Interaction-Driven Active 3D Reconstruction with Object Interiors

We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works in active vision which focus on optimizing camera viewpoints to better investigate the environment, the primary feature of our reconstruction is an analysis of the interactability of various parts of the target object and the ensuing part manipulation by a robot to enable scanning of occluded regions. As a result, an understanding of part articulations of the target object is obtained on top of complete geometry acquisition. Our method operates fully automatically by a Fetch robot with built-in RGBD sensors. It iterates between interaction analysis and interaction-driven reconstruction, scanning and reconstructing detected moveable parts one at a time, where both the articulated part detection and mesh reconstruction are carried out by neural networks. In the final step, all the remaining, non-articulated parts, including all the interior structures that had been exposed by prior part manipulations and subsequently scanned, are reconstructed to complete the acquisition. We demonstrate the performance of our method via qualitative and quantitative evaluation, ablation studies, comparisons to alternatives, as well as experiments in a real environment.Comment: Accepted to SIGGRAPH Asia 2023, project page at https://vcc.tech/research/2023/InterReco

Clean power generation from the intractable natural coalfield fires: turn harm into benefit

The coal fires, a global catastrophe for hundreds of years, have been proved extremely difficult to control, and hit almost every coal-bearing area globally. Meanwhile, underground coal fires contain tremendous reservoir of geothermal energy. Approximately one billion tons of coal burns underground annually in the world, which could generate ~1000GW per annum. A game-changing approach, environmentally sound thermal energy extraction from the intractable natural coalfield fires, is being developed by utilizing the waste energy and reducing the temperature of coalfield fires at the same time. Based on the Seebeck effect of thermoelectric materials, the temperature difference between the heat medium and cooling medium was employed to directly convert thermal energy into clean electrical energy. By the time of December 2016, the power generation from a single borehole at Daquan Lake fire district in Xinjiang has been exceeded 174.6W. The field trial demonstrates that it is possible to exploit and utilize the waste heat resources in the treated coal fire areas. It promises a significant impact on the structure of global energy generation and can also promote progress in thermoelectric conversion materials, geothermal exploration, underground coal fires control and other energy related areas

Demographic transition and the dynamics of measles in six provinces in China: A modeling study

<div><p>Background</p><p>Industrialization and demographic transition generate nonstationary dynamics in human populations that can affect the transmission and persistence of infectious diseases. Decades of increasing vaccination and development have led to dramatic declines in the global burden of measles, but the virus remains persistent in much of the world. Here we show that a combination of demographic transition, as a result of declining birth rates, and reduced measles prevalence, due to improved vaccination, has shifted the age distribution of susceptibility to measles throughout China.</p><p>Methods and findings</p><p>We fit a novel time-varying catalytic model to three decades of age-specific measles case reporting in six provinces in China to quantify the change in the age-specific force of infection for measles virus over time. We further quantified the impact of supplemental vaccination campaigns on the reduction of susceptible individuals. The force of infection of measles has declined dramatically (90%–97% reduction in transmission rate) in three industrialized eastern provinces during the last decade, driving a concomitant increase in both the relative proportion and absolute number of adult cases, while three central and western provinces exhibited dynamics consistent with endemic persistence (24%–73% reduction in transmission rate). The reduction in susceptible individuals due to supplemental vaccination campaigns is frequently below the nominal campaign coverage, likely because campaigns necessarily vaccinate those who may already be immune. The impact of these campaigns has significantly improved over time: campaigns prior to 2005 were estimated to have achieved less than 50% reductions in the proportion susceptible in the target age classes, but campaigns from 2005 onwards reduced the susceptible proportion by 32%–87%. A limitation of this study is that it relies on case surveillance, and thus inference may be biased by age-specific variation in measles reporting.</p><p>Conclusions</p><p>The age distribution of measles cases changes in response to both demographic and vaccination processes. Combining both processes in a novel catalytic model, we illustrate that age-specific incidence patterns reveal regional differences in the progress to measles elimination and the impact of vaccination controls in China. The shift in the age distribution of measles susceptibility in response to demographic and vaccination processes emphasizes the importance of progressive control strategies and measures to evaluate program success that anticipate and react to this transition in observed incidence.</p></div