Deep Normalizing Flows for State Estimation

Safe and reliable state estimation techniques are a critical component of next-generation robotic systems. Agents in such systems must be able to reason about the intentions and trajectories of other agents for safe and efficient motion planning. However, classical state estimation techniques such as Gaussian filters often lack the expressive power to represent complex underlying distributions, especially if the system dynamics are highly nonlinear or if the interaction outcomes are multi-modal. In this work, we use normalizing flows to learn an expressive representation of the belief over an agent's true state. Furthermore, we improve upon existing architectures for normalizing flows by using more expressive deep neural network architectures to parameterize the flow. We evaluate our method on two robotic state estimation tasks and show that our approach outperforms both classical and modern deep learning-based state estimation baselines.Comment: Accepted to FUSION 202

Grain Cart Compaction Impact

Many factors influence the yield. Harvest is a busy time, and often there is not clear direction or guidance on where to drive or not drive the Grain Cart or other heavy equipment. Path of travel is something that could be changed by educating operators and growers on the benefits and tools they can use. Traffic in the field has inconsistent patterns across the field to minimize time to and from the combine. It is not clear where to place the “path” to the loading area. The heavy axle loads when full can and do contribute to compaction. It is not clear the impacts of compaction from grain cart traffic through the field on a micro or macro level as it relates to yield. It is expected there would be some benefit from having a recommended more controlled path of travel in a given field. The combination of where the cart goes and does not go empty or full and the soil conditions contribute to soil health deterioration and yield drag

Self-organized density patterns of molecular motors in arrays of cytoskeletal filaments

The stationary states of systems with many molecular motors are studied theoretically for uniaxial and centered (aster-like) arrangements of cytoskeletal filaments using Monte Carlo simulations and a two-state model. Mutual exclusion of motors from binding sites of the filaments is taken into account. For small overall motor concentration, the density profiles are exponential and algebraic in uniaxial and centered filament systems, respectively. For uniaxial systems, exclusion leads to the coexistence of regions of high and low densities of bound motors corresponding to motor traffic jams, which grow upon increasing the overall motor concentration. These jams are insensitive to the motor behavior at the end of the filament. In centered systems, traffic jams remain small and an increase in the motor concentration leads to a flattening of the profile, if the motors move inwards, and to the build-up of a concentration maximum in the center of the aster if motors move outwards. In addition to motors density patterns, we also determine the corresponding patterns of the motor current.Comment: 48 pages, 8 figure

The Nuclear Spectroscopic Telescope Array (NuSTAR)

The Nuclear Spectroscopic Telescope Array (NuSTAR) is a NASA Small Explorer mission that will carry the first focusing hard X-ray (5 -- 80 keV) telescope to orbit. NuSTAR will offer a factor 50 -- 100 sensitivity improvement compared to previous collimated or coded mask imagers that have operated in this energy band. In addition, NuSTAR provides sub-arcminute imaging with good spectral resolution over a 12-arcminute field of view. After launch, NuSTAR will carry out a two-year primary science mission that focuses on four key programs: studying the evolution of massive black holes through surveys carried out in fields with excellent multiwavelength coverage, understanding the population of compact objects and the nature of the massive black hole in the center of the Milky Way, constraining explosion dynamics and nucleosynthesis in supernovae, and probing the nature of particle acceleration in relativistic jets in active galactic nuclei. A number of additional observations will be included in the primary mission, and a guest observer program will be proposed for an extended mission to expand the range of scientific targets. The payload consists of two co-aligned depth-graded multilayer coated grazing incidence optics focused onto solid state CdZnTe pixel detectors. To be launched in early 2012 on a Pegasus rocket into a low-inclination Earth orbit. Data will be publicly available at GSFC's High Energy Astrophysics Science Archive Research Center (HEASARC) following validation at the science operations center located at Caltech.Comment: 9 pages, 5 figures, to appear in Proceedings of the SPIE, Space Telescopes and Instrumentation 2010: Ultraviolet to Gamma Ra

