Radar-only ego-motion estimation in difficult settings via graph matching

Radar detects stable, long-range objects under variable weather and lighting conditions, making it a reliable and versatile sensor well suited for ego-motion estimation. In this work, we propose a radar-only odometry pipeline that is highly robust to radar artifacts (e.g., speckle noise and false positives) and requires only one input parameter. We demonstrate its ability to adapt across diverse settings, from urban UK to off-road Iceland, achieving a scan matching accuracy of approximately 5.20 cm and 0.0929 deg when using GPS as ground truth (compared to visual odometry's 5.77 cm and 0.1032 deg). We present algorithms for keypoint extraction and data association, framing the latter as a graph matching optimization problem, and provide an in-depth system analysis.Comment: 6 content pages, 1 page of references, 5 figures, 4 tables, 2019 IEEE International Conference on Robotics and Automation (ICRA

The Right to be an Exception to a Data-Driven Rule

Data-driven tools are increasingly used to make consequential decisions. They have begun to advise employers on which job applicants to interview, judges on which defendants to grant bail, lenders on which homeowners to give loans, and more. In such settings, different data-driven rules result in different decisions. The problem is: to every data-driven rule, there are exceptions. While a data-driven rule may be appropriate for some, it may not be appropriate for all. As data-driven decisions become more common, there are cases in which it becomes necessary to protect the individuals who, through no fault of their own, are the data-driven exceptions. At the same time, it is impossible to scrutinize every one of the increasing number of data-driven decisions, begging the question: When and how should data-driven exceptions be protected? In this piece, we argue that individuals have the right to be an exception to a data-driven rule. That is, the presumption should not be that a data-driven rule--even one with high accuracy--is suitable for an arbitrary decision-subject of interest. Rather, a decision-maker should apply the rule only if they have exercised due care and due diligence (relative to the risk of harm) in excluding the possibility that the decision-subject is an exception to the data-driven rule. In some cases, the risk of harm may be so low that only cursory consideration is required. Although applying due care and due diligence is meaningful in human-driven decision contexts, it is unclear what it means for a data-driven rule to do so. We propose that determining whether a data-driven rule is suitable for a given decision-subject requires the consideration of three factors: individualization, uncertainty, and harm. We unpack this right in detail, providing a framework for assessing data-driven rules and describing what it would mean to invoke the right in practice.Comment: 22 pages, 0 figure

Effect of lubricant ageing on lubricants' physical and chemical properties and tribological performance; Part I: effect of lubricant chemistry

Purpose Ageing has been known to affect the performance of lubricants. However, there is a lot of debate as to whether ageing is beneficial or detrimental to the wear performance of lubricants. Design/methodology/approach The purpose of this research is to evaluate the effect of ageing on the viscosity, total acid number and Fourier-transform infrared spectroscopy information of a series of lubricants. The tribological performance (friction and wear) of the aged lubricants is also studied, followed by X-ray photoelectron spectroscopy analysis on the selected post-test samples to study the tribochemical features of the tribofilm. Findings The results show that ageing has a different impact on lubricants and tribological performances based on the physical and chemical properties. Originality/value These findings will be compared with the research on the role of water in lubricant ageing (Part II of this study)

Effect of base oil polarity on the micropitting behaviour in rolling-sliding contacts

An automated micropitting test rig that uses the proven three-point contact configuration was applied to study the effect of base oil polarity on micropitting behaviour in rolling-sliding contacts. The tribological tests using one polar (ester) and one non-polar (polyalpha olefin [PAO]) base oil mixed with four different additives were first done in a micropitting rig to study the friction, wear, and micropitting performance. The tested specimen after tribological tests were examined by an optical microscope to study the micropitting on the surface. The X-ray photoelectron spectroscopy (XPS) was applied to obtain the related tribochemical information from the reaction layer. The results showed that higher wear and less micropits formed when testing with ester-based lubricants. This was related to the higher affinity to the steel surface of polar base oil molecules that can compete with additives to attach to the surface, resulting in a thinner reaction layer and shorter chain phosphates

Cosmic Rays Accelerated at Cosmological Shock Waves

Based on hydrodynamic numerical simulations and diffusive shock acceleration model, we calculated the ratio of cosmic ray (CR) to thermal energy. We found that the CR fraction can be less than similar to 0.1 in the intracluster medium, while it would be of order unity in the warm-hot intergalactic mediumopen2

