Ego-motion and Surrounding Vehicle State Estimation Using a Monocular Camera

Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and radar to recognize surrounding vehicle state, including position, velocity, and orientation. Such sensing modalities are overly complex and costly for production of personal use vehicles. In this paper, we propose a novel machine learning method to estimate ego-motion and surrounding vehicle state using a single monocular camera. Our approach is based on a combination of three deep neural networks to estimate the 3D vehicle bounding box, depth, and optical flow from a sequence of images. The main contribution of this paper is a new framework and algorithm that integrates these three networks in order to estimate the ego-motion and surrounding vehicle state. To realize more accurate 3D position estimation, we address ground plane correction in real-time. The efficacy of the proposed method is demonstrated through experimental evaluations that compare our results to ground truth data available from other sensors including Can-Bus and LiDAR

Dependence of tunnel magnetoresistance on ferromagnetic electrode materials in MgO-barrier magnetic tunnel junctions

We investigated the relationship between the tunnel magnetoresistance (TMR) ratio and the electrode structure in MgO-barrier magnetic tunnel junctions (MTJs). The TMR ratio in a MTJ with Co40Fe40B20 reference and free layers reached 355% at the post-deposition annealing temperature of Ta=400 degree C. When Co50Fe50 or Co90Fe10 is used for the reference layer material, no high TMR ratio was observed. The key to have high TMR ratio is to have highly oriented (001) MgO barrier/CoFeB crystalline electrodes. The highest TMR ratio obtained so far is 450% at Ta = 450 degree C in a pseudo spin-valve MTJ.Comment: 6 pages, 2 figures, 1 table. to be published in J. Magn. Magn. Mate

Recognition and 3D Localization of Pedestrian Actions from Monocular Video

Understanding and predicting pedestrian behavior is an important and challenging area of research for realizing safe and effective navigation strategies in automated and advanced driver assistance technologies in urban scenes. This paper focuses on monocular pedestrian action recognition and 3D localization from an egocentric view for the purpose of predicting intention and forecasting future trajectory. A challenge in addressing this problem in urban traffic scenes is attributed to the unpredictable behavior of pedestrians, whereby actions and intentions are constantly in flux and depend on the pedestrians pose, their 3D spatial relations, and their interaction with other agents as well as with the environment. To partially address these challenges, we consider the importance of pose toward recognition and 3D localization of pedestrian actions. In particular, we propose an action recognition framework using a two-stream temporal relation network with inputs corresponding to the raw RGB image sequence of the tracked pedestrian as well as the pedestrian pose. The proposed method outperforms methods using a single-stream temporal relation network based on evaluations using the JAAD public dataset. The estimated pose and associated body key-points are also used as input to a network that estimates the 3D location of the pedestrian using a unique loss function. The evaluation of our 3D localization method on the KITTI dataset indicates the improvement of the average localization error as compared to existing state-of-the-art methods. Finally, we conduct qualitative tests of action recognition and 3D localization on HRI's H3D driving dataset

Effect of high annealing temperature on giant tunnel magnetoresistance ratio of CoFeB/MgO/CoFeB magnetic tunnel junctions

We report tunnel magnetoresistance (TMR) ratios as high as 472% at room temperature and 804% at 5 K in pseudo-spin valve (SV) CoFeB/MgO/CoFeB magnetic tunnel junctions (MTJs) annealed at 450oC, which is approaching the theoretically predicted value. By contrast, the TMR ratios for exchange-biased (EB) SV MTJs with a MnIr antiferromagnetic layer are found to drop when they are annealed at 450oC. Energy dispersive X-ray analysis shows that annealing at 450oC induces interdiffusion of Mn and Ru atoms into the MgO barrier and ferromagnetic layers in EB-SV MTJs. Mechanisms behind the different annealing behavior are discussed.Comment: 13 pages, 5 figure

Physiological Roles of Class I HDAC Complex and Histone Demethylase

Epigenetic gene silencing is one of the fundamental mechanisms for ensuring proper gene expression patterns during cellular differentiation and development. Histone deacetylases (HDACs) are evolutionally conserved enzymes that remove acetyl modifications from histones and play a central role in epigenetic gene silencing. In cells, HDAC forms a multiprotein complex (HDAC complex) in which the associated proteins are believed to help HDAC carry out its cellular functions. Though each HDAC complex contains distinct components, the presence of isoforms for some of the components expands the variety of complexes and the diversity of their cellular roles. Recent studies have also revealed a functional link between HDAC complexes and specific histone demethylases. In this paper, we summarize the distinct and cooperative roles of four class I HDAC complexes, Sin3, NuRD, CoREST, and NCoR/SMRT, with respect to their component diversity and their relationship with specific histone demethylases

