arXiv subjects

John Lewis

Publications and source records attributed to John Lewis.

At least 19 recordsLinked to original sources

arXiv2026

Asymptotically-Bounded 3D Frontier Exploration enhanced with Bayesian Information Gain

Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based frontier exploration algorithm with predictable, asymptotically bounded performance. Unlike conventional methods whose complexity scales with environment size, our approach maintains a complexity of $\mathcal{O}(|\mathcal{F}|)$, where $|\mathcal{F}|$ is the number of frontiers. This is achieved through strategic forward and inverse sensor modeling, which enables approximate yet efficient frontier detection and maintenance. To further enhance performance, we integrate a Bayesian regressor to estimate information gain, circumventing the need to explicitly count unknown voxels when prioritizing viewpoints. Simulations show the proposed method is more computationally efficient than the existing OctoMap-based methods and achieves computational efficiency comparable to baselines that are independent of OctoMap. Specifically, the Bayesian-enhanced framework achieves up to a $54\%$ improvement in total exploration time compared to standard deterministic frontier-based baselines across varying spatial scales, while guaranteeing task completion. Real-world experiments confirm the computational bounds as well as the effectiveness of the proposed enhancement.

cs.RO↗

arXiv2024

On $d$ and $M$ problems for Newtonian potentials in Euclidean $ n $ space

In this paper we first make and discuss a conjecture concerning Newtonian potentials in Euclidean n space which have all their mass on the unit sphere about the origin, and are normalized to be one at the origin. The conjecture essentially divides these potentials into subclasses whose criteria for membership is that a given member have its maximum on the closed unit ball at most M and its minimum at least d. It then lists the extremal potential in each subclass which is conjectured to solve certain extremal problems. In Theorem 1.1 we show existence of these extremal potentials. In Theorem 1.2 we prove an integral inequality on spheres about the origin, involving so called extremal potentials, which lends credence to the conjecture.

math.CA↗

arXiv2024

Frontier Shepherding: A Bio-inspired Multi-robot Framework for Large-Scale Exploration

Efficient exploration of large-scale environments remains a critical challenge in robotics, with applications ranging from environmental monitoring to search and rescue operations. This article proposes Frontier Shepherding (FroShe), a bio-inspired multi-robot framework for large-scale exploration. The framework heuristically models frontier exploration based on the shepherding behavior of herding dogs, where frontiers are treated as a swarm of sheep reacting to robots modeled as shepherding dogs. FroShe is robust across varying environment sizes and obstacle densities, requiring minimal parameter tuning for deployment across multiple agents. Simulation results demonstrate that the proposed method performs consistently, regardless of environment complexity, and outperforms state-of-the-art exploration strategies by an average of 20% with three UAVs. The approach was further validated in real-world experiments using single- and dual-drone deployments in a forest-like environment.

cs.RO↗

arXiv2021

Failure of Fatou type theorems for solutions to PDE of $p$-Laplace type in domains with flat boundaries

Let $ \mathbb{R}^{n} $ denote Euclidean $ n $ space and given $k$ a positive integer let $ \Lambda_k \subset \mathbb{R}^{n} $, $ 1 \leq k < n - 1, n \geq 3, $ be a $k$-dimensional plane with $ 0 \in \Lambda_k.$ If $n-k < p <\infty$, we first study the Martin boundary problem for solutions to the $p$-Laplace equation (called $p$-harmonic functions) in $ \mathbb{R}^{n} \setminus \Lambda_k $ relative to $ \{0\}. $ We then use the results from our study to extend the work of Wolff on the failure of Fatou type theorems for $p$-harmonic functions in $ \mathbb{R}^{2}_+ $ to $p$-harmonic functions in $ \mathbb{R}^{n} \setminus \Lambda_k $ when $ n-k < p <\infty$. Finally, we discuss generalizations of our work to solutions of $ p $-Laplace type PDE (called $ \mathcal{A}$-harmonic functions).

math.AP↗

arXiv2021

LipSync3D: Data-Efficient Learning of Personalized 3D Talking Faces from Video using Pose and Lighting Normalization

