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1. ASAP-CORPS: A Semi-Autonomous Platform for COntact-Rich Precision Surgery

   https://doi.org/10.1093/milmed/usad175  

   Balakuntala, Mythra V. ; Gonzalez, Glebys T. ; Wachs, Juan P. ; Voyles, Richard M. ( November 2023 , Military Medicine)

   Remote military operations require rapid response times for effective relief and critical care. Yet, the military theater is under austere conditions, so communication links are unreliable and subject to physical and virtual attacks and degradation at unpredictable times. Immediate medical care at these austere locations requires semi-autonomous teleoperated systems, which enable the completion of medical procedures even under interrupted networks while isolating the medics from the dangers of the battlefield. However, to achieve autonomy for complex surgical and critical care procedures, robots require extensive programming or massive libraries of surgical skill demonstrations to learn effective policies using machine learning algorithms. Although such datasets are achievable for simple tasks, providing a large number of demonstrations for surgical maneuvers is not practical. This article presents a method for learning from demonstration, combining knowledge from demonstrations to eliminate reward shaping in reinforcement learning (RL). In addition to reducing the data required for training, the self-supervised nature of RL, in conjunction with expert knowledge-driven rewards, produces more generalizable policies tolerant to dynamic environment changes. A multimodal representation for interaction enables learning complex contact-rich surgical maneuvers. The effectiveness of the approach is shown using the cricothyroidotomy task, as it is a standard procedure seen in critical care to open the airway. In addition, we also provide a method for segmenting the teleoperator’s demonstration into subtasks and classifying the subtasks using sequence modeling.

   A database of demonstrations for the cricothyroidotomy task was collected, comprising six fundamental maneuvers referred to as surgemes. The dataset was collected by teleoperating a collaborative robotic platform—SuperBaxter, with modified surgical grippers. Then, two learning models are developed for processing the dataset—one for automatic segmentation of the task demonstrations into a sequence of surgemes and the second for classifying each segment into labeled surgemes. Finally, a multimodal off-policy RL with rewards learned from demonstrations was developed to learn the surgeme execution from these demonstrations.

   The task segmentation model has an accuracy of 98.2%. The surgeme classification model using the proposed interaction features achieved a classification accuracy of 96.25% averaged across all surgemes compared to 87.08% without these features and 85.4% using a support vector machine classifier. Finally, the robot execution achieved a task success rate of 93.5% compared to baselines of behavioral cloning (78.3%) and a twin-delayed deep deterministic policy gradient with shaped rewards (82.6%).

   Results indicate that the proposed interaction features for the segmentation and classification of surgical tasks improve classification accuracy. The proposed method for learning surgemes from demonstrations exceeds popular methods for skill learning. The effectiveness of the proposed approach demonstrates the potential for future remote telemedicine on battlefields.

    

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2. Query Processing in Highly Distributed Data Environments

   Kawaguchi, A. ; Ha, N.V. ; Tsuru, M. ; Mowshowitz, A. ; and Shibata, M ( September 2021 , the 13th International Workshop on Information Network Design (WIND2021), Taiwan)

   null (Ed.)

   This paper will demonstrate a novel method for consolidating data in an engineered hypercube network for the purpose of optimizing query processing. Query processing typically calls for merging data collected from a small subset of server nodes in a network. This poses the problem of managing efficiently the exchange of data between processing nodes to complete some relational data operation. The method developed here is designed to minimize data transfer, measured as the product of data quantity and network distance, by delegating the processing to a node that is relatively central to the subset. A hypercube not only supports simple computation of network distance between nodes, but also allows for identifying a node to serve as the center for any data consolidation operations.We will show how the consolidation process can be performed by selecting a subgraph of a complex network to simplify the selection of a central node and thus facilitate the computations required. We will also show a prototype implementation of a hypercube using Software-Defined Networking to support query optimization in a distributed heterogeneous database system, making use of network distance information and data quantity. 