Supernovae, Pulsars and Gamma-Ray Bursts: A Unified Picture

A scenario is proposed that explains both the observed high pulsar velocities and extragalactic gamma-ray bursts (GRBs). The model involves an ultra- relativistic jet from a supernova (SN), that produces a GRB and its afterglow, whose characteristics are similar to an isotropic fireball GRB perhaps with some differences at late times in the afterglow once some significant transverse diffusion has occurred. The time scales and many other properties of GRBs and their afterglows in this model are consistent with observations. GRBs in this model have special intrinsic properties, that can either falsify or prove this model unambiguously by observations. The most direct proof is the detection of a SN about the same time as the luminous GRB event. Most GRBs and SNe are expected occur at moderate redshift ($z\sim 1-3$), if they follow the observed universal star formation history, as implied in this model. Searching for GRB/SN associations is a challenge, because majority of the SNe will be faint. Some additional, dramatic observable consequences are predicted, which can also be utilized to test the model.Comment: ApJ Letters in press, 4 emulateapj page

Cosmic Mach Number as a Function of Overdensity and Galaxy Age

We carry out an extensive study of the cosmic Mach number (\mach) on scales of R=5, 10 and 20h^-1Mpc using an LCDM hydrodynamical simulation. We particularly put emphasis on the environmental dependence of \mach on overdensity, galaxy mass, and galaxy age. We start by discussing the difference in the resulting \mach according to different definitions of \mach and different methods of calculation. The simulated Mach numbers are slightly lower than the linear theory predictions even when a non-linear power spectrum was used in the calculation, reflecting the non-linear evolution in the simulation. We find that the observed \mach is higher than the simulated mean by more than 2-standard deviations, which suggests either that the Local Group is in a relatively low-density region or that the true value of \Omega_m is ~ 0.2, significantly lower than the simulated value of 0.37. We show from our simulation that the Mach number is a weakly decreasing function of overdensity. We also investigate the correlations between galaxy age, overdensity and \mach for two different samples of galaxies --- DWARFs and GIANTs. Older systems cluster in higher density regions with lower \mach, while younger ones tend to reside in lower density regions with larger \mach, as expected from the hierarchical structure formation scenario. However, for DWARFs, the correlation is weakened by the fact that some of the oldest DWARFs are left over in low-density regions during the structure formation history. For giant systems, one expects blue-selected samples to have higher \mach than red-selected ones. We briefly comment on the effect of the warm dark matter on the expected Mach number.Comment: 43 pages, including 15 figures. Accepted version in ApJ. Included correlation function of different samples of galaxies, and the cumulative number fraction distribution as a fcn. of overdensity. Reorganized figures and added some reference

Cosmic Microwave Background constraints of decaying dark matter particle properties

If a component of cosmological dark matter is made up of massive particles - such as sterile neutrinos - that decay with cosmological lifetime to emit photons, the reionization history of the universe would be affected, and cosmic microwave background anisotropies can be used to constrain such a decaying particle model of dark matter. The optical depth depends rather sensitively on the decaying dark matter particle mass m_{dm}, lifetime tau_{dm}, and the mass fraction of cold dark matter f that they account for in this model. Assuming that there are no other sources of reionization and using the WMAP 7-year data, we find that 250 eV < m_{dm} < 1 MeV, whereas 2.23*10^3 yr < tau_{dm} < 1.23*10^18 yr. The best fit values for m_{dm} and tau_{dm}/f are 17.3 keV and 2.03*10^16 yr respectively.Comment: 17 pages, 3 figure

Evolution of Lyman Break Galaxies Beyond Redshift Four

The formation rate of luminous galaxies seems to be roughly constant from z~2 to z~4 from the recent observations of Lyman break galaxies (LBGs) (Steidel et al 1999). The abundance of luminous quasars, on the other hand, appears to drop off by a factor of more than twenty from z~2 to z~5 (Warren, Hewett, & Osmer 1994; Schmidt, Schneider, & Gunn 1995). The difference in evolution between these two classes of objects in the overlapping, observed redshift range, z=2-4, can be explained naturally, if we assume that quasar activity is triggered by mergers of luminous LBGs and one quasar lifetime is ~10^{7-8} yrs. If this merger scenario holds at higher redshift, for the evolutions of these two classes of objects to be consistent at z>4, the formation rate of luminous LBGs is expected to drop off at least as rapidly as exp(-(z-4)^{6/5}) at z>4.Comment: in press, ApJ Letters, 15 latex pages plus 1 fi