Human aware robot navigation

Abstract. Human aware robot navigation refers to the navigation of a robot in an environment shared with humans in such a way that the humans should feel comfortable, and natural with the presence of the robot. On top of that, the robot navigation should comply with the social norms of the environment. The robot can interact with humans in the environment, such as avoiding them, approaching them, or following them. In this thesis, we specifically focus on the approach behavior of the robot, keeping the other use cases still in mind. Studying and analyzing how humans move around other humans gives us the idea about the kind of navigation behaviors that we expect the robots to exhibit. Most of the previous research does not focus much on understanding such behavioral aspects while approaching people. On top of that, a straightforward mathematical modeling of complex human behaviors is very difficult. So, in this thesis, we proposed an Inverse Reinforcement Learning (IRL) framework based on Guided Cost Learning (GCL) to learn these behaviors from demonstration. After analyzing the CongreG8 dataset, we found that the incoming human tends to make an O-space (circle) with the rest of the group. Also, the approaching velocity slows down when the approaching human gets closer to the group. We utilized these findings in our framework that can learn the optimal reward and policy from the example demonstrations and imitate similar human motion

Theoretical analysis of a single and double reflection atom interferometer in a weakly-confining magnetic trap

The operation of a BEC based atom interferometer, where the atoms are held in a weakly-confining magnetic trap and manipulated with counter-propagating laser beams, is analyzed. A simple analytic model is developed to describe the dynamics of the interferometer. It is used to find the regions of parameter space with high and low contrast of the interference fringes for both single and double reflection interferometers. We demonstrate that for a double reflection interferometer the coherence time can be increased by shifting the recombination time. The theory is compared with recent experimental realizations of these interferometers.Comment: 25 pages, 6 figure

Architecture of the Andromeda galaxy : a quantitative analysis of clustering in the inner stellar halo

We present a quantitative measurement of the amount of clustering present in the inner ∼30 kpc of the stellar halo of the Andromeda galaxy (M31). For this we analyse the angular positions and radial velocities of the carefully selected planetary nebulae in the M31 stellar halo. We study the cumulative distribution of pairwise distances in angular position and line-of-sight velocity space, and find that the M31 stellar halo contains substantially more stars in the form of close pairs as compared to that of a featureless smooth halo. In comparison to a smoothed/scrambled distribution, we estimate that the clustering excess in the M31 inner halo is roughly 40 per cent at maximum and on average ∼20 per cent. Importantly, comparing against the 11 stellar halo models of Bullock & Johnston, which were simulated within the context of the ΛCDM (Λ cold dark matter) cosmological paradigm, we find that the amount of substructures in the M31 stellar halo closely resembles that of a typical ΛCDM halo.Publisher PDFPeer reviewe

Evolution of chemosensory tissues and cells across ecologically diverse Drosophilids

Chemosensory tissues exhibit significant between-species variability, yet the evolution of gene expression and cell types underlying this diversity remain poorly understood. To address these questions, we conducted transcriptomic analyses of five chemosensory tissues from six Drosophila species and integrated the findings with single-cell datasets. While stabilizing selection predominantly shapes chemosensory transcriptomes, thousands of genes in each tissue have evolved expression differences. Genes that have changed expression in one tissue have often changed in multiple other tissues but at different past epochs and are more likely to be cell type-specific than unchanged genes. Notably, chemosensory-related genes have undergone widespread expression changes, with numerous species-specific gains/losses including novel chemoreceptors expression patterns. Sex differences are also pervasive, including a D. melanogaster-specific excess of male-biased expression in sensory and muscle cells in its forelegs. Together, our analyses provide new insights for understanding evolutionary changes in chemosensory tissues at both global and individual gene levels