Experiments on Classification of Electroencephalography (EEG) Signals in Imagination of Direction using Stacked Autoencoder

This paper presents classification methods for electroencephalography (EEG) signals in imagination of direction measured by a portable EEG headset. In the authors’ previous studies, principal component analysis extracted significant features from EEG signals to construct neural network classifiers. To improve the performance, the authors have implemented a Stacked Autoencoder (SAE) for the classification. The SAE carries out feature extraction and classification in a form of multi-layered neural network. Experimental results showed that the SAE outperformed the previous classifiers.The 2017 International Conference on Artificial Life and Robotics(ICAROB 2017) , January 19 to 22, 2017, Seagaia Convention Center, Miyazaki, Japan

Characteristics of subionospheric VLF perturbations associated with winter lightning around Japan

VLF signature of ionospheric perturbations associated with winter lightning discharges around Japan has been investigated during 3 months observation (December 2000 through February 2001). During this period it seems that there are no optical phenomena in the Hokuriku area (Sea of Japan side) indicating that our period was not extremely active in lightning as compared with the previous winter (Y. Hobara et al., Geophys. Res. Lett., 28, 935, 2001). Based on the VLF subionospheric observation at Moshiri (Hokkaido) and Maizuru (near Kyoto) for NWC (Australia) and NPM (Hawaii) transmitter signals, we have found the following results; (1) Trimpis tend to occur at least when the lightning activity is enhanced independent of the polarity, (2) Trimpis are observed when the causative lightning is located not only on the Sea of Japan side but also on the Pacific Ocean side, and (3) the occurrence of Trimpis in the Hokuriku area is more enhanced than that on the Pacific side, which is discussed with a special reference to the different meteorological conditions

Dependence of Giant Tunnel Magnetoresistance of Sputtered CoFeB/MgO/CoFeB Magnetic Tunnel Junctions on MgO Barrier Thickness and Annealing Temperatur

We investigated the dependence of giant tunnel magnetoresistance (TMR) on the thickness of an MgO barrier and on the annealing temperature of sputtered CoFeB/MgO/CoFeB magnetic tunnel junctions deposited on SiO2/Si wafers. The resistance-area product exponentially increases with MgO thickness, indicating that the quality of MgO barriers is high in the investigated thickness range of 1.15-2.4 nm. High-resolution transmission electron microscope images show that annealing at 375 C results in the formation of crystalline CoFeB/MgO/CoFeB structures, even though CoFeB electrodes are amorphous in the as-sputtered state. The TMR ratio increases with annealing temperature and is as high as 260% at room temperature and 403% at 5 K.Comment: 12 pages, 5 figure

Reconnaissance on Liquefaction-induced Flow Failure Caused by the 2018 Mw 7.5 Sulawesi Earthquake, Palu, Indonesia

The Mw 7.5 Sulawesi Earthquake 2018 was a catastrophic disaster that resulted in large numbers of casualties. This study aimed to investigate the damages of liquefaction-induced-flow failure in three areas in Palu city, i.e. Petobo, Balaroa, and Jono Oge. It was found that this flow failure occurred on a large scale at a very gentle ground inclination, ranging from 1 to 3%. In order to gain an understanding of the soil conditions in these specific locations, Portable Dynamic Cone Penetration Tests were conducted in Petobo. The results showed that the soil layers in the affected area were in a loose state compared to the non-affected areas. Furthermore, some spots of freshwater inundation were recognized in Petobo and Balaroa, even two weeks after the disaster. Based on this evidence, a mechanism of liquefaction-induced-flow failure caused by a confined aquifer is proposed

Thyroid abnormality trend over time in Northeastern Regions of Kazakstan, adjacent to the Semipalatinsk Nuclear Test Site: a case review of pathological findings for 7271 patients

From 1949 through 1989 nuclear weapons testing carried out by the former Soviet Union at the Semipalatinsk Nuclear Test Site (SNTS) resulted in local fallout affecting the residents of Semipalatinsk, Ust-Kamenogorsk and Pavlodar regions of Kazakstan. To investigate the possible relationship between radiation exposure and thyroid gland abnormalities, we conducted a case review of pathological findings of 7271 urban and rural patients who underwent surgery from 1966–96. Of the 7271 patients, 761 (10.5%) were men, and 6510 (89.5%) were women..