Multi-Mobile Robot Localization and Navigation based on Visible Light Positioning

We demonstrated multi-mobile robot navigation based on Visible Light Positioning(VLP) localization. From our experiment, the VLP can accurately locate robots' positions in navigation

ROME: Testing Image Captioning Systems via Recursive Object Melting

Image captioning (IC) systems aim to generate a text description of the salient objects in an image. In recent years, IC systems have been increasingly integrated into our daily lives, such as assistance for visually-impaired people and description generation in Microsoft Powerpoint. However, even the cutting-edge IC systems (e.g., Microsoft Azure Cognitive Services) and algorithms (e.g., OFA) could produce erroneous captions, leading to incorrect captioning of important objects, misunderstanding, and threats to personal safety. The existing testing approaches either fail to handle the complex form of IC system output (i.e., sentences in natural language) or generate unnatural images as test cases. To address these problems, we introduce Recursive Object MElting (Rome), a novel metamorphic testing approach for validating IC systems. Different from existing approaches that generate test cases by inserting objects, which easily make the generated images unnatural, Rome melts (i.e., remove and inpaint) objects. Rome assumes that the object set in the caption of an image includes the object set in the caption of a generated image after object melting. Given an image, Rome can recursively remove its objects to generate different pairs of images. We use Rome to test one widely-adopted image captioning API and four state-of-the-art (SOTA) algorithms. The results show that the test cases generated by Rome look much more natural than the SOTA IC testing approach and they achieve comparable naturalness to the original images. Meanwhile, by generating test pairs using 226 seed images, Rome reports a total of 9,121 erroneous issues with high precision (86.47%-92.17%). In addition, we further utilize the test cases generated by Rome to retrain the Oscar, which improves its performance across multiple evaluation metrics.Comment: Accepted by ISSTA 202

Spectrum Sharing between UAV-based Wireless Mesh Networks and Ground Networks

The unmanned aerial vehicle (UAV)-based wireless mesh networks can economically provide wireless services for the areas with disasters. However, the capacity of air-to-air communications is limited due to the multi-hop transmissions. In this paper, the spectrum sharing between UAV-based wireless mesh networks and ground networks is studied to improve the capacity of the UAV networks. Considering the distribution of UAVs as a three-dimensional (3D) homogeneous Poisson point process (PPP) within a vertical range, the stochastic geometry is applied to analyze the impact of the height of UAVs, the transmit power of UAVs, the density of UAVs and the vertical range, etc., on the coverage probability of ground network user and UAV network user, respectively. The optimal height of UAVs is numerically achieved in maximizing the capacity of UAV networks with the constraint of the coverage probability of ground network user. This paper provides a basic guideline for the deployment of UAV-based wireless mesh networks.Comment: 6 pages, 6 figure

Non-Fluorinated Proton Exchange Membranes Based on Melt Extruded SEBS/HDPE Blends

Peer reviewed: YesNRC publication: Ye

The influence of fractionation of REE-enriched minerals on the zircon partition coefficients

Zircon is widely used to simulate melt generation, migration and evolution within the crust and mantle. The achievable performance of melt modelling generally depends on the availability of reliable trace element partition coefficients (D). However, a large range of DREE values for zircon from natural samples and experimental studies has been reported, with values spanning up to 3 orders of magnitude. Unfortunately, a gap of knowledge on this variability is evident. In this study we model the crystallization processes of common REE-bearing minerals from granitic melts and show that the measured zircon DREE would be elevated if there is crystallization of REE-enriched minerals subsequent to zircon. Nevertheless, compared to zircon DREE values measured from experimental studies, this mechanism appears to have a less significant influence on those from natural granite samples since the quantity of crystallized REE-enriched minerals is very low in natural magmatic systems and/or most of them crystallize prior to zircon. Combined with recently published studies, this work supports that analysis of natural zircon/host groundmass pairs provides more robust DREE values applicable to natural systems than those measured from experimental studies, which can be used to constrain the provenance of detrital zircons.This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain. It is available as an open access article under a Creative Commons Licence https://creativecommons.org/licenses/by-nc-nd/4.0/

