PlanT: Explainable Planning Transformers via Object-Level Representations

Planning an optimal route in a complex environment requires efficientreasoning about the surrounding scene. While human drivers prioritize importantobjects and ignore details not relevant to the decision, learning-basedplanners typically extract features from dense, high-dimensional gridrepresentations containing all vehicle and road context information. In thispaper, we propose PlanT, a novel approach for planning in the context ofself-driving that uses a standard transformer architecture. PlanT is based onimitation learning with a compact object-level input representation. On theLongest6 benchmark for CARLA, PlanT outperforms all prior methods (matching thedriving score of the expert) while being 5.3x faster than equivalentpixel-based planning baselines during inference. Combining PlanT with anoff-the-shelf perception module provides a sensor-based driving system that ismore than 10 points better in terms of driving score than the existing state ofthe art. Furthermore, we propose an evaluation protocol to quantify the abilityof planners to identify relevant objects, providing insights regarding theirdecision-making. Our results indicate that PlanT can focus on the most relevantobject in the scene, even when this object is geometrically distant.<br

Project Cerberus: Flyby Mission to Pluto

The goal of the Cerberus Project was to design a feasible and cost-effective unmanned flyby mission to Pluto. The requirements in the request for proposal for an unmanned probe to Pluto are presented and were met. The design stresses proven technology that will avoid show stoppers which could halt mission progress. Cerberus also utilizes the latest advances in the spacecraft industry to meet the stringent demands of the mission. The topics covered include: (1) mission management, planning, and costing; (2) structures; (3) power and propulsion; (4) attitude, articulation, and control; (5) command, control, and communication; and (6) scientific instrumentation

Transition jump system for the Fermilab Booster

A transition-jump system recently installed in the Fermilab Booster is described. Early results of the commissioning are presented. 13 refs., 7 figs

Modelling the direct effect of aerosols in the solar near-infrared on a planetary scale

International audienceWe used a spectral radiative transfer model to compute the direct radiative effect (DRE) of natural plus anthropogenic aerosols in the solar near-infrared (IR), between 0.85?10 ?m, namely, their effect on the outgoing near-IR radiation at the top of atmosphere (TOA, ?FTOA), on the atmospheric absorption of near-IR radiation (?Fatmab) and on the surface downward and absorbed near-IR radiation (?Fsurf, and ?Fsurfnet, respectively). The computations were performed on a global scale (over land and ocean) under all-sky conditions, using detailed spectral aerosol optical properties taken from the Global Aerosol Data Set (GADS) supplemented by realistic data for the rest of surface and atmospheric parameters. The computed aerosol DRE, averaged over the 12-year period 1984?1995 for January and July, shows that on a global mean basis aerosols produce a planetary cooling by increasing the scattered near-IR radiation back to space by 0.48 W m?2, they warm the atmosphere by 0.37 W m?2 and cool the surface by decreasing the downward and absorbed near-IR radiation at surface by 1.03 and 0.85 W m?2, respectively. The magnitude of the near-IR aerosol DRE is smaller than that of the combined ultraviolet (UV) and visible DRE, but it is still energetically important, since it contributes to the total shortwave (SW) DRE by 22?31%. The aerosol-produced near-IR surface cooling combined with the atmospheric warming, may affect the thermal dynamics of the Earth-atmosphere system, by increasing the atmospheric stability, decreasing thus cloud formation, and precipitation, especially over desertification threatened regions such as the Mediterranean basin. This, together with the fact that the sign of near-IR aerosol DRE is sometimes opposite to that of UV-visible DRE, demonstrates the importance of performing detailed spectral computations to provide estimates of the climatic role of aerosols for the Earth-atmosphere system. This was demonstrated by sensitivity tests revealing very large differences (up to 300%) between aerosol DREs computed using detailed spectral and spectrally-averaged aerosol optical properties. Our model results indicate thus that the aerosol direct radiative effect on the near-IR radiation is very sensitive to the treatment of the spectral dependence of aerosol optical properties and solar radiation

The direct effect of aerosols on solar radiation based on satellite observations, reanalysis datasets, and spectral aerosol optical properties from Global Aerosol Data Set (GADS)