In this paper, we present a video-based learning framework for animating personalized 3D talking faces from audio. We introduce two training-time data normalizations that significantly improve data sample efficiency. First, we isolate and represent faces in a normalized space that decouples 3D geometry, head pose, and texture. This decomposes the prediction problem into regressions over the 3D face shape and the corresponding 2D texture atlas. Second, we leverage facial symmetry and approximate albedo constancy of skin to isolate and remove spatio-temporal lighting variations. Together, these normalizations allow simple networks to generate high fidelity lip-sync videos under novel ambient illumination while training with just a single speaker-specific video. Further, to stabilize temporal dynamics, we introduce an auto-regressive approach that conditions the model on its previous visual state. Human ratings and objective metrics demonstrate that our method outperforms contemporary state-of-the-art audio-driven video reenactment benchmarks in terms of realism, lip-sync and visual quality scores. We illustrate several applications enabled by our framework.

cs.CV↗

arXiv2020

On a Theorem of Wolff Revisited

We study $p$-harmonic functions, $ 1 < p\neq 2 < \infty$, in $ \mathbb{R}^{2}_+ = \{ z = x + i y : y > 0, - \infty < x < \infty \} $ and $B( 0, 1 ) = \{ z : |z| < 1 \}$. We first show for fixed $ p$, $1 < p\neq 2 < \infty$, and for all large integers $N\geq N_0$ that there exists $p$-harmonic function, $ V = V ( r e^{i\theta} )$, which is $ 2\pi/N $ periodic in the $ \theta $ variable, and Lipschitz continuous on $ \partial B (0, 1)$ with Lipschitz norm $\leq c N$ on $ \partial B ( 0, 1 )$ satisfying $V(0)=0$ and $ c^{-1} \leq \int_{-\pi}^{\pi} V ( e^{i\theta} ) d \theta \leq c$. In case $2<p<\infty $ we give a more or less explicit example of $V$ and our work is an extension of a result of Wolff on $ \mathbb{R}^{2}_+ $ to $ B (0, 1)$. Using our first result, we extend the work of Wolff on failure of Fatou type theorems for $ \mathbb{R}^{2}_+ $ to $ B (0, 1)$ for $p$-harmonic functions, $1< p\neq 2<\infty$. Finally, we also outline the modifications needed for extending the work of Llorente, Manfredi, and Wu regarding failure of subadditivity of $p$-harmonic measure on $ \partial \mathbb{R}^{2}_+ $ to $\partial B (0, 1)$.

math.AP↗

arXiv2019

Deep Learning-based Radiomic Features for Improving Neoadjuvant Chemoradiation Response Prediction in Locally Advanced Rectal Cancer

Radiomic features achieve promising results in cancer diagnosis, treatment response prediction, and survival prediction. Our goal is to compare the handcrafted (explicitly designed) and deep learning (DL)-based radiomic features extracted from pre-treatment diffusion-weighted magnetic resonance images (DWIs) for predicting neoadjuvant chemoradiation treatment (nCRT) response in patients with locally advanced rectal cancer (LARC). 43 patients receiving nCRT were included. All patients underwent DWIs before nCRT and total mesorectal excision surgery 6-12 weeks after completion of nCRT. Gross tumor volume (GTV) contours were drawn by an experienced radiation oncologist on DWIs. The patient-cohort was split into the responder group (n=22) and the non-responder group (n=21) based on the post-nCRT response assessed by postoperative pathology, MRI or colonoscopy. Handcrafted and DL-based features were extracted from the apparent diffusion coefficient (ADC) map of the DWI using conventional computer-aided diagnosis methods and a pre-trained convolution neural network, respectively. Least absolute shrinkage and selection operator (LASSO)-logistic regression models were constructed using extracted features for predicting treatment response. The model performance was evaluated with repeated 20 times stratified 4-fold cross-validation using receiver operating characteristic (ROC) curves and compared using the corrected resampled t-test. The model built with handcrafted features achieved the mean area under the ROC curve (AUC) of 0.64, while the one built with DL-based features yielded the mean AUC of 0.73. The corrected resampled t-test on AUC showed P-value < 0.05. DL-based features extracted from pre-treatment DWIs achieved significantly better classification performance compared with handcrafted features for predicting nCRT response in patients with LARC.

physics.med-ph↗

arXiv2019

Note on an eigenvalue problem with applications to a Minkowski type regularity problem in $\mathbb{R}$^n

