A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty

Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation. Deep neural networks have provided a new way to perform these tasks, and the choice of rotation representation is an important part of network design. In this work, we present a novel symmetric matrix representation of the 3D rotation group, SO(3), with two important properties that make it particularly suitable for learned models: (1) it satisfies a smoothness property that improves convergence and generalization when regressing large rotation targets, and (2) it encodes a symmetric Bingham belief over the space of unit quaternions, permitting the training of uncertainty-aware models. We empirically validate the benefits of our formulation by training deep neural rotation regressors on two data modalities. First, we use synthetic point-cloud data to show that our representation leads to superior predictive accuracy over existing representations for arbitrary rotation targets. Second, we use image data collected onboard ground and aerial vehicles to demonstrate that our representation is amenable to an effective out-of-distribution (OOD) rejection technique that significantly improves the robustness of rotation estimates to unseen environmental effects and corrupted input images, without requiring the use of an explicit likelihood loss, stochastic sampling, or an auxiliary classifier. This capability is key for safety-critical applications where detecting novel inputs can prevent catastrophic failure of learned models.Comment: In Proceedings of Robotics: Science and Systems (RSS'20), Corvallis , Oregon, USA, Jul. 12-16, 202

Near Infrared Spectra and Intrinsic Luminosities of Candidate Type II Quasars at 2 < z < 3.4

We present JHK near-infrared (NIR) spectroscopy of 25 candidate Type II quasars selected from the Sloan Digital Sky Survey, using Triplespec on the Apache Point Observatory 3.5m telescope, FIRE at the Magellan/Baade 6.5m telescope, and GNIRS on Gemini. At redshifts of 2 < z < 3.4, our NIR spectra probe the rest-frame optical region of these targets, which were initially selected to have strong lines of CIV and Ly alpha, with FWHM<2000 km/s from the SDSS pipeline. We use the [OIII]5007 line shape as a model for the narrow line region emission, and find that \halpha\ consistently requires a broad component with FWHMs ranging from 1000 to 7500 km/s. Interestingly, the CIV lines also require broad bases, but with considerably narrower widths of 1000 to 4500 km/s. Estimating the extinction using the Balmer decrement and also the relationship in lower-z quasars between rest equivalent width and luminosity in the [OIII] line, we find typical A_V values of 0-2 mag, which naturally explain the attenuated CIV lines relative to Halpha. We propose that our targets are moderately obscured quasars. We also describe one unusual object with three distinct velocity peaks in its [OIII] spectrum.Comment: Accepted for publication in ApJ, 18 pages, 14 figure

Effect of Cyclic Heat Stress on Hypothalamic Oxygen Homeostasis and Inflammatory State in the Jungle Fowl and Three Broiler-Based Research Lines

Heat stress (HS) is devastating to poultry production sustainability due its detrimental effects on performance, welfare, meat quality, and profitability. One of the most known negative effects of HS is feed intake depression, which is more pronounced in modern high-performing broilers compared to their ancestor unselected birds, yet the underlying molecular mechanisms are not fully defined. The present study aimed, therefore, to determine the hypothalamic expression of a newly involved pathway, hypoxia/oxygen homeostasis, in heat-stressed broiler-based research lines and jungle fowl. Three populations of broilers (slow growing ACRB developed in 1956, moderate growing 95RB from broilers available in 1995, and modern fast growing MRB from 2015) and unselected Jungle fowl birds were exposed to cyclic heat stress (36 degrees C, 9 h/day for 4 weeks) in a 2 x 4 factorial experimental design. Total RNAs and proteins were extracted from the hypothalamic tissues and the expression of target genes and proteins was determined by real-time quantitative PCR and Western blot, respectively. It has been previously shown that HS increased core body temperature and decreased feed intake in 95RB and MRB, but not in ACRB or JF. HS exposure did not affect the hypothalamic expression of HIF complex, however there was a line effect for HIF-1 alpha (P = 0.02) with higher expression in JF under heat stress. HS significantly up regulated the hypothalamic expression of hemoglobin subunits (HBA1, HBBR, HBE, HBZ), and HJV in ACRB, HBA1 and HJV in 95RB and MRB, and HJV in JF, but it down regulated FPN1 in JF. Additionally, HS altered the hypothalamic expression of oxygen homeostasis- up and down-stream signaling cascades. Phospho-AMPK(Thr172) was activated by HS in JF hypothalamus, but it decreased in that of the broiler-based research lines. Under thermoneutral conditions, p-AMPK(Thr172) was higher in broiler-based research lines compared to JF. Ribosomal protein S6K1, however, was significantly upregulated in 95RB and MRB under both environmental conditions. HS significantly upregulated the hypothalamic expression of NF-kappa B2 in MRB, RelB, and TNF alpha in ACRB, abut it down regulated RelA in 95RB. The regulation of HSPs by HS seems to be family- and line-dependent. HS upregulated the hypothalamic expression of HSP60 in ACRB and 95RB, down regulated HSP90 in JF only, and decreased HSP70 in all studied lines. Taken together, this is the first report showing that HS modulated the hypothalamic expression of hypoxia- and oxygen homeostasis-associated genes as well as their up- and down-stream mediators in chickens, and suggests that hypoxia, thermotolerance, and feed intake are interconnected, which merit further in-depth investigations

