FedBEVT: Federated Learning Bird's Eye View Perception Transformer in Road Traffic Systems

Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV perspective. However, training a transformer model often requires a large amount of data, and as camera data for road traffic are often private, they are typically not shared. Federated learning offers a solution that enables clients to collaborate and train models without exchanging data but model parameters. In this paper, we introduce FedBEVT, a federated transformer learning approach for BEV perception. In order to address two common data heterogeneity issues in FedBEVT: (i) diverse sensor poses, and (ii) varying sensor numbers in perception systems, we propose two approaches -- Federated Learning with Camera-Attentive Personalization (FedCaP) and Adaptive Multi-Camera Masking (AMCM), respectively. To evaluate our method in real-world settings, we create a dataset consisting of four typical federated use cases. Our findings suggest that FedBEVT outperforms the baseline approaches in all four use cases, demonstrating the potential of our approach for improving BEV perception in autonomous driving.Comment: Accepted by IEEE T-IV. Code: https://github.com/rruisong/FedBEV

Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity directions are typically obtained by inertial measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation from 3 to 1. We propose a novel transformation decoupling strategy by leveraging screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems with 1-DOF, 2-DOF, and 1-DOF, respectively, thereby enhancing the computation efficiency. Specifically, the first 1-DOF represents the translation along the rotation axis and we propose an interval stabbing-based method to solve it. The second 2-DOF represents the pole which is an auxiliary variable in screw theory and we utilize a branch-and-bound method to solve it. The last 1-DOF represents the rotation angle and we propose a global voting method for its estimation. The proposed method sequentially solves three consensus maximization sub-problems, leading to efficient and deterministic registration. In particular, it can even handle the correspondence-free registration problem due to its significant robustness. Extensive experiments on both synthetic and real-world datasets demonstrate that our method is more efficient and robust than state-of-the-art methods, even when dealing with outlier rates exceeding 99%

Detector dead-time effects and paralyzability in high-speed quantum key distribution

Recent advances in quantum key distribution (QKD) have given rise to systems that operate at transmission periods significantly shorter than the dead times of their component single-photon detectors. As systems continue to increase in transmission rate, security concerns associated with detector dead times can limit the production rate of sifted bits. We present a model of high-speed QKD in this limit that identifies an optimum transmission rate for a system with given link loss and detector response characteristics

Phi-Meson Production at RHIC, Strong Color Fields and Intrinsic Transverse Momenta

We investigate the effects of strong color fields and of the associated enhanced intrinsic transverse momenta on the phi-meson production in ultrarelativistic heavy ion collisions at RHIC. The observed consequences include a change of the spectral slopes, varying particle ratios, and also modified mean transverse momenta. In particular, the composition of the production processes of phi mesons, that is, direct production vs. coalescence-like production, depends strongly on the strength of the color fields and intrinsic transverse momenta and thus represents a sensitive probe for their measurement.Comment: 4 pages, 3 figure

Time-Dependent Hartree-Fock simulation of the expansion of abraded nuclei

A recent interpretation of the caloric curve based on the expansion of the abraded spectator nucleus is re-analysed in the framework of the Time-Dependent Hartree-Fock (TDHF) evolution. It is shown that the TDHF dynamics is more complex than a single monopolar collective motion at moderate energy. The inclusion of other important collective degrees of freedom may lead to the dynamical creation of hollow structure. Then, low density regions could be locally reached after a long time by the creation of these exotic density profiles. In particular the systematic of the minimum density reached during the expansion (the so-called turning points) appears to be different.Comment: 30 Latex pages including 9 figure

Data Acquisition and Analysis of the 76Ge Double Beta Experiment in Gran Sasso 1990-2003

Data acquisition in a long running underground experiment has its specific experimental challenges, concerning data acquisition, stability of the experiment and background reduction. These problems are addressed here for the HEIDELBERG-MOSCOW experiment, which collected data in the period August 1990 - May 2003. The measurement and the analysis of the data is presented. The duty cycle of the experiment was ~80%, the collected statistics is 71.7 kgy. The background achieved in the energy region of the Q value for double beta decay is 0.11 events/kg y keV. The two-neutrino accompanied half-life is determined on the basis of more than 100 000 events. The confidence level for the neutrinoless signal has been improved to a 4 sigma level.Comment: Full version (50 pages, 36 figures, 9 tables), zipped ps file (size ~21MB or pdf format (size ~26MB), can be found in http://www.mpi-hd.mpg.de/non_acc/super.html (corrected typos) In press in NIM A, 200