N6-methyladenosine RNA modification promotes viral genomic RNA stability and infection

Molecular manipulation of susceptibility (S) genes that are antipodes to resistance (R) genes has been adopted as an alternative strategy for controlling crop diseases. Here, we show the S gene encoding Triticum aestivum m(6)A methyltransferase B (TaMTB) is identified by a genome-wide association study and subsequently shown to be a positive regulator for wheat yellow mosaic virus (WYMV) infection. TaMTB is localized in the nucleus, is translocated into the cytoplasmic aggregates by binding to WYMV NIb to upregulate the m(6)A level of WYMV RNA1 and stabilize the viral RNA, thus promoting viral infection. A natural mutant allele TaMTB-SNP176C is found to confer an enhanced susceptibility to WYMV infection through genetic variation analysis on 243 wheat varieties. Our discovery highlights this allele can be a useful target for the molecular wheat breeding in the future

Higher-order multipole amplitude measurement in ψ(2S)→γχc2\psi(2S)\to\gamma\chi_{c2}

Using $106\times10^6$ $\psi(2S)$ events collected with the BESIII detector at the BEPCII storage ring, the higher-order multipole amplitudes in the radiative transition $\psi(2S)\to\gamma\chi_{c2}\to\gamma\pi\pi/\gamma KK$ are measured. A fit to the $\chi_{c2}$ production and decay angular distributions yields $M2=0.046\pm0.010\pm0.013$ and $E3=0.015\pm0.008\pm0.018$, where the first errors are statistical and the second systematic. Here $M2$ denotes the normalized magnetic quadrupole amplitude and $E3$ the normalized electric octupole amplitude. This measurement shows evidence for the existence of the $M2$ signal with $4.4\sigma$ statistical significance and is consistent with the charm quark having no anomalous magnetic moment.Comment: 14 pages, 4 figure

Precision measurement of the branching fractions of J/psi -> pi+pi-pi0 and psi' -> pi+pi-pi0

We study the decays of the J/psi and psi' mesons to pi+pi-pi0 using data samples at both resonances collected with the BES III detector in 2009. We measure the corresponding branching fractions with unprecedented precision and provide mass spectra and Dalitz plots. The branching fraction for J/psi -> pi+pi-pi0 is determined to be (2.137 +- 0.004 (stat.) +0.058-0.056 (syst.) +0.027-0.026 (norm.))*10-2, and the branching fraction for psi' -> pi+pi-pi0 is measured as (2.14 +- 0.03 (stat.) +0.08-0.07 (syst.) +0.09-0.08 (norm.))*10-4. The J/psi decay is found to be dominated by an intermediate rho(770) state, whereas the psi' decay is dominated by di-pion masses around 2.2 GeV/c2, leading to strikingly different Dalitz distributions.Comment: 15 pages, 2 figure

Study of J/ψ→ppˉJ/\psi\to p\bar{p} and J/ψ→nnˉJ/\psi\to n\bar{n}

The decays $J/\psi\to p\bar{p}$ and $J/\psi\to n\bar{n}$ have been investigated with a sample of 225.2 million $J/\psi$ events collected with the BESIII detector at the BEPCII $e^+e^-$ collider. The branching fractions are determined to be $\mathcal{B}(J/\psi\to p\bar{p})=(2.112\pm0.004\pm0.031)\times10^{-3}$ and $\mathcal{B}(J/\psi\to n\bar{n})=(2.07\pm0.01\pm0.17)\times10^{-3}$. Distributions of the angle $\theta$ between the proton or anti-neutron and the beam direction are well described by the form $1+\alpha\cos^2\theta$, and we find $\alpha=0.595\pm0.012\pm0.015$ for $J/\psi\to p\bar{p}$ and $\alpha=0.50\pm0.04\pm0.21$ for $J/\psi\to n\bar{n}$. Our branching-fraction results suggest a large phase angle between the strong and electromagnetic amplitudes describing the $J/\psi\to N\bar{N}$ decay.Comment: 16 pages, 13 figures, the 2nd version, submitted to PR