Candidate Type II Quasars at 2 < z < 4.3 in the Sloan Digital Sky Survey III

At low redshifts, dust-obscured quasars often have strong yet narrow permitted lines in the rest-frame optical and ultraviolet, excited by the central active nucleus, earning the designation Type II quasars. We present a sample of 145 candidate Type II quasars at redshifts between 2 and 4.3, encompassing the epoch at which quasar activity peaked in the universe. These objects, selected from the quasar sample of the Baryon Oscillation Spectroscopic Survey of the Sloan Digital Sky Survey III, are characterized by weak continuum in the rest-frame ultraviolet (typical continuum magnitude of i \approx 22) and strong lines of CIV and Ly \alpha, with Full Width at Half Maximum less than 2000 kms-1. The continuum magnitudes correspond to an absolute magnitude of -23 or brighter at redshift 3, too bright to be due exclusively to the host galaxies of these objects. Roughly one third of the objects are detected in the shorter-wavelength bands of the WISE survey; the spectral energy distributions (SEDs) of these objects appear to be intermediate between classic Type I and Type II quasars seen at lower redshift. Five objects are detected at rest frame 6\mu m by Spitzer, implying bolometric luminosities of several times 10^46 erg s-1. We have obtained polarization measurements for two objects; they are roughly 3% polarized. We suggest that these objects are luminous quasars, with modest dust extinction (A_V ~ 0.5 mag), whose ultraviolet continuum also includes a substantial scattering contribution. Alternatively, the line of sight to the central engines of these objects may be partially obscured by optically thick material.Comment: 26 pages, 13 figures, 10 tables, 4 machine readable tables. Accepted for publication in MNRA

Ratios of Elastic Scattering of Pions from 3H and 3He

We have measured the elastic-scattering ratios of normalized yields for charged pions from 3H and 3He in the backward hemisphere. At 180 MeV, we completed the angular distribution begun with our earlier measurements, adding six data points in the angular range of 119 deg to 169 deg in the pi-nucleus center of mass. We also measured an excitation function with data points at 142, 180, 220, and 256 MeV incident pion energy at the largest achievable angle for each energy between 160 deg and 170 deg in the pi-nucleus center of mass. This excitation function corresponds to the energies of our forward-hemisphere studies. The data, taken as a whole, show an apparent role reversal of the two charge-symmetric ratios r1 and r2 in the backward hemisphere. Also, for data > 100 deg we observe a strong dependence on the four-momentum transfer squared (-t) for all of the ratios regardless of pion energy or scattering angle, and we find that the superratio R data match very well with calculations based on the forward-hemisphere data that predicts the value of the difference between the even-nucleon radii of 3H and 3He. Comparisons are also made with recent calculations incorporating different wave functions and double scattering models.Comment: RevTex 8pages, 12 figure file

Effects of Cyclic Chronic Heat Stress on the Expression of Nutrient Transporters in the Jejunum of Modern Broilers and Their Ancestor Wild Jungle Fowl

snibaThe mechanisms associated between growth rate, gut integrity and heat stress (HS) responses are not known. The current study aimed to evaluate the effect of chronic HS on jejunal nutrient transport in slow- (ACRB from 1950), moderate- (95RAN from 1995), rapid-(modern broilers, MRB) growing birds, and their ancestor wild jungle fowl (JF). One-day male chicks (n=150/line) were placed by line in environmentally controlled chambers and kept under the same environmental conditions until d28. On d29, an 8-h daily cyclic HS (36ºC) was applied to half of the chambers, which lasts until d55, while keeping the rest under thermal neutral conditions (TN, 24°C). Jejunum tissues were collected for morphology assessment and molecular analysis of carbohydrate-, amino acid- and fatty acid- transporters. MRB exhibited the highest BW followed by 95RAN under both conditions. HS decreased FI in MRB and 95RAN, which results in lower BW compared to their TN counterparts, however no effect was observed in ACRB and JF. MRB showed greater villus height to crypt depth ratio under both environmental conditions. Molecular analyses showed that GLUT2, 5, 10, and 11 were upregulated in MRB compared to some of the other populations under TN conditions. HS down regulated GLUT2, 10, 11, and 12 in MRB while it increased the expression of GLUT1, 5, 10, and 11 in JF. GLUT2 protein expression was higher in JF compared to ACRB and MRB under TN conditions. It also showed an increase in ACRB but no effect on 95RAN and MRB under HS conditions. ACRB exhibited greater expression of EAAT3 gene as compared to the rest of populations maintained under TN conditions. HS exposure did not alter the gene expression of amino acid transporters in MRB. Gene expression of CD36 and FABP2 was up-regulated in HS JF birds. Protein expression of CD36 was down-regulated in HS JF while no effect was observed in ACRB, 95RAN and MRB. Taken together, these data are the first to show the effect of HS on jejunal expression of nutrient transporters in three broiler populations known to represent 70 years of genetic progress in the poultry industr