We consider existence and uniqueness of homogeneous solutions $ u > 0 $ to certain PDE of $p$-Laplace type, $ p $ fixed, $ n - 1 \cos \alpha \, | x| \} \quad \mbox{for fixed}\, \, \alpha \in (0, \pi ], \] with continuous boundary value zero on $ \partial K ( \alpha ) \setminus \{0\}$. In our main result we show that if $ u $ has continuous boundary value $0$ on $ \partial K ( \pi )$ then $u$ is homogeneous of degree $ 1 - (n-1)/p $ when $ p > n - 1. $ Applications of this result are given to a Minkowski type regularity problem in $ \mathbb{R}^{n}$ when $n=2,3$.

math.AP↗

arXiv2019

On the capacitive properties of individual microtubules and their meshworks

Microtubules are hollow cylindrical polymers composed of the highly negatively-charged (~23e), high dipole moment (1750 D) protein a,b-tubulin. While the roles of microtubules in chromosomal segregation, macromolecular transport and cell migration are relatively well-understood, studies on the electrical properties of microtubules have only recently gained strong interest. Here, we show that while microtubules at physiological concentrations increase solution capacitance, free tubulin has no appreciable effect. For a particular microtubule concentration, we were able to quantify these effects by determining the capacitance and resistance of a single 20 um-long microtubule to be 1.86 x 10^(-12) F and 1.07 x 10^12 Ohms respectively. Further, we observed a decrease in electrical resistance of solution, with charge transport peaking between 20-60 Hz in the presence of microtubules, consistent with recent findings that microtubules exhibit electric oscillations at such low frequencies. Our results show that in addition to macromolecular transport, microtubules also act as charge-storage devices through counterionic condensation across a broad frequency spectrum. We conclude with a hypothesis of an electrically-tunable cytoskeleton where the dielectric properties of tubulin are polymerization-state dependent.

physics.bio-ph↗

arXiv2019

Cotangent sums, quantum modular forms, and the generalized Riemann hypothesis

We show that an asymptotic property of the determinants of certain matrices whose entries are finite sums of cotangents with rational arguments is equivalent to the GRH for odd Dirichlet characters. This is then connected to the existence of certain quantum modular forms related to Maass Eisenstein series.

math.NT↗

arXiv2018

The Brunn-Minkowski inequality and a Minkowski problem for $\mathcal{A}$-harmonic Green's function

In this article we study two classical problems in convex geometry associated to $\mathcal{A}$-harmonic PDEs, quasi-linear elliptic PDEs whose structure is modeled on the $p$-Laplace equation. Let $p$ be fixed with $2\leq n\leq p<\infty$. For a convex compact set $E$ in $\mathbb{R}^{n}$, we define and then prove the existence and uniqueness of the so called $\mathcal{A}$-harmonic Green's function for the complement of $E$ with pole at infinity. We then define a quantity $\mbox{C}_{\mathcal{A}}(E)$ which can be seen as the behavior of this function near infinity. In the first part of this article, we prove that $\mbox{C}_{\mathcal{A}}(\cdot)$ satisfies the following Brunn-Minkowski type inequality \[ \left[\mbox{C}_\mathcal{A} ( \lambda E_1 + (1-\lambda) E_2 )\right]^{\frac{1}{p-n}} \geq \lambda \, \left[\mbox{C}_\mathcal{A} ( E_1 )\right]^{\frac{1}{p-n}} + (1-\lambda) \left[\mbox{C}_\mathcal{A} (E_2 )\right]^{\frac{1}{p-n}} \] when $n<p<\infty$, $0 \leq \lambda \leq 1$, and $E_1, E_2$ are nonempty convex compact sets in $\mathbb{R}^{n}$. We also show that $\mbox{C}_\mathcal{A}(\cdot)$ satisfies a similar inequality when $p=n$. Moreover, if equality holds in the either of these inequalities for some $E_1$ and $E_2$ then under certain regularity and structural assumptions on $\mathcal{A}$ we show that these two sets are homothetic. In the second part of this article we study a Minkowski type problem for a measure associated to the $\mathcal{A}$-harmonic Green's function for the complement of a convex compact set $E$ when $n\leq p<\infty$. If $\mu_E$ denotes this measure, then we show that necessary and sufficient conditions for existence under this setting are exactly the same conditions as in the classical Minkowski problem. We also show that this problem has a unique solution up to translation.

