Underwater image quality assessment: subjective and objective methods

Underwater image enhancement plays a critical role in marine industry. Various algorithms are applied to enhance underwater images, but their performance in terms of perceptual quality has been little studied. In this paper, we investigate five popular enhancement algorithms and their output image quality. To this end, we have created a benchmark, including images enhanced by different algorithms and ground truth image quality obtained by human perception experiments. We statistically analyse the impact of various enhancement algorithms on the perceived quality of underwater images. Also, the visual quality provided by these algorithms is evaluated objectively, aiming to inform the development of objective metrics for automatic assessment of the quality for underwater image enhancement. The image quality benchmark and its objective metric are made publicly available

PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning

Vehicle motion planning is an essential component of autonomous driving technology. Current rule-based vehicle motion planning methods perform satisfactorily in common scenarios but struggle to generalize to long-tailed situations. Meanwhile, learning-based methods have yet to achieve superior performance over rule-based approaches in large-scale closed-loop scenarios. To address these issues, we propose PlanAgent, the first mid-to-mid planning system based on a Multi-modal Large Language Model (MLLM). MLLM is used as a cognitive agent to introduce human-like knowledge, interpretability, and common-sense reasoning into the closed-loop planning. Specifically, PlanAgent leverages the power of MLLM through three core modules. First, an Environment Transformation module constructs a Bird's Eye View (BEV) map and a lane-graph-based textual description from the environment as inputs. Second, a Reasoning Engine module introduces a hierarchical chain-of-thought from scene understanding to lateral and longitudinal motion instructions, culminating in planner code generation. Last, a Reflection module is integrated to simulate and evaluate the generated planner for reducing MLLM's uncertainty. PlanAgent is endowed with the common-sense reasoning and generalization capability of MLLM, which empowers it to effectively tackle both common and complex long-tailed scenarios. Our proposed PlanAgent is evaluated on the large-scale and challenging nuPlan benchmarks. A comprehensive set of experiments convincingly demonstrates that PlanAgent outperforms the existing state-of-the-art in the closed-loop motion planning task. Codes will be soon released.Comment: This work has been submitted to the IEEE for possible publicatio

VLBI detection of the AE Aqr twin, LAMOST J024048.51+195226.9

LAMOST J024048.51+195226.9 (J0240+1952) was recently identified as the second AE Aquarii (AE Aqr)-type cataclysmic variable, possessing the fastest known rotating white dwarf. We performed a Very Long Baseline Interferometry (VLBI) observation of J0240+1952 utilizing the European VLBI Network at 1.7\,GHz, to obtain the first view of the radio morphology on mas scale. Our high-resolution VLBI image clearly shows that the radio emission is compact on mas scale ($\lesssim2$\,AU), with no evidence for a radio jet or extended emission. The compact radio source has an average flux density of $\sim0.37$\,mJy, and its brightness temperature is given at $\gtrsim2.3\times10^{7}$\,K, confirming a non-thermal origin. The emission exhibits irregular variations on a time-scale of tens of minutes, similar to the radio flares seen in AE Aqr. The measured VLBI position of J0240+1952 is consistent with that derived from \textit{Gaia}. Our results favour the model in which the radio emission is attributed to a superposition of synchrotron radiation from expanding magnetized blobs of this system

Very Long Baseline Array Observations of Parsec-scale Radio Emission in Dual Active Galactic Nuclei

It is believed that dual active galactic nuclei (dual AGN) will form during galaxies merge. Studying dual-AGN emission can provide valuable insights into galaxy merging and evolution. To investigate parsec-scale radio emission properties, we observed eight radio components of four selected dual-AGN systems using the Very Long Baseline Array (VLBA) at 5 GHz in multiple-phase-center mode. Among them, two compact radio components, labeled J0051+0020B and J2300-0005A, were detected clearly on parsec scales for the first time. However, the radio emission of the other six components was resolved out in the high-resolution images. We provided the values or upper limits of the brightness temperature and radio emission power, and analyzed the emission origins in detail for each target. Based on their physical properties reported in this work and in the literature, we suggest the radio emission in J0051+0020B and J2300-0005A originates primarily from compact jets, while the other six sources show more complex emission mechanisms. In addition, our VLBA observations suggest the systematic X-ray deficit in our dual-AGN sample is likely attributed to the tidally induced effect and possible viewing angle effect.Comment: 15 pages, 4 figure

