CFVS: Coarse-to-Fine Visual Servoing for 6-DoF Object-Agnostic Peg-In-Hole Assembly

Robotic peg-in-hole assembly remains a challenging task due to its high accuracy demand. Previous work tends to simplify the problem by restricting the degree of freedom of the end-effector, or limiting the distance between the target and the initial pose position, which prevents them from being deployed in real-world manufacturing. Thus, we present a Coarse-to-Fine Visual Servoing (CFVS) peg-in-hole method, achieving 6-DoF end-effector motion control based on 3D visual feedback. CFVS can handle arbitrary tilt angles and large initial alignment errors through a fast pose estimation before refinement. Furthermore, by introducing a confidence map to ignore the irrelevant contour of objects, CFVS is robust against noise and can deal with various targets beyond training data. Extensive experiments show CFVS outperforms state-of-the-art methods and obtains 100%, 91%, and 82% average success rates in 3-DoF, 4-DoF, and 6-DoF peg-in-hole, respectively

Discovery of a New Member of the Inner Oort Cloud from The Next Generation Virgo Cluster Survey

We report the discovery of 2010 GB$_{174}$, a likely new member of the Inner Oort Cloud (IOC). 2010 GB$_{174}$ is one of 91 Trans Neptunian Objects (TNOs) and Centaurs discovered in a 76 deg$^2$ contiguous region imaged as part of the Next Generation Virgo Cluster Survey (NGVS) --- a moderate ecliptic latitude survey reaching a mean limiting magnitude of $g^\prime \simeq 25.5$ --- using MegaPrime on the 3.6m Canada France Hawaii Telescope. 2010 GB$_{174}$ is found to have an orbit with semi-major axis $a\simeq350.8$ AU, inclination $i \simeq 21.6^\circ$ and pericentre $q\sim48.5$ AU. This is the second largest perihelion distance among known solar system objects. Based on the sky coverage and depth of the NGVS, we estimate the number of IOC members with sizes larger than 300 km ($H_V \le 6.2$ mag) to be $\simeq 11\,000$. A comparison of the detection rate from the NGVS and the PDSSS (a characterized survey that `re-discovered' the IOC object Sedna) gives, for an assumed a power-law LF for IOC objects, a slope of $\alpha \simeq 0.7 \pm 0.2$, with only two detections in this region this slope estimate is highly uncertain.Comment: 20 pages, 3 figures, 1 table. Accepted for publication in The Astrophysical Journal Letter

Torsion of right middle lobe after a right upper lobectomy

Lobar torsion after lung resection is a quite rare complication. A 50-year-old woman presented typical features on chest radiographs and CT(computed tomography) scan of lobar torsion after a right upper lobectomy. After emergency lobectomy of right middle lobe, the patient recovered well and discharged 10 days after the second operation

Antioxidant Activities and Phytochemical Study of Leaf Extracts from 18 Indigenous Tree Species in Taiwan

The objective of this study is to assess antioxidant activities of methanolic extracts from the leaves of 18 indigenous tree species in Taiwan. Results revealed that, among 18 species, Acer oliverianum exhibited the best free radical scavenging activities. The IC50 values were 5.8 and 11.8 μg/mL on DPPH radical and superoxide radical scavenging activities, respectively. In addition, A. oliverianum also exhibited the strongest ferrous ion chelating activity. Based on a bioactivity-guided isolation principle, the resulting methanolic crude extracts of A. oliverianum leaves were fractionated to yield soluble fractions of hexane, EtOAc, BuOH, and water. Of these, the EtOAc fraction had the best antioxidant activity. Furthermore, 8 specific phytochemicals were isolated and identified from the EtOAc fraction. Among them, 1,2,3,4,6-O-penta-galloyl-β-D-glucopyranose had the best free radical scavenging activity. These results demonstrate that methanolic extracts and their derived phytochemicals of A. oliverianum leaves have excellent antioxidant activities and thus they have great potential as sources for natural health products

OSSOS VI. Striking Biases in the detection of large semimajor axis Trans-Neptunian Objects

The accumulating, but small, set of large semi-major axis trans-Neptunian objects (TNOs) shows an apparent clustering in the orientations of their orbits. This clustering must either be representative of the intrinsic distribution of these TNOs, or else arise as a result of observation biases and/or statistically expected variations for such a small set of detected objects. The clustered TNOs were detected across different and independent surveys, which has led to claims that the detections are therefore free of observational bias. This apparent clustering has led to the so-called "Planet 9" hypothesis that a super-Earth currently resides in the distant solar system and causes this clustering. The Outer Solar System Origins Survey (OSSOS) is a large program that ran on the Canada-France-Hawaii Telescope from 2013--2017, discovering more than 800 new TNOs. One of the primary design goals of OSSOS was the careful determination of observational biases that would manifest within the detected sample. We demonstrate the striking and non-intuitive biases that exist for the detection of TNOs with large semi-major axes. The eight large semi-major axis OSSOS detections are an independent dataset, of comparable size to the conglomerate samples used in previous studies. We conclude that the orbital distribution of the OSSOS sample is consistent with being detected from a uniform underlying angular distribution.Comment: Accepted for publicatio