A study of central galaxy rotation with stellar mass and environment

© 2017. The American Astronomical Society. All rights reserved. We present a pilot analysis of the influence of galaxy stellar mass and cluster environment on the probability of slow rotation in 22 central galaxies at mean redshift z = 0.07. This includes new integral-field observations of five central galaxies selected from the Sloan Digital Sky Survey, observed with the SPIRAL integral-field spectrograph on the Anglo-Australian Telescope. The composite sample presented here spans a wide range of stellar masses, 10.9 < log(M∗/M⊙)lt; 12.0, and are embedded in halos ranging from groups to clusters, 12.9 < log(M 200 Ṁ) < 15.6. We find a mean probability of slow rotation in our sample of P(SR) = 54 ± 7%. Our results show an increasing probability of slow rotation in central galaxies with increasing stellar mass. However, when we examine the dependence of slow rotation on host cluster halo mass, we do not see a significant relationship. We also explore the influence of cluster dominance on slow rotation in central galaxies. Clusters with low dominance are associated with dynamically younger systems. We find that cluster dominance has no significant effect on the probability of slow rotation in central galaxies. These results conflict with a paradigm in which halo mass alone predetermines central galaxy properties

Visual Reasoning with Multi-hop Feature Modulation

Recent breakthroughs in computer vision and natural language processing have spurred interest in challenging multi-modal tasks such as visual question-answering and visual dialogue. For such tasks, one successful approach is to condition image-based convolutional network computation on language via Feature-wise Linear Modulation (FiLM) layers, i.e., per-channel scaling and shifting. We propose to generate the parameters of FiLM layers going up the hierarchy of a convolutional network in a multi-hop fashion rather than all at once, as in prior work. By alternating between attending to the language input and generating FiLM layer parameters, this approach is better able to scale to settings with longer input sequences such as dialogue. We demonstrate that multi-hop FiLM generation achieves state-of-the-art for the short input sequence task ReferIt --- on-par with single-hop FiLM generation --- while also significantly outperforming prior state-of-the-art and single-hop FiLM generation on the GuessWhat?! visual dialogue task.Comment: In Proc of ECCV 201

Galaxy and Mass Assembly (GAMA): Panchromatic data release (far-UV–far-IR) and the low-z energy budget

We present the Galaxy And Mass Assembly (GAMA) Panchromatic Data Release (PDR) constituting over 230 deg2 of imaging with photometry in 21 bands extending from the farUV to the far-IR. These data complement our spectroscopic campaign of over 300k galaxies, and are compiled from observations with a variety of facilities including: GALaxy Evolution eXplorer, Sloan Digital Sky Survey, Visible and Infrared Telescope for Astronomy (VISTA), Wide-field Infrared Survey Explorer, and Herschel, with the GAMA regions currently being surveyedbyVLTSurveyTelescope(VST)andscheduledforobservationsbyAustralianSquare Kilometer Array Pathfinder (ASKAP). These data are processed to a common astrometric solution, from which photometry is derived for ∼221373 galaxies with r < 19.8 mag. Online tools are provided to access and download data cutouts, or the full mosaics of the GAMA regions in each band. We focus, in particular, on the reduction and analysis of the VISTA VIsta Kilo-degree INfrared Galaxy data, and compare to earlier data sets (i.e. 2MASS and UKIDSS) before combining the data and examining its integrity. Having derived the 21-band photometric catalogue, we proceed to fit the data using the energy balance code MAGPHYS. These measurements are then used to obtain the first fully empirical measurement of the 0.1–500 μm energy output of the Universe. Exploring the cosmic spectral energy distribution across three time-intervals (0.3–1.1, 1.1–1.8, and 1.8–2.4 Gyr), we find that the Universe is currently generating (1.5 ± 0.3) × 1035 h70 W Mpc−3, down from (2.5 ± 0.2) × 1035 h70 W Mpc−3 2.3 Gyr ago. More importantly, we identify significant and smooth evolution in the integrated photon escape fraction at all wavelengths, with the UV escape fraction increasing from 27(18) per cent at z= 0.18 in NUV(FUV) to 34(23) per cent at z= 0.06. The GAMA PDR can be found at: http://gama-psi.icrar.org/