VLBI Astrometry of Radio Stars to Link Radio and Optical Celestial Reference Frames: Observing Strategies

The Gaia celestial reference frame (Gaia-CRF) will benefit from a close assessment with independent methods, such as Very Long Baseline Interferometry (VLBI) measurements of radio stars at bright magnitudes. However, obtaining full astrometric parameters for each radio star through VLBI measurements demands a significant amount of observation time. This study proposes an efficient observing strategy that acquires double-epoch VLBI positions to measure the positions and proper motions of radio stars at a reduced cost. The solution for CRF link compatible with individual VLBI position measurements is introduced, and the optimized observing epoch scheduling is discussed. Applying this solution to observational data yields results sensitive to sample increase or decrease, yet they remain consistently in line with the literature at the 1-sigma level. This suggests the potential for improvement with a larger sample size. Simulations for adding observations demonstrate the double-epoch strategy reduces CRF link parameter uncertainties by over 30% compared to the five-parameter strategy.Comment: 9 pages, 4 figures, accepted for publication in the Monthly Notices of the Royal Astronomy Society (MNRAS

VLBI astrometry on the white dwarf pulsar AR Scorpii

AR Scorpii (AR Sco), the only-known radio-pulsing white dwarf binary, shows unusual pulsating emission at the radio, infrared, optical, and ultraviolet bands. To determine its astrometric parameters at the radio band independently, we conducted multi-epoch Very Long Baseline Interferometry (VLBI) phase-referencing observations with the European VLBI Network at 5 GHz and the Chinese VLBI Network plus the Warkworth 30-m telescope (New Zealand) at 8.6 GHz. By using the differential VLBI astrometry, we provide high-precision astrometric measurements on the parallax (pi = 8.52(-0.07)(+0.04) mas) and proper motion (mu(alpha) = 9.48(-0.07)(+0.04) mas yr(-1), mu(delta) = -51.32(-0.38)(+0.22) mas yr (-1)). The new VLBI results agree with the optical Gaia astrometry. Our kinematic analysis reveals that the Galactic space velocities of AR Sco are quite consistent with that of both intermediate polars and polars. Combined with the previous tightest VLBI constraint on the size, our parallax distance suggests that the radio emission of AR Sco should be located within the light cylinder of its white dwarf

Comparison of the oncological outcomes between robot-assisted and abdominal radical hysterectomy for cervical cancer based on the new FIGO 2018 staging system: a multicentre retrospective study

Objective: To compare the 3-year oncological outcomes of robot-assisted radical hysterectomy (RRH) and abdominal radical hysterectomy (ARH) for cervical cancer. Methods: Based on the clinical diagnosis and treatment for cervical cancer in the China database, patients with FIGO 2018 stage IA with lymphovascular space invasion (LVSI)-IB2 cervical cancer disease who underwent RRH and ARH from 2004 to 2018 were included. Kaplan–Meier survival analysis was used to compare the 3-year overall survival (OS) and disease-free survival (DFS) rate between patients receiving RRH and those receiving ARH. The Cox proportional hazards model and propensity score matching were used to estimate the surgical approach-specific survival. Results: A total of 1,137 patients with cervical cancer were enrolled in this study, including the RRH group (n = 468) and the ARH group (n = 669). The median follow-up time was 45 months (RRH group vs. ARH group: 24 vs. 60 months). Among the overall study population, there was no significant difference in 3-year OS and DFS between the RRH group and the ARH group (OS: 95.8% vs. 97.6% p = 0.244). The Cox proportional hazards analysis showed that RRH was not an independent risk factor for 3-year OS (HR: 1.394, 95% CI: 0.552–3.523, p = 0.482). However, RRH was an independent risk factor for 3-year DFS (HR: 1.985, 95% CI: 1.078–3.655 p = 0.028). After 1:1 propensity score matching, there was no significant difference in 3-year OS between the RRH group and the ARH group (96.6% vs. 98.0%, p = 0.470); however, the 3-year DFS of the RRH group was lower than that of the ARH group (91.0% vs. 96.1%, p = 0.025). The Cox proportional hazards analysis revealed that RRH was not an independent risk factor for 3-year OS (HR: 1.622, 95% CI: 0.449–5.860 p = 0.461), but RRH was an independent risk factor for 3-year DFS (HR: 2.498, 95% CI: 1.123–5.557 p = 0.025). Conclusion: Among patients with stage I A1 (LVSI +)-I B2 cervical cancer based on the FIGO 2018 staging system, RRH has a lower 3-year DFS than ARH, suggesting that RRH may not be suitable for early cervical cancer patients

