Robotic Fabric Flattening with Wrinkle Direction Detection

Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in DOM due to the complex dynamics and high degree of freedom of deformable objects. In this paper, we develop a novel image-processing algorithm based on Gabor filters to extract useful features from cloth, and based on this, devise a strategy for cloth flattening tasks. We evaluate the overall framework experimentally, and compare it with three human operators. The results show that our algorithm can determine the direction of wrinkles on the cloth accurately in the simulation as well as the real robot experiments. Besides, the robot executing the flattening tasks using the dewrinkling strategy given by our algorithm achieves satisfying performance compared to other baseline methods. The experiment video is available on https://sites.google.com/view/robotic-fabric-flattening/hom

Functional, physical and psychosocial impact of Temporomandibular Disorders in adolescents and young adults

This community-based study investigated the functional, physical and psychosocial impact of Temporomandibular Disorders (TMDs) in adolescents and young adults. It also determined the discriminative capacity of a TMDs-specific oral health related quality of life (OHRQoL) instrument and compared three formats of appraising OHRQoL data. Subjects were recruited from a local Polytechnic. The presence of TMDs was established with the Fonseca Anamnestic Index (FAI), whilst TMDs-specific OHRQoL was evaluated with the Oral Health Impact Profile?TMDs (OHIP-TMDs). Demographic information, FAI and OHIP-TMDs responses were gathered with an on-line questionnaire. Data was analysed using Mann-Whitney U-test, chi-square test and Spearman?s rho correlation with significance level set at 0.05. Data from a total of 244 participants were compiled and examined. The ?no TMDs? (NT) group consisted of 140 subjects (119 females; 21 males) with a mean age of 20.41±3.29 years, while the ?with TMDs? (WT) group composed of 104 subjects (88 females; 16 males) aged 19.82±3.04 years. Significant differences in median severity scores were observed between subjects with and without TMDs for all OHIP-TMDs domains and total OHIP (p values < 0.001). For appraisal of extent and prevalence, significant differences were again observed (p values < 0.05) with the exception of the functional limitation and handicap domains. TMDs impacted physical and psychosocial well-being of adolescents and young adults. OHIP-TMDs, preferably appraised by severity, extent and prevalence, was able to discriminate between subjects with and without TMDs. It holds promise as a TMDs-specific OHRQoL instrument for epidemiological studies

Perspectives on Gamma-Ray Burst Physics and Cosmology with Next Generation Facilities

High-redshift Gamma-Ray Bursts (GRBs) beyond redshift $\sim6$ are potentially powerful tools to probe the distant early Universe. Their detections in large numbers and at truly high redshifts call for the next generation of high-energy wide-field instruments with unprecedented sensitivity at least one order of magnitude higher than the ones currently in orbit. On the other hand, follow-up observations of the afterglows of high-redshift GRBs and identification of their host galaxies, which would be difficult for the currently operating telescopes, require new, extremely large facilities of at multi-wavelengths. This chapter describes future experiments that are expected to advance this exciting field, both being currently built and being proposed. The legacy of Swift will be continued by SVOM, which is equipped with a set of space-based multi-wavelength instruments as well as and a ground segment including a wide angle camera and two follow-up telescopes. The established Lobster-eye X-ray focusing optics provides a promising technology for the detection of faint GRBs at very large distances, based on which the {THESEUS}, {Einstein Probe} and other mission concepts have been proposed. Follow-up observations and exploration of the reionization era will be enabled by large facilities such as {SKA} in the radio, the 30m class telescopes in the optical/near-IR, and the space-borne {WFIRST} and {JWST} in the optical/near-IR/mid-IR. In addition, the X-ray and $\gamma$-ray polarization experiment POLAR is also introduced.Comment: accepted for publication in Space Science Review; reprinted as a chapter in a book of the Space Sciences Series of ISSI for the proceedings of the ISSI-Beijing workshop " Gamma-Ray Bursts: a Tool to Explore the Young Universe

The Type Ia Aupernova 1997br in ESO 576-G40

The peculiar type Ia supernova SN 1997br in ESO576-G40 was extensively observed at Beijing Astronomical Observatory (BAO) and Lick Observatory. In this paper, we present and discuss the BV RI photometry and the spectra collected over three months, starting from 9 days before maximum brightness. The light curves of SN 1997br are similar to those of SN 1991T, with slow decline rates after the B maximum. Well sampled data before the B maximum show unambiguously that SN 1997br rises more slowly and has a wider peak than normal type Ia supernovae. The optical color evolution of SN 1997br is also similar to that of SN 1991T. We estimate the extinction of SN 1997br to be E(B −V )=0.35±0.10 by comparing its BV RI light curves to those of SN 1991T and by measuring the equivalent width of interstellar Na I D absorption lines. We have conducted a thorough comparison of the spectroscopic evolution of SN 1997br, SN 1991T, and SN 1994D. Although SN 1997br is generally very similar to SN 1991T, it shows some interesting differences at various epochs. Spectra of SN 1997br seem to indicate an earlier transition to the dominant phase of Fe peak elements after the B maximum. Si II lines in SN 1997br show a very short duration after the B maximum. We discuss the implications of our observations of SN 1997br for models of type Ia supernovae. Specifically, we suggest that some SNe Ia may result from decelerated detonations of white dwarfs. (Refer to PDF file for exact formulas)