Galactic cartography with SkyMapper - I. Population substructure and the stellar number density of the inner halo

The stars within our Galactic halo presents a snapshot of its ongoing growth and evolution, probing galaxy formation directly. Here, we present our first analysis of the stellar halo from detailed maps of Blue Horizontal Branch (BHB) stars drawn from the SkyMapper Southern Sky Survey. To isolate candidate BHB stars from the overall population, we develop a machine-learning approach through the application of an Artificial Neural Network (ANN), resulting in a relatively pure sample of target stars. From this, we derive the absolute u magnitude for the BHB sample to be similar to 2 mag, varying slightly with (v - g)(0) and (u - v)(0) colours. We examine the BHB number density distribution from 5272 candidate stars, deriving a double power law with a break radius of r(s) = 11.8 +/- 0.3 kpc, and inner and outer slopes of alpha(in) = -2.5 +/- 0.1 and alpha(out) = -4.5 +/- 0.3, respectively. Through isochrone fitting of simulated BHB stars, we find a colour-age/metallicity correlation, with older/more metal-poor stars being bluer, and establish a parameter to indicate this age (or metallicity) variation. Using this, we construct the three-dimensional population distribution of BHB stars in the halo and identify significant substructure. Finally, in agreement with previous studies, we also identify a systemic age/metallicity shift spanning similar to 3 kpc to similar to 20 kpc in Galactocentric distance.ZW gratefully acknowledges financial support through the Dean’s International Postgraduate Research Scholarship from the Physics School of the University of Sydney. PRK is funded through Australian Research Council (ARC) grant DP140100395. ADM is grateful for support from an ARC Future Fellowship (FT160100206). SS is funded by University of Sydney Senior Fellowship made possible by the office of the Deputy Vice Chancellor of Research, and partial funding from Bland-Hawthorn’s Laureate Fellowship from the Australian Research Council. GFL thanks the University of Surrey for hosting him as an IAS fellow for the final stages of the preparation of this paper. The national facility capability for SkyMapper has been funded through ARC LIEF grant LE130100104 from the Australian Research Council, awarded to the University of Sydney, the Australian National University, Swinburne University of Technology, the University of Queensland, the University of Western Australia, the University of Melbourne, Curtin University of Technology, Monash University, and the Australian Astronomical Observatory

Parasitic pneumonia in roe deer (Capreolus capreolus) in Cornwall, Great Britain, caused by Varestrongylus capreoli (Protostrongylidae)

Abstract Background Roe deer (Capreolus capreolus) became extinct over large areas of Britain during the post mediaeval period but following re-introductions from Europe during the 1800s and early 1900s the population started to recover and in recent decades there has been a spectacular increase. Many roe deer are shot in Britain each year but despite this there is little published information on the diseases and causes of mortality of roe deer in Great Britain. Case presentation The lungs of two hunter-shot roe deer in Cornwall showed multiple, raised, nodular lesions associated with numerous protostrongylid-type nematode eggs and first stage larvae. There was a pronounced inflammatory cell response (mostly macrophages, eosinophils and multinucleate giant cells) and smooth muscle hypertrophy of the smaller bronchioles. The morphology of the larvae was consistent with that of a Varestrongylus species and sequencing of an internal transcribed spacer-2 fragment confirmed 100% identity with a published Norwegian Varestrongylus cf. capreoli sequence. To the best of the authors’ knowledge this is the first confirmed record of V. capreoli in Great Britain. Co-infection with an adult protostrongylid, identified by DNA sequencing as Varestrongylus sagittatus, was also demonstrated in one case. Conclusions Parasitic pneumonia is regarded as a common cause of mortality in roe deer and is typically attributed to infection with Dictyocaulus sp. This study has shown that Varestrongylus capreoli also has the capability to cause significant lung pathology in roe deer and heavy infection could be of clinical significance