population, where individuals interact with others and update their strategies based on imitation (or social learning). The more successful a strategy is, the more prevalent it becomes over time. The latter, meanwhile, is centered on machine learning algorithms and (deep) neural networks. It is often from a single-agent perspective but increasingly involves multi-agent environments, in which intelligent agents adjust their strategies based on feedback and experience, somewhat akin to the evolutionary process yet distinct in their self-learning capacities. In light of the key components necessary to address real-world problems, including (i) learning and adaptation, (ii) cooperation and competition, (iii) robustness and stability, and altogether (iv) population dynamics of individual agents whose strategies evolve, the cross-fertilization of ideas between both fields will contribute to the advancement of mathematics of multi-agent learning systems, in particular, to the nascent domain of ``collective cooperative intelligence'' bridging evolutionary dynamics and multi-agent reinforcement learning., Comment: 8 pages, 1 figure

In the past decade, display technology has been reimagined to meet the needs of the virtual world. By mapping information onto a scene through a transparent display, users can simultaneously visualize both the real world and layers of virtual elements. However, advances in augmented reality (AR) technology have primarily focused on wearable gear or personal devices. Here we present a single display capable of delivering visual information to observers positioned on either side of the transparent device. This dual-sided display system employs a polymer stabilized liquid crystal waveguide technology to achieve a transparency window of 65% while offering active-matrix control. An early-stage prototype exhibits full-color information via time-sequential processing of a red-green-blue (RGB) light-emitting diode (LED) strip. The dual-sided display provides a perspective on transparent mediums as display devices for human-centric and service-related experiences that can support both enhanced bi-directional user interactions and new media platforms.

Direct reciprocity based on the repeated prisoner's dilemma has been intensively studied. Most theoretical investigations have concentrated on memory-$1$ strategies, a class of elementary strategies just reacting to the previous-round outcomes. Though the properties of "All-or-None" strategies ($AoN_K$) have been discovered, simulations just confirmed the good performance of $AoN_K$ of very short memory lengths. It remains unclear how $AoN_K$ strategies would fare when players have access to longer rounds of history information. We construct a theoretical model to investigate the performance of the class of $AoN_K$ strategies of varying memory length $K$. We rigorously derive the payoffs and show that $AoN_K$ strategies of intermediate memory length $K$ are most prevalent, while strategies of larger memory lengths are less competent. Larger memory lengths make it hard for $AoN_K$ strategies to coordinate, and thus inhibiting their mutual reciprocity. We then propose the adaptive coordination strategy combining tolerance and $AoN_K$' coordination rule. This strategy behaves like $AoN_K$ strategy when coordination is not sufficient, and tolerates opponents' occasional deviations by still cooperating when coordination is sufficient. We found that the adaptive coordination strategy wins over other classic memory-$1$ strategies in various typical competition environments, and stabilizes the population at high levels of cooperation, suggesting the effectiveness of high level adaptability in resolving social dilemmas. Our work may offer a theoretical framework for exploring complex strategies using history information, which are different from traditional memory-$n$ strategies.