MME: A Comprehensive Evaluation Benchmark for Multimodal Large Language Models

Multimodal Large Language Model (MLLM) relies on the powerful LLM to perform multimodal tasks, showing amazing emergent abilities in recent studies, such as writing poems based on an image. However, it is difficult for these case studies to fully reflect the performance of MLLM, lacking a comprehensive evaluation. In this paper, we fill in this blank, presenting the first MLLM Evaluation benchmark MME. It measures both perception and cognition abilities on a total of 14 subtasks. In order to avoid data leakage that may arise from direct use of public datasets for evaluation, the annotations of instruction-answer pairs are all manually designed. The concise instruction design allows us to fairly compare MLLMs, instead of struggling in prompt engineering. Besides, with such an instruction, we can also easily carry out quantitative statistics. A total of 10 advanced MLLMs are comprehensively evaluated on our MME, which not only suggests that existing MLLMs still have a large room for improvement, but also reveals the potential directions for the subsequent model optimization.Comment: https://github.com/BradyFU/Awesome-Multimodal-Large-Language-Model

A multi band study of the optically dark GRB 051028

Observations were made of the optical afterglow of GRB 051028 with the Lulin observatory's 1.0 m telescope and the WIDGET robotic telescope system. R band photometric data points were obtained on 2005 October 28 (UT), or 0.095-0.180 days after the burst. There is a possible plateau in the optical light curve around 0.1 days after the burst; the light curve resembles optically bright afterglows (e.g. GRB 041006, GRB 050319, GRB060605) in shape of the light curve but not in brightness. The brightness of the GRB 051028 afterglow is 3 magnitudes fainter than that of one of the dark events, GRB 020124. Optically dark GRBs have been attributed to dust extinction within the host galaxy or high redshift. However, the spectrum analysis of the X-rays implies that there is no significant absorption by the host galaxy. Furthermore, according to the model theoretical calculation of the Ly$\alpha$ absorption to find the limit of GRB 051028's redshift, the expected $R$ band absorption is not high enough to explain the darkness of the afterglow. While the present results disfavor either the high-redshift hypothesis or the high extinction scenario for optically dark bursts, they are consistent with the possibility that the brightness of the optical afterglow, intrinsically dark.Comment: 5page, 5 figures, 1 table, accepted for publication in PASJ Letter. PASJ styl

Testing the External Shock Model of Gamma-Ray Bursts using the Late-Time Simultaneous Optical and X-ray Afterglows

We study the ``normal'' decay phase of the X-ray afterglows of gamma-ray bursts (GRBs), which follows the shallow decay phase, using the events simultaneously observed in the R-band. The classical external shock model -- in which neither the delayed energy injection nor time-dependency of shock micro-physics is considered -- shows that the decay indices of the X-ray and R-band light curves, $\alpha_{\rm X}$ and $\alpha_{\rm O}$, obey a certain relation, and that in particular, $\alpha_{\rm O}-\alpha_{\rm X}$ should be larger than -1/4 unless the ambient density increases with the distance from the central engine. For our selected 14 samples, we have found that 4 events violate the limit at more than the 3$\sigma$ level, so that a fraction of events are outliers of the classical external shock model at the ``normal'' decay phase.Comment: Accepted for publication in ApJL. 12 page, 2 figures, 2 table

Optical and Near-Infrared Observations of the Highly Reddened, Rapidly Expanding Type Ia Supernova 2006X in M100

We present extensive optical (UBVRI), near-infrared (JK) light curves and optical spectroscopy of the Type Ia supernova (SN) 2006X in the nearby galaxy NGC 4321 (M100). Our observations suggest that either SN 2006X has an intrinsically peculiar color evolution, or it is highly reddened [E(B - V)_{host} = 1.42+/-0.04 mag] with R_V = 1.48+/-0.06, much lower than the canonical value of 3.1 for the average Galactic dust. SN 2006X also has one of the highest expansion velocities ever published for a SN Ia. Compared with the other SNe Ia we analyzed, SN 2006X has a broader light curve in the U band, a more prominent bump/shoulder feature in the V and R bands, a more pronounced secondary maximum in the I and near-infrared bands, and a remarkably smaller late-time decline rate in the B band. The B - V color evolution shows an obvious deviation from the Lira-Phillips relation at 1 to 3 months after maximum brightness. At early times, optical spectra of SN 2006X displayed strong, high-velocity features of both intermediate-mass elements (Si, Ca, and S) and iron-peak elements, while at late times they showed a relatively blue continuum, consistent with the blue U-B and B-V colors at similar epochs. A light echo and/or the interaction of the SN ejecta and its circumstellar material may provide a plausible explanation for its late-time photometric and spectroscopic behavior. Using the Cepheid distance of M100, we derive a Hubble constant of 72.7+/-8.2 km s^{-1} Mpc^{-1}(statistical) from the normalized dereddened luminosity of SN 2006X. We briefly discuss whether abnormal dust is a universal signature for all SNe Ia, and whether the most rapidly expanding objects form a subclass with distinct photometric and spectroscopic properties.Comment: 48 pages, 20 figures and 11 tables. Accepted Version (ApJ, 2008, March issue