In teleoperated surgery, the motion scaling factor directly influences both the operator’s control precision of surgical instruments and operational comfort. Previous studies have revealed that the master manipulator state and operator’s gaze information can reflect the complexity of surgical operations and the operator’s intention to some extent. Although enabling real-time adjustment of scaling factors, they were limited by the narrow range of core parameters and the results were significantly influenced by subjective factors. To tackle these challenges, this paper presents a multi-dimensional adaptive motion scaling strategy based on the Bayesian optimization. The prediction of operator’s intention and attention is achieved by integrating multiple dimensional parameters, including master-slave manipulator states, gaze information, as well as pupillary data, all of which have been experimentally validated. Specifically, there exists a significant temporal synchronization between the Index of Pupillary Activity (IPA) and teleoperation tasks, which aligns with research on the correlation between IPA and attention levels. Furthermore, to evaluate the proposed adaptive scaling strategy, we combine subjective questionnaire surveys with objective metric assessments, effectively reducing the excessive influence of operators’ personal conditions and proficiency levels on optimization results.

The alternating-direction-method-of-multipliers-based (ADMM-based) interior point method, or ABIP method, is a hybrid algorithm that effectively combines interior point method (IPM) and first-order methods to achieve a performance boost in large-scale linear optimization. Different from traditional IPM that relies on computationally intensive Newton steps, the ABIP method applies ADMM to approximately solve the barrier penalized problem. However, similar to other first-order methods, this technique remains sensitive to condition number and inverse precision. In this paper, we provide an enhanced ABIP method with multiple improvements. First, we develop an ABIP method to solve the general linear conic optimization and establish the associated iteration complexity. Second, inspired by some existing methods, we develop different implementation strategies for the ABIP method, which substantially improve its performance in linear optimization. Finally, we conduct extensive numerical experiments in both synthetic and real-world data sets to demonstrate the empirical advantage of our developments. In particular, the enhanced ABIP method achieves a 5.8× reduction in the geometric mean of run time on 105 selected linear optimization instances from Netlib, and it exhibits advantages in certain structured problems, such as support vector machine and PageRank. However, the enhanced ABIP method still falls behind commercial solvers in many benchmarks, especially when high accuracy is desired. We posit that it can serve as a complementary tool alongside well-established solvers. History: Accepted by Antonio Frangioni, Area Editor for Design & Analysis of Algorithms—Continuous. Funding: This research was supported by the National Natural Science Foundation of China [Grants 72394360, 72394364, 72394365, 72225009, 72171141, and 72150001] and by the Program for Innovative Research Team of Shanghai University of Finance and Economics. Supplemental Material: The software that supports the findings of this study is available within the paper and its Supplemental Information ( https://pubsonline.informs.org/doi/suppl/10.1287/ijoc.2023.0017 ) as well as from the IJOC GitHub software repository ( https://github.com/INFORMSJoC/2023.0017 ). The complete IJOC Software and Data Repository is available at https://informsjoc.github.io/ .

The Whistler text-to-speech engine was designed so that we can automatically construct the model parameters from training data. This paper describes in detail the design issues of constructing the synthesis unit inventory automatically from speech databases. The automatic process includes (1) determining the scaleable synthesis unit which can reflect spectral variations of different allophones; (2) segmenting the recording sentences into phonetic segments; (3) select good instances for each synthesis unit to generate best synthesis sentence during the run time. These processes are all derived through the use of probabilistic learning methods which are aimed at the same optimization criteria. Through this automatic unit generation, Whistler can automatically produce synthetic speech that sounds very natural and resembles the acoustic characteristics of the original speaker.

The Whistler text-to-speech engine was designed so that we can automatically construct the model parameters from training data. This paper focuses on the improvements on prosody and acoustic modeling, which are all derived through the use of probabilistic learning methods. Whistler can produce synthetic speech that sounds very natural and resembles the acoustic and prosodic characteristics of the original speaker. The underlying technologies used in Whistler can significantly facilitate the process of creating generic TTS systems for a new language, a new voice, or a new speech style. Whisper TTS engine supports Microsoft Speech API and requires less than 3 MB of working memory.