International audienceA global estimate of the seasonal direct radiative effect (DRE) of natural plus anthropogenic aerosols on solar radiation under all-sky conditions is obtained by combining satellite measurements and reanalysis data with a spectral radiative transfer model and spectral aerosol optical properties taken from the Global Aerosol Data Set (GADS). The estimates are obtained with detailed spectral model computations separating the ultraviolet (UV), visible and near-infrared wavelengths. The global distribution of spectral aerosol optical properties was taken from GADS whereas data for clouds, water vapour, ozone, carbon dioxide, methane and surface albedo were taken from various satellite and reanalysis datasets. Using these aerosol properties and other related variables, we generate climatological (for the 12-year period 1984?1995) monthly mean aerosol DREs. The global annual mean DRE on the outgoing SW radiation at the top of atmosphere (TOA, ?FTOA) is ?1.62 W m?2 (with a range of ?15 to 10 W m?2, negative values corresponding to planetary cooling), the effect on the atmospheric absorption of SW radiation (?Fatmab) is 1.6 W m?2 (values up to 35 W m?2, corresponding to atmospheric warming), and the effect on the surface downward and absorbed SW radiation (?Fsurf, and ?Fsurfnet, respectively) is ?3.93 and ?3.22 W m?2 (values up to ?45 and ?35 W m?2, respectively, corresponding to surface cooling). According to our results, aerosols decrease/increase the planetary albedo by ?3 to 13% at the local scale, whereas on planetary scale the result is an increase of 1.5%. Aerosols can warm locally the atmosphere by up to 0.98 K day?1, whereas they can cool the Earth's surface by up to ?2.9 K day?1. Both these effects, which can significantly modify atmospheric dynamics and the hydrological cycle, can produce significant planetary cooling on a regional scale, although planetary warming can arise over highly reflecting surfaces. The aerosol DRE at the Earth's surface compared to TOA can be up to 15 times larger at the local scale. The largest aerosol DRE takes place in the northern hemisphere both at the surface and the atmosphere, arising mainly at ultraviolet and visible wavelengths

Sensitivity to Sulfited Foods among Sulfite-Sensitive Subjects with Asthma

Eight individuals with asthma who had been diagnosed as sulfite sensitive on the basis of double-blind capsule-beverage challenges were subjected to challenges with various sulfited foods, including lettuce, shrimp, dried apricots, white grape juice, dehydrated potatoes (as mashed potatoes), and mushrooms. Four of these patients failed to respond to challenges with any of the sulfited foods. The other four patients experienced a decrease in pulmonary function on double-blind challenges with sulfited lettuce. Two of three of these patients reacted to challenges with dried apricots and white grape juice; the fourth patient has not yet been challenged with these products. Only one of these four patients reacted to challenges with dehydrated potatoes and mushrooms, and, in this case, the response to double-blind challenges with dehydrated potatoes was not consistent. None of the sulfite-sensitive subjects with asthma responded to challenges with sulfited shrimp. It is concluded that sulfite-sensitive subjects with asthma will not necessarily react after ingestion of sulfited foods. The likelihood of a reaction is dependent on the nature of the food, the level of residual sulfite, the sensitivity of the patient, and perhaps on the form of residual sulfite and the mechanism of the sulfite-induced reaction

Prospects for high gain inertial fusion energy : An introduction to the first special edition

A European consortium of 15 laboratories across nine nations have worked together under the EUROFusion Enabling Research grants for the past decade with three principle objectives. These are: (a) investigating obstacles to ignition on megaJoule-class laser facilities; (b) investigating novel alternative approaches to ignition, including basic studies for fast ignition (both electron and ion-driven), auxiliary heating, shock ignition etc.; and (c) developing technologies that will be required in the future for a fusion reactor. The Hooke discussion meeting in March 2020 provided an opportunity to reflect on the progress made in inertial confinement fusion research world-wide to date. This first edition of two special issues seeks to identify paths forward to achieve high fusion energy gain. This article is part of a discussion meeting issue 'Prospects for high gain inertial fusion energy (part 1)'