math.AP↗

arXiv2018

Continuous Generation of Volumetric Images During Stereotactic Body Radiation Therapy Using Periodic kV Imaging and an External Respiratory Surrogate

We present a technique for continuous generation of volumetric images during SBRT using periodic kV imaging and an external respiratory surrogate signal to drive a patient-specific PCA motion model. Using the on-board imager, kV radiographs are acquired every 3 seconds and used to fit the parameters of a motion model so that it matches observed changes in internal patient anatomy. A multi-dimensional correlation model is established between the motion model parameters and the external surrogate position and velocity, enabling volumetric image reconstruction between kV imaging time points. Performance of the algorithm was evaluated using 10 realistic eXtended CArdiac-Torso (XCAT) digital phantoms including 3D anatomical respiratory deformation programmed with 3D tumor positions measured with orthogonal kV imaging of implanted fiducial gold markers. The clinically measured ground truth 3D tumor positions provided a dataset with realistic breathing irregularities, and the combination of periodic on-board kV imaging with recorded external respiratory surrogate signal was used for correlation modeling to account for any changes in internal-external correlation. The three-dimensional tumor positions are reconstructed with an average root mean square error (RMSE) of 1.47 mm, and an average 95th percentile 3D positional error of 2.80 mm compared with the clinically measured ground truth 3D tumor positions. This technique enables continuous 3D anatomical image generation based on periodic kV imaging of internal anatomy without the additional dose of continuous kV imaging. The 3D anatomical images produced using this method can be used for treatment verification and delivered dose computation in the presence of irregular respiratory motion.

physics.med-ph↗

arXiv2018

Elastic Functional Principal Component Regression

We study regression using functional predictors in situations where these functions contain both phase and amplitude variability. In other words, the functions are misaligned due to errors in time measurements, and these errors can significantly degrade both model estimation and prediction performance. The current techniques either ignore the phase variability, or handle it via pre-processing, i.e., use an off-the-shelf technique for functional alignment and phase removal. We develop a functional principal component regression model which has comprehensive approach in handling phase and amplitude variability. The model utilizes a mathematical representation of the data known as the square-root slope function. These functions preserve the $\mathbf{L}^2$ norm under warping and are ideally suited for simultaneous estimation of regression and warping parameters. Using both simulated and real-world data sets, we demonstrate our approach and evaluate its prediction performance relative to current models. In addition, we propose an extension to functional logistic and multinomial logistic regression

stat.AP↗

arXiv2017

The Brunn-Minkowski inequality and a Minkowski problem for nonlinear capacity

In this article we study two classical potential-theoretic problems in convex geometry corresponding to a nonlinear capacity, $\mbox{Cap}_{\mathcal{A}}$, where $\mathcal{A}$-capacity is associated with a nonlinear elliptic PDE whose structure is modeled on the $p$-Laplace equation and whose solutions in an open set are called $ \mathcal{A}$-harmonic. In the first part of this article, we prove the Brunn-Minkowski inequality for this capacity: \[ \left[\mbox{Cap}_\mathcal{A}(\lambda E_1 +(1-\lambda)E_2)\right]^{\frac{1}{(n-p)}}\geq\lambda\left[\mbox{Cap}_\mathcal{A}(E_1)\right]^{\frac{1}{(n-p)}}+(1-\lambda)\left[\mbox{Cap}_\mathcal{A}(E_2 )\right]^{\frac{1}{(n-p)}} \] when $1<p<n$, $0<\lambda <1$, and $E_1, E_2$ are convex compact sets with positive $\mathcal{A}$-capacity. Moreover, if equality holds in the above inequality for some $E_1$ and $E_2, $ then under certain regularity and structural assumptions on $\mathcal{A}$, we show that these two sets are homothetic. In the second part of this article we study a Minkowski problem for a certain measure associated with a compact convex set $E$ with nonempty interior and its $\mathcal{A}$-harmonic capacitary function in the complement of $E$. If $\mu_E$ denotes this measure, then the Minkowski problem we consider in this setting is that; for a given finite Borel measure $\mu$ on $\mathbb{S}^{n-1}$, find necessary and sufficient conditions for which there exists $E$ as above with $\mu_E =\mu$. We show that necessary and sufficient conditions for existence under this setting are exactly the same conditions as in the classical Minkowski problem for volume as well as in the work of Jerison for electrostatic capacity. Using the Brunn-Minkowski inequality result from the first part, we also show that this problem has a unique solution up to translation when $p\neq n- 1$ and translation and dilation when $p = n-1$.