Host galaxies of high-redshift extremely red and obscured quasars

We present Hubble Space Telescope 1.4-1.6 micron images of the hosts of ten extremely red quasars (ERQs) and six type 2 quasar candidates at z=2-3. ERQs, whose bolometric luminosities range between 10^47 and 10^48 erg/sec, show spectroscopic signs of powerful ionized winds, whereas type 2 quasar candidates are less luminous and show only mild outflows. After performing careful subtraction of the quasar light, we clearly detect almost all host galaxies. The median rest-frame B-band luminosity of the ERQ hosts in our sample is 10^11.2 L_Sun, or 4 L* at this redshift. Two of the ten hosts of ERQs are in ongoing mergers. The hosts of the type 2 quasar candidates are 0.6 dex less luminous, with 2/6 in likely ongoing mergers. Intriguingly, despite some signs of interaction and presence of low-mass companions, our objects do not show nearly as much major merger activity as do high-redshift radio-loud galaxies and quasars. In the absence of an overt connection to major ongoing gas-rich merger activity, our observations are consistent with a model in which the near-Eddington accretion and strong feedback of ERQs are associated with relatively late stages of mergers resulting in early-type remnants. These results are in some tension with theoretical expectations of galaxy formation models, in which rapid black hole growth occurs within a short time of a major merger. Type 2 quasar candidates are less luminous, so they may instead be powered by internal galactic processes.Comment: Accepted to MNRAS; 23 pages, including 9 figures and 2 table

The Quasar Accretion Disk Size - Black Hole Mass Relation

We use the microlensing variability observed for nine gravitationally lensed quasars to show that the accretion disk size at 2500 Angstroms is related to the black hole mass by log(R_2500/cm) = (15.6+-0.2) + (0.54+-0.28)log(M_BH/10^9M_sun). This scaling is consistent with the expectation from thin disk theory (R ~ M_BH^(2/3)), but it implies that black holes radiate with relatively low efficiency, log(eta) = -1.29+-0.44 + log(L/L_E) where eta=L/(Mdot c^2). These sizes are also larger, by a factor of ~3, than the size needed to produce the observed 0.8 micron quasar flux by thermal radiation from a thin disk with the same T ~ R^(-3/4) temperature profile. More sophisticated disk models are clearly required, particularly as our continuing observations improve the precision of the measurements and yield estimates of the scaling with wavelength and accretion rate.Comment: 5 pages, 3 figures, submitted to ApJ

Over-expression of Grhl2 causes spina bifida in the Axial defects mutant mouse

Cranial neural tube defects (NTDs) occur in mice carrying mutant alleles of many different genes, whereas isolated spinal NTDs (spina bifida) occur in fewer models, despite being common human birth defects. Spina bifida occurs at high frequency in the Axial defects (Axd) mouse mutant but the causative gene is not known. In the current study, the Axd mutation was mapped by linkage analysis. Within the critical genomic region, sequencing did not reveal a coding mutation whereas expression analysis demonstrated significant up-regulation of grainyhead-like 2 (Grhl2) in Axd mutant embryos. Expression of other candidate genes did not differ between genotypes. In order to test the hypothesis that over-expression of Grhl2 causes Axd NTDs, we performed a genetic cross to reduce Grhl2 function in Axd heterozygotes. Grhl2 loss of function mutant mice were generated and displayed both cranial and spinal NTDs. Compound heterozygotes carrying both loss (Grhl2 null) and putative gain of function (Axd) alleles exhibited normalization of spinal neural tube closure compared with Axd/+ littermates, which exhibit delayed closure. Grhl2 is expressed in the surface ectoderm and hindgut endoderm in the spinal region, overlapping with grainyhead-like 3 (Grhl3). Axd mutants display delayed eyelid closure, as reported in Grhl3 null embryos. Moreover, Axd mutant embryos exhibited increased ventral curvature of the spinal region and reduced proliferation in the hindgut, reminiscent of curly tail embryos, which carry a hypomorphic allele of Grhl3. Overall, our data suggest that defects in Axd mutant embryos result from over-expression of Grhl2