Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fields

In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently. Contrary to the existing solution to this problem, we leverage the popular neural radiance fields-based object representation, which has recently shown impressive results for various computer vision tasks. However, it is not straightforward to directly reason about an object's explicit 3D geometric details using such a representation, making the next-best-view selection problem for dense 3D reconstruction challenging. This paper introduces a ray-based volumetric uncertainty estimator, which computes the entropy of the weight distribution of the color samples along each ray of the object's implicit neural representation. We show that it is possible to infer the uncertainty of the underlying 3D geometry given a novel view with the proposed estimator. We then present a next-best-view selection policy guided by the ray-based volumetric uncertainty in neural radiance fields-based representations. Encouraging experimental results on synthetic and real-world data suggest that the approach presented in this paper can enable a new research direction of using an implicit 3D object representation for the next-best-view problem in robot vision applications, distinguishing our approach from the existing approaches that rely on explicit 3D geometric modeling.Comment: 8 pages, 9 figure; Accepted for publication at IEEE Robotics and Automation Letters (RA-L) 202

Efficient linear solvers for incompressible flow simulations using Scott--Vogelius finite elements

Recent research has shown that in some practically relevant situations like multiphysics flows (Galvin et al., Comput Methods Appl Mech Eng, 2012) divergence-free mixed finite elements may have a significantly smaller discretization error than standard nondivergence-free mixed finite elements. To judge the overall performance of divergence-free mixed finite elements, we investigate linear solvers for the saddle point linear systems arising in Scott-Vogelius finite element implementations of the incompressible Navier-Stokes equations. We investigate both direct and iterative solver methods. Due to discontinuous pressure elements in the case of Scott-Vogelius (SV) elements, considerably more solver strategies seem to deliver promising results than in the case of standard mixed finite elements such as Taylor-Hood elements. For direct methods, we extend recent preliminary work using sparse banded solvers on the penalty method formulation to finer meshes and discuss extensions. For iterative methods, we test augmented Lagrangian and H -LU preconditioners with GMRES, on both full and statically condensed systems. Several numerical experiments are provided that show these classes of solvers are well suited for use with SV elements and could deliver an interesting overall performance in several applications

2D Visualization of the Psoriasis Transcriptome Fails to Support the Existence of Dual-Secreting IL-17A/IL-22 Th17 T Cells.

The present paradigm of psoriasis pathogenesis revolves around the IL-23/IL-17A axis. Dual-secreting Th17 T cells presumably are the predominant sources of the psoriasis phenotype-driving cytokines, IL-17A and IL-22. We thus conducted a meta-analysis of independently acquired RNA-seq psoriasis datasets to explore the relationship between the expression of IL17A and IL22. This analysis failed to support the existence of dual secreting IL-17A/IL-22 Th17 cells as a major source of these cytokines. However, variable relationships amongst the expression of psoriasis susceptibility genes and of IL17A, IL22, and IL23A were identified. Additionally, to shed light on gene expression relationships in psoriasis, we applied a machine learning nonlinear dimensionality reduction strategy (t-SNE) to display the entire psoriasis transcriptome as a 2-dimensonal image. This analysis revealed a variety of gene clusters, relevant to psoriasis pathophysiology but failed to support a relationship between IL17A and IL22. These results support existing theories on alternative sources of IL-17A and IL-22 in psoriasis such as a Th22 cells and non-T cell populations

The cutoff method for the numerical computation of nonnegative solutions of parabolic PDEs with application to anisotropic diffusion and lubrication-type equations

The cutoff method, which cuts off the values of a function less than a given number, is studied for the numerical computation of nonnegative solutions of parabolic partial differential equations. A convergence analysis is given for a broad class of finite difference methods combined with cutoff for linear parabolic equations. Two applications are investigated, linear anisotropic diffusion problems satisfying the setting of the convergence analysis and nonlinear lubrication-type equations for which it is unclear if the convergence analysis applies. The numerical results are shown to be consistent with the theory and in good agreement with existing results in the literature. The convergence analysis and applications demonstrate that the cutoff method is an effective tool for use in the computation of nonnegative solutions. Cutoff can also be used with other discretization methods such as collocation, finite volume, finite element, and spectral methods and for the computation of positive solutions.Comment: 19 pages, 41 figure

BAY 81‐8973 prophylaxis and pharmacokinetics in haemophilia A: Interim results from the TAURUS study

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A population of z> 2 far-infrared Herschel-spire-selected starbursts

We present spectroscopic observations for a sample of 36 Herschel-SPIRE 250-500um selected galaxies (HSGs) at 2<z<5 from the Herschel Multi-tiered Extragalactic Survey (HerMES). Redshifts are confirmed as part of a large redshift survey of Herschel-SPIRE-selected sources covering ~0.93deg^2 in six extragalactic legacy fields. Observations were taken with the Keck I Low Resolution Imaging Spectrometer (LRIS) and the Keck II DEep Imaging Multi-Object Spectrograph (DEIMOS). Precise astrometry, needed for spectroscopic follow-up, is determined by identification of counterparts at 24um or 1.4GHz using a cross-identification likelihood matching method. Individual source luminosities range from log(L_IR/Lsun)=12.5-13.6 (corresponding to star formation rates 500-9000Msun/yr, assuming a Salpeter IMF), constituting some of the most intrinsically luminous, distant infrared galaxies yet discovered. We present both individual and composite rest-frame ultraviolet spectra and infrared spectral energy distributions (SEDs). The selection of these HSGs is reproducible and well characterized across large areas of sky in contrast to most z>2 HyLIRGs in the literature which are detected serendipitously or via tailored surveys searching only for high-z HyLIRGs; therefore, we can place lower limits on the contribution of HSGs to the cosmic star formation rate density at (7+-2)x10^(-3)Msun/yr h^3Mpc^(-3) at z~2.5, which is >10% of the estimated total star formation rate density (SFRD) of the Universe from optical surveys. The contribution at z~4 has a lower limit of 3x10^(-3)Msun/yr h^3 Mpc^(-3), ~>20% of the estimated total SFRD. This highlights the importance of extremely infrared-luminous galaxies with high star formation rates to the build-up of stellar mass, even at the earliest epochs.Comment: 25 pages, 10 figures; ApJ accepte

Spitzer observations of the N157B supernova remnant and its surroundings

(Aims): We study the LMC interstellar medium in the field of the nebula N157B, which contains a supernova remnant, an OB association, ionized gas, and high-density dusty filaments in close proximity. We investigate the relative importance of shock excitation by the SNR and photo-ionization by the OB stars, as well as possible interactions between the supernova remnant and its environment. (Methods): We apply multiwavelength mapping and photometry, along with spatially resolved infrared spectroscopy, to identifying the nature of the ISM using new infrared data from the Spitzer space observatory and X-ray, optical, and radio data from the literature. (Results): The N157B SNR has no infrared counterpart. Infrared emission from the region is dominated by the compact blister-type HII region associated with 2MASS J05375027-6911071 and excited by an O8-O9 star. This object is part of an extended infrared emission region that is associated with a molecular cloud. We find only weak emission from the shock-indicator [FeII], and both the excitation and the heating of the extended cloud are dominated by photo-ionization by the early O stars of LH99. (Conclusions): Any possible impact by the expanding SNR does not now affect the extended cloud of molecules and dust, despite the apparent overlap of SNR X-ray emission with infrared and Ha emission from the cloud. This implies that the supernova progenitor cannot have been more massive than about 25 solar masses.Comment: 10 pages, 8 figures, published in A&