math.AP↗

arXiv2017

X Marks the Spot: Nexus of Filaments, Cores, and Outflows in a Young Star-Forming Region

We present a multiwavelength investigation of a region of a nearby giant molecular cloud that is distinguished by a minimal level of star formation activity. With our new 12CO(J=2-1) and 13CO(J=2-1) observations of a remote region within the middle of the California molecular cloud, we aim to investigate the relationship between filaments, cores, and a molecular outflow in a relatively pristine environment. An extinction map of the region from Herschel Space Observatory observations reveals the presence of two 2-pc-long filaments radiating from a high-extinction clump. Using the 13CO observations, we show that the filaments have coherent velocity gradients and that their mass-per-unit-lengths may exceed the critical value above which filaments are gravitationally unstable. The region exhibits structure with eight cores, at least one of which is a starless, prestellar core. We identify a low-velocity, low-mass molecular outflow that may be driven by a flat spectrum protostar. The outflow does not appear to be responsible for driving the turbulence in the core with which it is associated, nor does it provide significant support against gravitational collapse.

astro-ph.GA↗

arXiv2015

$σ$-finiteness of elliptic measures for quasilinear elliptic PDE in space

In this paper we study the Hausdorff dimension of a elliptic measure $μ_{f}$ in space associated to a positive weak solution to a certain quasilinear elliptic PDE in an open subset and vanishing on a portion of the boundary of that open set. We show that this measure is concentrated on a set of $σ-$finite $n-1$ dimensional Hausdorff measure for $p>n$ and the same result holds for $p=n$ with an assumption on the boundary. We also construct an example of a domain in space for which the corresponding measure has Hausdorff dimension $\leq n-1-δ$ for $p\geq n$ for some $δ$ which depends on various constants including $p$. The first result generalizes the authors previous work when the PDE is the $p-$Laplacian and the second result generalizes the well known theorem of Wolff when $p=2$ and $n=2$.

math.AP↗

arXiv2013

Hausdorff dimension and $σ$ finiteness of $p-$harmonic measures in space when $p\geq n$

In this paper we study a p harmonic measure, associated with a positive p harmonic function \hat{u} defined in an open set O, subset of R^n, and vanishing on a portion Γof boundary of O. If p>n we show that this p harmonic measure is concentrated on a set of σ- finite H^{n-1} measure while if p=n the same conclusion holds provided Γis uniformly fat in the sense of n capacity.

math.AP↗

arXiv2010

GPU-based Fast Low-dose Cone Beam CT Reconstruction via Total Variation

Cone-beam CT (CBCT) has been widely used in image guided radiation therapy (IGRT) to acquire updated volumetric anatomical information before treatment fractions for accurate patient alignment purpose. However, the excessive x-ray imaging dose from serial CBCT scans raises a clinical concern in most IGRT procedures. The excessive imaging dose can be effectively reduced by reducing the number of x-ray projections and/or lowering mAs levels in a CBCT scan. The goal of this work is to develop a fast GPU-based algorithm to reconstruct high quality CBCT images from undersampled and noisy projection data so as to lower the imaging dose. The CBCT is reconstructed by minimizing an energy functional consisting of a data fidelity term and a total variation regularization term. We developed a GPU-friendly version of the forward-backward splitting algorithm to solve this model. A multi-grid technique is also employed. We test our CBCT reconstruction algorithm on a digital NCAT phantom and a head-and-neck patient case. The performance under low mAs is also validated using a physical Catphan phantom and a head-and-neck Rando phantom. It is found that 40 x-ray projections are sufficient to reconstruct CBCT images with satisfactory quality for IGRT patient alignment purpose. Phantom experiments indicated that CBCT images can be successfully reconstructed with our algorithm under as low as 0.1 mAs/projection level. Comparing with currently widely used full-fan head-and-neck scanning protocol of about 360 projections with 0.4 mAs/projection, it is estimated that an overall 36 times dose reduction has been achieved with our algorithm. Moreover, the reconstruction time is about 130 sec on an NVIDIA Tesla C1060 GPU card, which is estimated ~100 times faster than similar iterative reconstruction approaches.

physics.med-ph↗