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3. COVID-19 and Housing Security in Remote Alaska Native Communities

   Nicewonger, Todd E. ; McNair, Lisa D. ; Fritz, Stacey ; Supple, Laura ; Criss-Carboy, Laura ( November 2023 , Virginia Tech Publishing)

   Nicewonger, Todd E. ; McNair, Lisa D. ; Fritz, Stacey (Ed.)

   https://pressbooks.lib.vt.edu/alaskanative/ At the start of the pandemic, the editors of this annotated bibliography initiated a remote (i.e., largely virtual) ethnographic research project that investigated how COVID-19 was impacting off-site modular construction practices in Alaska Native communities. Many of these communities are located off the road system and thus face not only dramatically higher costs but multiple logistical challenges in securing licensed tradesmen and construction crews and in shipping building supplies and equipment to their communities. These barriers, as well as the region’s long winters and short building seasons, complicate the construction of homes and related infrastructure projects. Historically, these communities have also grappled with inadequate housing, including severe overcrowding and poor-quality building stock that is rarely designed for northern Alaska’s climate (Marino 2015). Moreover, state and federal bureaucracies and their associated funding opportunities often further complicate home building by failing to accommodate the digital divide in rural Alaska and the cultural values and practices of Native communities.[1] It is not surprising, then, that as we were conducting fieldwork for this project, we began hearing stories about these issues and about how the restrictions caused by the pandemic were further exacerbating them. Amidst these stories, we learned about how modular home construction was being imagined as a possible means for addressing both the complications caused by the pandemic and the need for housing in the region (McKinstry 2021). As a result, we began to investigate how modular construction practices were figuring into emergent responses to housing needs in Alaska communities. We soon realized that we needed to broaden our focus to capture a variety of prefabricated building methods that are often colloquially or idiomatically referred to as “modular.” This included a range of prefabricated building systems (e.g., manufactured, volumetric modular, system-built, and Quonset huts and other reused military buildings[2]). Our further questions about prefabricated housing in the region became the basis for this annotated bibliography. Thus, while this bibliography is one of multiple methods used to investigate these issues, it played a significant role in guiding our research and helped us bring together the diverse perspectives we were hearing from our interviews with building experts in the region and the wider debates that were circulating in the media and, to a lesser degree, in academia. The actual research for each of three sections was carried out by graduate students Lauren Criss-Carboy and Laura Supple.[3] They worked with us to identify source materials and their hard work led to the team identifying three themes that cover intersecting topics related to housing security in Alaska during the pandemic. The source materials collected in these sections can be used in a variety of ways depending on what readers are interested in exploring, including insights into debates on housing security in the region as the pandemic was unfolding (2021-2022). The bibliography can also be used as a tool for thinking about the relational aspects of these themes or the diversity of ways in which information on housing was circulating during the pandemic (and the implications that may have had on community well-being and preparedness). That said, this bibliography is not a comprehensive analysis. Instead, by bringing these three sections together with one another to provide a snapshot of what was happening at that time, it provides a critical jumping off point for scholars working on these issues. The first section focuses on how modular housing figured into pandemic responses to housing needs. In exploring this issue, author Laura Supple attends to both state and national perspectives as part of a broader effort to situate Alaska issues with modular housing in relation to wider national trends. This led to the identification of multiple kinds of literature, ranging from published articles to publicly circulated memos, blog posts, and presentations. These materials are important source materials that will likely fade in the vastness of the Internet and thus may help provide researchers with specific insights into how off-site modular construction was used – and perhaps hyped – to address pandemic concerns over housing, which in turn may raise wider questions about how networks, institutions, and historical experiences with modular construction are organized and positioned to respond to major societal disruptions like the pandemic. As Supple pointed out, most of the material identified in this review speaks to national issues and only a scattering of examples was identified that reflect on the Alaskan context. The second section gathers a diverse set of communications exploring housing security and homelessness in the region. The lack of adequate, healthy housing in remote Alaska communities, often referred to as Alaska’s housing crisis, is well-documented and preceded the pandemic (Guy 2020). As the pandemic unfolded, journalists and other writers reported on the immense stress that was placed on already taxed housing resources in these communities (Smith 2020; Lerner 2021). The resulting picture led the editors to describe in their work how housing security in the region exists along a spectrum that includes poor quality housing as well as various forms of houselessness including, particularly relevant for the context, “hidden homelessness” (Hope 2020; Rogers 2020). The term houseless is a revised notion of homelessness because it captures a richer array of both permanent and temporary forms of housing precarity that people may experience in a region (Christensen et al. 2107). By identifying sources that reflect on the multiple forms of housing insecurity that people were facing, this section highlights the forms of disparity that complicated pandemic responses. Moreover, this section underscores ingenuity (Graham 2019; Smith 2020; Jason and Fashant 2021) that people on the ground used to address the needs of their communities. The third section provides a snapshot from the first year of the pandemic into how CARES Act funds were allocated to Native Alaska communities and used to address housing security. This subject was extremely complicated in Alaska due to the existence of for-profit Alaska Native Corporations and disputes over eligibility for the funds impacted disbursements nationwide. The resources in this section cover that dispute, impacts of the pandemic on housing security, and efforts to use the funds for housing as well as barriers Alaska communities faced trying to secure and use the funds. In summary, this annotated bibliography provides an overview of what was happening, in real time, during the pandemic around a specific topic: housing security in largely remote Alaska Native communities. The media used by housing specialists to communicate the issues discussed here are diverse, ranging from news reports to podcasts and from blogs to journal articles. This diversity speaks to the multiple ways in which information was circulating on housing at a time when the nightly news and radio broadcasts focused heavily on national and state health updates and policy developments. Finding these materials took time, and we share them here because they illustrate why attention to housing security issues is critical for addressing crises like the pandemic. For instance, one theme that emerged out of a recent National Science Foundation workshop on COVID research in the North NSF Conference[4] was that Indigenous communities are not only recovering from the pandemic but also evaluating lessons learned to better prepare for the next one, and resilience will depend significantly on more—and more adaptable—infrastructure and greater housing security. 

