A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be different previously, we show that by making use of the intermediate results of the two modules, their performance can be enhanced at the same time. Our framework is able to handle both the instantaneous motion and long-term changes of instances in localization with the help of the segmentation result, which also benefits from the refined 3D pose information. We conduct experiments on various datasets, and prove that our framework works effectively on improving the precision and robustness of the two tasks and outperforms existing localization and segmentation algorithms.Comment: 7 pages, 5 figures.This work has been accepted by ICRA 2019. The demo video can be found at https://youtu.be/Bkt53dAehj

The global energy balance of Titan

The global energy budget of planets and their moons is a critical factor to influence the climate change on these objects. Here we report the first measurement of the global emitted power of Titan. Long-term (2004–2010) observations conducted by the Composite Infrared Spectrometer (CIRS) onboard Cassini reveal that the total emitted power by Titan is (2.84 ± 0.01) × 10^(14) watts. Together with previous measurements of the global absorbed solar power of Titan, the CIRS measurements indicate that the global energy budget of Titan is in equilibrium within measurement error. The uncertainty in the absorbed solar energy places an upper limit on the energy imbalance of 6.0%

Passing Waves from Atomistic to Continuum

Progress in the development of coupled atomistic-continuum methods for simulations of critical dynamic material behavior has been hampered by a spurious wave reflection problem at the atomistic-continuum interface. This problem is mainly caused by the difference in material descriptions between the atomistic and continuum models, which results in a mismatch in phonon dispersion relations. In this work, we introduce a new method based on atomistic dynamics of lattice coupled with a concurrent atomistic-continuum method to enable a full phonon representation in the continuum description. This then permits the passage of short-wavelength, high-frequency phonon waves from the atomistic to continuum regions. The benchmark examples presented in this work demonstrate that the new scheme enables the passage of all allowable phonons through the atomistic-continuum interface; it also preserves the wave coherency and energy conservation after phonons transport across multiple atomistic-continuum interfaces. This work is the first step towards developing a concurrent atomistic-continuum simulation tool for non-equilibrium phonon-mediated thermal transport in materials with microstructural complexity

Letter of Intent: Jinping Neutrino Experiment

Jinping Neutrino Experiment (Jinping) is proposed to significantly improve measurements on solar neutrinos and geoneutrinos in China Jinping Laboratory - a lab with a number of unparalleled features, thickest overburden, lowest reactor neutrino background, etc., which identify it as the world-best low-energy neutrino laboratory. The proposed experiment will have target mass of 4 kilotons of liquid scintillator or water-based liquid scintillator, with a fiducial mass of 2 kilotons for neutrino-electron scattering events and 3 kilotons for inverse-beta interaction events. A number of initial sensitivities studies have been carried out, including on the transition phase for the solar neutrinos oscillation from the vacuum to the matter effect, the discovery of solar neutrinos from the carbon-nitrogen-oxygen (CNO) cycle, the resolution of the high and low metallicity hypotheses, and the unambiguous separation on U and Th cascade decays from the dominant crustal anti-electron neutrinos in China.Comment: Proposal for the Jinping Neutrino Experimen

Ballistic-diffusive phonon heat transport across grain boundaries

The propagation of a heat pulse in a single crystal and across grain boundaries (GBs) is simulated using a concurrent atomistic-continuum method furnished with a coherent phonon pulse model. With a heat pulse constructed based on a Bose-Einstein distribution of phonons, this work has reproduced the phenomenon of phonon focusing in single and polycrystalline materials. Simulation results provide visual evidence that the propagation of a heat pulse in crystalline solids with or without GBs is partially ballistic and partially diffusive, i.e., there is a co-existence of ballistic and diffusive thermal transport, with the long-wavelength phonons traveling ballistically while the short-wavelength phonons scatter with each other and travel diffusively. To gain a quantitative understanding of GB thermal resistance, the kinetic energy transmitted across GBs is monitored on the fly and the time-dependent energy transmission for each specimen is measured; the contributions of coherent and incoherent phonon transport to the energy transmission are estimated. Simulation results reveal that the presence of GBs modifies the nature of thermal transport, with the coherent long-wavelength phonons dominating the heat conduction in materials with GBs. In addition, it is found that phonon-GB interactions can result in reconstruction of GBs