Over-pressurized bioreactors : application to microbial cell cultures

In industrial biotechnology, microbial cultures are exposed to different local pressures inside bioreactors. Depending on the microbial species and strains, the increased pressure may have detrimental or beneficial effects on cellular growth and product formation. In this review, the effects of increased air pressure on various microbial cultures growing in bioreactors under moderate total pressure conditions (maximum, 15 bar) will be discussed. Recent data illustrating the diversity of increased air pressure effects at different levels in microbial cells cultivation will be presented, with particular attention to the effects of oxygen and carbon dioxide partial pressures on cellular growth and product formation, and the concomitant effect of oxygen pressure on antioxidant cellular defense mechanisms.The authors thank the FCT Strategic Project PEst-OE/EQB/LA0023/2013 and the Project "BioInd-Biotechnology and Bioengineering for improved Industrial and Agro-Food processes, REF. NORTE-07-0124-FEDER-000028," cofunded by the Programa Operacional Regional do Norte (ON.2-O Novo Norte), QREN, FEDER. A special aknowledgement is given to FCT for the support to the improvement of infrastructures awarded by the Project RECI/BBB-EBI/0179/2012 (FCOMP-01-0124-FEDER-027462)

Over-pressurized bioreactors : application to microbial cell cultures

In industrial biotechnology, microbial cultures are exposed to different local pressures inside bioreactors. Depending on the microbial species and strains, the increased pressure may have detrimental or beneficial effects on cellular growth and product formation. In this review, the effects of increased air pressure on various microbial cultures growing in bioreactors under moderate total pressure conditions (maximum, 15 bar) will be discussed. Recent data illustrating the diversity of increased air pressure effects at different levels in microbial cells cultivation will be presented, with particular attention to the effects of oxygen and carbon dioxide partial pressures on cellular growth and product formation, and the concomitant effect of oxygen pressure on antioxidant cellular defense mechanisms.The authors thank the FCT Strategic Project PEst-OE/EQB/LA0023/2013 and the Project "BioInd-Biotechnology and Bioengineering for improved Industrial and Agro-Food processes, REF. NORTE-07-0124-FEDER-000028," cofunded by the Programa Operacional Regional do Norte (ON.2-O Novo Norte), QREN, FEDER. A special aknowledgement is given to FCT for the support to the improvement of infrastructures awarded by the Project RECI/BBB-EBI/0179/2012 (FCOMP-01-0124-FEDER-027462)

Scans for signatures of selection in Russian cattle breed genomes reveal new candidate genes for environmental adaptation and acclimation

Domestication and selective breeding has resulted in over 1000 extant cattle breeds. Many of these breeds do not excel in important traits but are adapted to local environments. These adaptations are a valuable source of genetic material for efforts to improve commercial breeds. As a step toward this goal we identified candidate regions to be under selection in genomes of nine Russian native cattle breeds adapted to survive in harsh climates. After comparing our data to other breeds of European and Asian origins we found known and novel candidate genes that could potentially be related to domestication, economically important traits and environmental adaptations in cattle. The Russian cattle breed genomes contained regions under putative selection with genes that may be related to adaptations to harsh environments (e.g., AQP5, RAD50, and RETREG1). We found genomic signatures of selective sweeps near key genes related to economically important traits, such as the milk production (e.g., DGAT1, ABCG2), growth (e.g., XKR4), and reproduction (e.g., CSF2). Our data point to candidate genes which should be included in future studies attempting to identify genes to improve the extant breeds and facilitate generation of commercial breeds that fit better into the environments of Russia and other countries with similar climates

Temperatures of Exploding Nuclei

Breakup temperatures in central collisions of 197Au + 197Au at bombarding energies E/A = 50 to 200 MeV were determined with two methods. Isotope temperatures, deduced from double ratios of hydrogen, helium, and lithium isotopic yields, increase monotonically with bombarding energy from 5 MeV to 12 MeV, in qualitative agreement with a scenario of chemical freeze-out after adiabatic expansion. Excited-state temperatures, derived from yield ratios of states in 4He, 5Li, 6Li, and 8Be, are about 5 MeV, independent of the projectile energy, and seem to reflect the internal temperature of fragments at their final separation from the system. PACS numbers: 25.70.Mn, 25.70.Pq, 25.75.-qComment: 10 pages, RevTeX with 4 included figures; Also available from http://www-kp3.gsi.de/www/kp3/aladin_publications.htm