Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails

Robots hold promise in many scenarios involving outdoor use, such as search-and-rescue, wildlife management, and collecting data to improve environment, climate, and weather forecasting. However, autonomous navigation of outdoor trails remains a challenging problem. Recent work has sought to address this issue using deep learning. Although this approach has achieved state-of-the-art results, the deep learning paradigm may be limited due to a reliance on large amounts of annotated training data. Collecting and curating training datasets may not be feasible or practical in many situations, especially as trail conditions may change due to seasonal weather variations, storms, and natural erosion. In this paper, we explore an approach to address this issue through virtual-to-real-world transfer learning using a variety of deep learning models trained to classify the direction of a trail in an image. Our approach utilizes synthetic data gathered from virtual environments for model training, bypassing the need to collect a large amount of real images of the outdoors. We validate our approach in three main ways. First, we demonstrate that our models achieve classification accuracies upwards of 95% on our synthetic data set. Next, we utilize our classification models in the control system of a simulated robot to demonstrate feasibility. Finally, we evaluate our models on real-world trail data and demonstrate the potential of virtual-to-real-world transfer learning.Comment: iROS 201

Sternotherus odoratus

Number of Pages: 4Integrative BiologyGeological Science

The Mass of Dwarf Planet Eris

The discovery of dwarf planet Eris was followed shortly by the discovery of its satellite, Dysnomia, but the satellite orbit, and thus the system mass, was not known. New observations with the Keck Observatory and the Hubble Space Telescopes show that Dysnomia has a circular orbit with a radius of 37,350 ± 140 (1-σ) kilometers and a 15.774 ± 0.002 day orbital period around Eris. These orbital parameters agree with expectations for a satellite formed out of the orbiting debris left from a giant impact. The mass of Eris from these orbital parameters is 1.67 × 10^(22) ± 0.02 × 10^(22) kilograms, or 1.27 ± 0.02 that of Pluto

Geometric optics of whispering gallery modes

Quasiclassical approach and geometric optics allow to describe rather accurately whispering gallery modes in convex axisymmetric bodies. Using this approach we obtain practical formulas for the calculation of eigenfrequencies and radiative Q-factors in dielectrical spheroid and compare them with the known solutions for the particular cases and with numerical calculations. We show how geometrical interpretation allows expansion of the method on arbitrary shaped axisymmetric bodies.Comment: 12 pages, 6 figures, Photonics West 2006 conferenc

Fifteen new species of Sonoma Casey from the eastern United States and a description of the male of Sonoma tolulae (LeConte) (Coleoptera: Staphylinidae: Pselaphinae)

Fifteen new species of faronine pselaphines in the genus Sonoma Casey are described: S. baylessae; S. brasstownensis; S. chouljenkoi; S. cygnus; S. gilae; S. gimmeli; S. holmesi; S. mayori; S. nicholsae; S. parkorum; S. nhunguyeni; S. sokolovi; S. streptophorophallus; S. tishechkini; S. tridens. Male specimens of Sonoma tolulae (LeConte) were collected from the type locality and this species is redescribed. These species bring the total diversity of the genus to 43 species. The genus is divided into four species groups based on characters of the male genitalia. Sonoma corticina Casey was not included in the genus when it was described, thus it cannot be the type species of the genus. We here designate Sonoma tolulae (LeConte) as the type species of the genus Sonoma. A key is provided that will allow discrimination of all eastern species. Life history, habitat, and collection techniques are discussed

Comparison of three collection techniques for capture of Coleoptera, with an emphasis on saproxylic species, in Great Smoky Mountains National Park, USA

Collection methods and/or habitats sampled influence how many and which species are captured during entomological surveys. Here we compare Coleoptera catches among three survey activities, each using a single collection method, at the same study sites in Great Smoky Mountains National Park, USA. Activities included: short-term flight intercept trapping (FITs); sifting/Berlese funneling of leaf litter and extremely decayed downed coarse woody debris; and using emergence chambers containing coarse woody debris of various decay classes. In total, 2472 adult beetle specimens, representing 217 lowest identifiable taxa within 164 genera and 42 families, were collected during the FIT survey. Each survey activity yielded more than 2000 specimens, and a combined total of 413 species was collected. A combination of all surveys yielded the highest species richness when normalized for number of specimens indicating that variation of habitat and/or collection method significantly increases species richness. Of single surveys the FIT survey had the highest absolute species richness (217) and the highest richness when normalized for number of specimens. Species overlap among survey activities was low (Sorensen’s quotient of similarity was 0.20–0.27), which showed that each was about equally dissimilar from all others. Overlap of catch between FITs and emergence chambers was too low to justify substitution of emergence surveys with the FIT survey protocol used when attempting to collect saproxylic Coleoptera

Aqueous alteration on the parent bodies of carbonaceous chondrites: Computer simulations of late-stage oxidation

CI carbonaceous chondrites may be products of hydrous alteration of CV- or anhydrous CM-type materials. The CIs typically contain veins filled with carbonates and sulfates, probably indicating a period of late stage aqueous alteration under oxidizing conditions. To test this idea, computer simulations of aqueous alteration of CV- and CM-type carbonaceous were performed. Simulations were restricted to the oxidation of hydrous mineral assemblages produced in previous simulations in order to determine whether further reaction and oxidation results in the phyllosilicate, carbonate, sulfate and oxide vein assemblages typical of CI carbonaceous chondrites. Our simulations were performed at 1, 25, 100, and 150 C (the appropriate temperature range) for the CV and CM mineral assemblages and using the computer code EQ3/6