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4. Enabling Shared Control and Trust in Hybrid SDN/Legacy Networks

   https://doi.org/10.1109/ICCCN.2019.8847080  

   Shi, Pinyi ; Rivera, Sergio ; Pike, Lowell ; Fei, Zongming ; Griffioen, James ; Calvert, Kenneth ( July 2019 , 2019 28th International Conference on Computer Communication and Networks (ICCCN))

   A key concept of software-defined networking (SDN) is separation of the control and data plane. This idea provides several benefits, including fine-grained network control and monitoring, and the ability to deploy new services in a limited scope. Unfortunately, it is often cost-prohibitive for enterprises (and universities in particular) to upgrade their existing networks to wholly SDN-capable networks all at once. A compromise solution is to deploy SDN capabilities incrementally in the network. The challenge then is to take full advantage of SDN-based services throughout the network, in an integrated fashion rather than in a few "islands" of SDN support. At the University of Kentucky, SDN has been integrated into the campus network for several years. In this paper, we describe two aspects of this challenge, along with our solution approaches. One is the general reluctance of campus network administrations to allow novel or experimental (SDN-based) services in the production network. The other is how to extend such services throughout the legacy part of the network. For the former, we lay out a set of principles designed to ensure that the production service is not harmed. For the latter, we use policy based routing and a graph database to extend our previously-described VIP Lanes service. Our simulation results in a campus-like topology testbed show that we can provide a host with custom path service even if it is connected to a legacy router. 

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5. A Behavior-Driven Approach to Intent Specification for Software-Defined Infrastructure Management

   Esposito, F ; Wang, J ; Contoli, C ; Davoli, G ; Cerroni, W ; Callegati, F. ( December 2018 , 2018 IEEE Conference on Network Function Virtualization and Software Defined Networks (NFV-SDN))

   One of the goals of Software-Defined Networking (SDN) is to allow users to specify high-level policies into lower level network rules. Managing a network and decide what policy set is appropriate requires, however, expertise and low level know-how. An emerging SDN paradigm is to allow higher level network level decisions wishes in the form of “intents”. Despite its importance in simplifying network management, intent specification is not yet standardized. In this work, we propose a northbound interface (NBI) for intent declaration, based on Behavior-Driven Development. In our approach, intents are specified in plain English and translated by our system into pre-compiled network policies, that are in turn, converted into low-level rules by the software-defined infrastructure e.g. an SDN controller. We demonstrated our behavior-driven approach with two practical use cases: service function chaining deployed on OpenStack, supported by both ONOS and Ryu controllers, and dynamic firewall programming. We also measured the overhead and response time of our NBI. We believe that our approach is far more general and paves the way for a more expressive and simplified northbound interface for intent-driven networking. 

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