NuSTAR: system engineering and modeling challenges in pointing reconstruction for a deployable x-ray telescope

The Nuclear Spectroscopic Telescope Array (NuSTAR) is a NASA Small Explorer mission that will make the first sensitive images of the sky in the high energy X-ray band (6 - 80 keV). The NuSTAR observatory consists of two co-aligned grazing incidence hard X-ray telescopes with a ~10 meter focal length, achieved by the on-orbit extension of a deployable mast. A principal science objective of the mission is to locate previously unknown high-energy X-ray sources to an accuracy of 10 arcseconds (3-sigma), sufficient to uniquely identify counterparts at other wavelengths. In order to achieve this, a star tracker and laser metrology system are an integral part of the instrument; in conjunction, they will determine the orientation of the optics bench in celestial coordinates and also measure the flexures in the deployable mast as it responds to the varying on-orbit thermal environment, as well as aerodynamic and control torques. The architecture of the NuSTAR system for solving the attitude and aspect problems differs from that of previous X-ray telescopes, which did not require ex post facto reconstruction of the instantaneous observatory alignment on-orbit. In this paper we describe the NuSTAR instrument metrology system architecture and implementation, focusing on the systems engineering challenges associated with validating the instantaneous transformations between focal plane and celestial coordinates to within the required accuracy. We present a mathematical solution to photon source reconstruction, along with a detailed error budget that relates component errors to science performance. We also describe the architecture of the instrument simulation software being used to validate the end-to-end performance model

AT2019wxt: An ultra-stripped supernova candidate discovered in electromagnetic follow-up of a gravitational wave trigger

We present optical, radio and X-ray observations of a rapidly-evolving transient AT2019wxt (PS19hgw), discovered during the search for an electromagnetic (EM) counterpart to the gravitational-wave (GW) trigger S191213g (LIGO Scientific Collaboration & Virgo Collaboration 2019a). Although S191213g was not confirmed as a significant GW event in the off-line analysis of LIGO-Virgo data, AT2019wxt remained an interesting transient due its peculiar nature. The optical/NIR light curve of AT2019wxt displayed a double-peaked structure evolving rapidly in a manner analogous to currently know ultra-stripped supernovae (USSNe) candidates. This double-peaked structure suggests presence of an extended envelope around the progenitor, best modelled with two-components: i) early-time shock-cooling emission and ii) late-time radioactive $^{56}$Ni decay. We constrain the ejecta mass of AT2019wxt at $M_{ej} \approx{0.20 M_{\odot}}$ which indicates a significantly stripped progenitor that was possibly in a binary system. We also followed-up AT2019wxt with long-term Chandra and Jansky Very Large Array observations spanning $\sim$260 days. We detected no definitive counterparts at the location of AT2019wxt in these long-term X-ray and radio observational campaigns. We establish the X-ray upper limit at $9.93\times10^{-17}$ erg cm$^{-2}$ s$^{-1}$ and detect an excess radio emission from the region of AT2019wxt. However, there is little evidence for SN1993J- or GW170817-like variability of the radio flux over the course of our observations. A substantial host galaxy contribution to the measured radio flux is likely. The discovery and early-time peak capture of AT2019wxt in optical/NIR observation during EMGW follow-up observations highlights the need of dedicated early, multi-band photometric observations to identify USSNe.Comment: 20 pages, 14 figures, Submitted to Ap

The Nuclear Spectroscopic Telescope Array (NuSTAR)