EAVN Astrometry toward the Extreme Outer Galaxy: Kinematic distance with the proper motion of G034.84-00.95

We aim to reveal the structure and kinematics of the Outer-Scutum-Centaurus (OSC) arm located on the far side of the Milky Way through very long baseline interferometry (VLBI) astrometry using KaVA, which is composed of KVN (Korean VLBI Network) and VERA (VLBI Exploration of Radio Astrometry). We report the proper motion of a 22 GHz H$_{2}$O maser source, which is associated with the star-forming region G034.84$-$00.95, to be ($\mu_{\alpha} \rm{cos}\delta$, $\mu_{\delta}$) = ($-$1.61$\pm$0.18, $-$4.29$\pm$0.16) mas yr$^{-1}$ in equatorial coordinates (J2000). We estimate the 2D kinematic distance to the source to be 18.6$\pm$1.0 kpc, which is derived from the variance-weighted average of kinematic distances with LSR velocity and the Galactic-longitude component of the measured proper motion. Our result places the source in the OSC arm and implies that G034.84$-$00.95 is moving away from the Galactic plane with a vertical velocity of $-$38$\pm$16 km s$^{-1}$. Since the H I supershell GS033+06$-$49 is located at a kinematic distance roughly equal to that of G034.84$-$00.95, it is expected that gas circulation occurs between the outer Galactic disk around G034.84$-$00.95 with a Galactocentric distance of 12.8$^{+1.0}_{-0.9}$ kpc and halo. We evaluate possible origins of the fast vertical motion of G034.84$-$00.95, which are (1) supernova explosions and (2) cloud collisions with the Galactic disk. However, neither of the possibilities are matched with the results of VLBI astrometry as well as spatial distributions of H II regions and H I gas.Comment: Accepted for publication in PASJ. 14 figures; 8 table

CdSe Ring- and Tribulus-Shaped Nanocrystals: Controlled Synthesis, Growth Mechanism, and Photoluminescence Properties

With air-stable and generic reagents, CdSe nanocrystals with tunable morphologies were prepared by controlling the temperature in the solution reaction route. Thereinto, the lower reaction temperature facilitates the anisotropic growth of crystals to obtain high-yield CdSe ring- and tribulus-shaped nanocrystals with many branches on their surfaces. The photoluminescence properties are sensitive to the nature of particle and its surface. The products synthesized at room temperature, whose surfaces have many branches, show higher blue shift and narrower emission linewidths (FWHM) of photoluminescence than that of samples prepared at higher temperature, whose surfaces have no branches. Microstructural studies revealed that the products formed through self-assembly of primary crystallites. Nanorings formed through the nonlinear attachment of primary crystallites, and the branches on the surfaces grew by linear attachment at room temperature. And the structure of tribulus-shaped nanoparticle was realized via two steps of aggregation, i.e., random and linear oriented aggregation. Along with the elevation of temperature, the branches on nanocrystal surfaces shortened gradually because of the weakened linear attachment

A Search for Light Super Symmetric Baryons

We have searched for the production and decay of light super-symmetric baryons produced in 800 GeV/c proton copper interactions in a charged hyperon beam experiment. We observe no evidence for the decays R+(uud \g^~) -> S(uds \g^~) pi+ and X-(ssd \g^~) -> S(uds \g^~) pi- in the predicted parent mass and lifetime ranges of 1700-2500 Mev/c2 and 50-500 ps. Production upper limits for R+ at xF=0.47, Pt=1.4 GeV/c2 and X- at xF=0.48, Pt=0.65 GeV/c2 of less than 10^-3 of all charged secondary particles produced are obtained for all but the highest masses and shortest lifetimes predicted.Comment: 9 pages, uuencoded postscript 4 figures uuencoded, tar-compressed file (submitted to PRL