The Nuclear Spectroscopic Telescope Array (NuSTAR) is a NASA Small Explorer mission that will carry the rst focusing hard X-ray (6 - 80 keV) telescope to orbit. NuSTAR will oer a factor 50 - 100 sensitivity improvement compared to previous collimated or coded mask imagers that have operated in this energy band. In addition, NuSTAR provides sub-arcminute imaging with good spectral resolution over a 12-arcminute eld of view. After launch, NuSTAR will carry out a two-year primary science mission that focuses on four key programs: studying the evolution of massive black holes through surveys carried out in elds with excellent multiwavelength coverage, understanding the population of compact objects and the nature of the massive black hole in the center of the Milky Way, constraining the explosion dynamics and nucleosynthesis in supernovae, and probing the nature of particle acceleration in relativistic jets in active galactic nuclei. A number of additional observations will be included in the primary mission, and a guest observer program will be proposed for an extended mission to expand the range of scientic targets. The payload consists of two co-aligned depth-graded multilayer coated grazing incidence optics focused onto a solid state CdZnTe pixel detectors. To be launched in early 2012 on a Pegasus rocket into a low-inclination Earth orbit, NuSTAR largely avoids SAA passage, and will therefore have low and stable detector backgrounds. The telescope achieves a 10.14-meter focal length through on-orbit deployment of an extendable mast. An aspect and alignment metrology system enable reconstruction of the absolute aspect and variations in the telescope alignment resulting from mast exure during ground data processing. Data will be publicly available at GSFC's High Energy Archive Research Center (HEASARC) following validation at the science operations center located at Caltech

The Nuclear Spectroscopic Telescope Array (NuSTAR)

The Nuclear Spectroscopic Telescope Array (NuSTAR) is a NASA Small Explorer mission that will carry the first focusing hard X-ray (5 - 80 keV) telescope to orbit. NuSTAR will offer a factor 50 - 100 sensitivity improvement compared to previous collimated or coded mask imagers that have operated in this energy band. In addition, NuSTAR provides sub-arcminute imaging with good spectral resolution over a 12-arcminute field of view. After launch, NuSTAR will carry out a two-year primary science mission that focuses on four key programs: studying the evolution of massive black holes through surveys carried out in fields with excellent multiwavelength coverage, understanding the population of compact objects and the nature of the massive black hole in the center of the Milky Way, constraining explosion dynamics and nucleosynthesis in supernovae, and probing the nature of particle acceleration in relativistic jets in active galactic nuclei. A number of additional observations will be included in the primary mission, and a. guest observer program will be proposed for an extended mission to expand the range of scientific targets. The payload consists of two co-aligned depth-graded multilayer coated grazing incidence optics focused onto solid state CdZnTe pixel detectors. To be launched in early 2012 on a Pegasus rocket into a low-inclination Earth orbit. NuSTAR largely avoids SAA passages, and will therefore have low and stable detector backgrounds. The telescope achieves a 10.15-meter focal length through on-orbit deployment of all mast. An aspect and alignment metrology system enable reconstruction of the absolute aspect and variations in the telescope alignment resulting from mast flexure during ground data processing. Data will be publicly available at GSFC's High Energy Astrophysics Science Archive Research Center (HEASARC) following validation at the science operations center located at Caltech

Opposite-side flavour tagging of B mesons at the LHCb experiment

The calibration and performance of the oppositeside flavour tagging algorithms used for the measurements of time-dependent asymmetries at the LHCb experiment are described. The algorithms have been developed using simulated events and optimized and calibrated with B + →J/ψK +, B0 →J/ψK ∗0 and B0 →D ∗− μ + νμ decay modes with 0.37 fb−1 of data collected in pp collisions at √ s = 7 TeV during the 2011 physics run. The oppositeside tagging power is determined in the B + → J/ψK + channel to be (2.10 ± 0.08 ± 0.24) %, where the first uncertainty is statistical and the second is systematic

Measurement of the Bs0→J/ψKS0B_s^0\to J/\psi K_S^0 branching fraction

The $B_s^0\to J/\psi K_S^0$ branching fraction is measured in a data sample corresponding to 0.41$fb^{-1}$ of integrated luminosity collected with the LHCb detector at the LHC. This channel is sensitive to the penguin contributions affecting the sin2$\beta$ measurement from $B^0\to J/\psi K_S^0$ The time-integrated branching fraction is measured to be $BF(B_s^0\to J/\psi K_S^0)=(1.83\pm0.28)\times10^{-5}$. This is the most precise measurement to date