Multiple path prediction for traffic scenes using LSTMs and mixture density models

This work presents an analysis of predicting multiple future paths of moving objects in traffic scenes by leveraging Long Short-Term Memory architectures (LSTMs) and Mixture Density Networks (MDNs) in a single-shot manner. Path prediction allows estimating the future positions of objects. This is useful in important applications such as security monitoring systems, Autonomous Driver Assistance Systems and assistive technologies. Normal approaches use observed positions (tracklets) of objects in video frames to predict their future paths as a sequence of position values. This can be treated as a time series. LSTMs have achieved good performance when dealing with time series. However, LSTMs have the limitation of only predicting a single path per tracklet. Path prediction is not a deterministic task and requires predicting with a level of uncertainty. Predicting multiple paths instead of a single one is therefore a more realistic manner of approaching this task. In this work, predicting a set of future paths with associated uncertainty was archived by combining LSTMs and MDNs. The evaluation was made on the KITTI and the CityFlow datasets on three type of objects, four prediction horizons and two different points of view (image coordinates and birds-eye vie

Gravitational Instability in Collisionless Cosmological Pancakes

The gravitational instability of cosmological pancakes composed of collisionless dark matter in an Einstein-de Sitter universe is investigated numerically to demonstrate that pancakes are unstable with respect to fragmentation and the formation of filaments. A ``pancake'' is defined here as the nonlinear outcome of the growth of a 1D, sinusoidal, plane-wave, adiabatic density perturbation. We have used high resolution, 2D, N-body simulations by the Particle-Mesh (PM) method to study the response of pancakes to perturbation by either symmetric (density) or antisymmetric (bending or rippling) modes, with corresponding wavevectors k_s and k_a transverse to the wavevector k_p of the unperturbed pancake plane-wave. We consider dark matter which is initially ``cold'' (i.e. with no random thermal velocity in the initial conditions). We also investigate the effect of a finite, random, isotropic, initial velocity dispersion (i.e. initial thermal velocity) on the fate of pancake collapse and instability. Pancakes are shown to be gravitationally unstable with respect to all perturbations of wavelength l<l_p (where l_p= 2pi/k_p). These results are in contradiction with the expectations of an approximate, thin-sheet energy argument.Comment: To appear in the Astrophysical Journal (1997), accepted for publication 10/10/96, single postscript file, 61 pages, 19 figure

Chaotic root-finding for a small class of polynomials

In this paper we present a new closed-form solution to a chaotic difference equation, $y_{n+1} = a_2 y_{n}^2 + a_1 y_{n} + a_0$ with coefficient $a_0 = (a_1 - 4)(a_1 + 2) / (4 a_2)$, and using this solution, show how corresponding exact roots to a special set of related polynomials of order $2^p, p \in \mathbb{N}$ with two independent parameters can be generated, for any $p$

Characterization of three types of silicon solar cells for SEPS Deep Space Mission. Volume 3: Current-voltage characteristics of spectrolab sculptured BSR/P+ (K7), BSR/P+ (K6.5) and BSR (K4.5) cells as a function of temperature and intensity

Three types of high performance silicon solar cells, sculptured BSR/P+(K7), BSR/P+(K6.5) and BSR(K4.5) manufactured by Spectrolab were evaluated for their low temperature and low intensity performance. Sixteen cells of each type were subjected to 11 temperatures and 9 intensities. The sculptured BSR/P+(K7) cells provided the greatest maximum power output both at 1 AU and at LTLI conditions. The average efficiencies of this cell were 14.4 percent at 1 SC/+25 deg C and 18.5 percent at 0.086 SC/-100 deg C

Fundamental Discreteness Limitations of Cosmological N-Body Clustering Simulations

We explore some of the effects that discreteness and two-body scattering may have on N-body simulations with ``realistic'' cosmological initial conditions. We use an identical subset of particles from the initial conditions for a $128^3$ Particle-Mesh (PM) calculation as the initial conditions for a variety P$^3$M and Tree code runs. We investigate the effect of mass resolution (the mean interparticle separation) since most ``high resolution'' codes only have high resolution in gravitational force. The phase-insensitive two--point statistics, such as the power spectrum (autocorrelation) are somewhat affected by these variations, but phase-sensitive statistics show greater differences. Results converge at the mean interparticle separation scale of the lowest mass-resolution code. As more particles are added, but the force resolution is held constant, the P$^3$M and the Tree runs agree more and more strongly with each other and with the PM run which had the same initial conditions. This shows high particle density is necessary for correct time evolution, since many different results cannot all be correct. However, they do not so converge to a PM run which continued the fluctuations to small scales. Our results show that ignoring them is a major source of error on comoving scales of the missing wavelengths. This can be resolved by putting in a high particle density. Since the codes never agree well on scales below the mean comoving interparticle separation, we find little justification for quantitative predictions on this scale. Some measures vary by 50%, but others can be off by a factor of three or more. Our results suggest possible problems with the density of galaxy halos, formation of early generation objects such as QSO absorber clouds, etc.Comment: Revised version to be published in Astrophysical Journal. One figure changed; expanded discussion, more information on code parameters. Latex, 44 pages, including 19 figures. Higher resolution versions of Figures 10-15 available at: ftp://kusmos.phsx.ukans.edu/preprints/nbod

Bar-Halo Friction in Galaxies II: Metastability

It is well-established that strong bars rotating in dense halos generally slow down as they lose angular momentum to the halo through dynamical friction. Angular momentum exchanges between the bar and halo particles take place at resonances. While some particles gain and others lose, friction arises when there is an excess of gainers over losers. This imbalance results from the generally decreasing numbers of particles with increasing angular momentum, and friction can therefore be avoided if there is no gradient in the density of particles across the major resonances. Here we show that anomalously weak friction can occur for this reason if the pattern speed of the bar fluctuates upwards. After such an event, the density of resonant halo particles has a local inflexion created by the earlier exchanges, and bar slowdown can be delayed for a long period; we describe this as a metastable state. We show that this behavior in purely collisionless N-body simulations is far more likely to occur in methods with adaptive resolution. We also show that the phenomenon could arise in nature, since bar-driven gas inflow could easily raise the bar pattern speed enough to reach the metastable state. Finally, we demonstrate that mild external, or internal, perturbations quickly restore the usual frictional drag, and it is unlikely therefore that a strong bar in a galaxy having a dense halo could rotate for a long period without friction.Comment: 13 pages, 11 figures, to appear in Ap

Statistical Tests for CHDM and \LambdaCDM Cosmologies

We apply several statistical estimators to high-resolution N-body simulations of two currently viable cosmological models: a mixed dark matter model, having $\Omega_\nu=0.2$ contributed by two massive neutrinos (C+2\nuDM), and a Cold Dark Matter model with Cosmological Constant (\LambdaCDM) with $\Omega_0=0.3$ and h=0.7. Our aim is to compare simulated galaxy samples with the Perseus-Pisces redshift survey (PPS). We consider the n-point correlation functions (n=2-4), the N-count probability functions P_N, including the void probability function P_0, and the underdensity probability function U_\epsilon (where \epsilon fixes the underdensity threshold in percentage of the average). We find that P_0 (for which PPS and CfA2 data agree) and P_1 distinguish efficiently between the models, while U_\epsilon is only marginally discriminatory. On the contrary, the reduced skewness and kurtosis are, respectively, S_3\simeq 2.2 and S_4\simeq 6-7 in all cases, quite independent of the scale, in agreement with hierarchical scaling predictions and estimates based on redshift surveys. Among our results, we emphasize the remarkable agreement between PPS data and C+2\nuDM in all the tests performed. In contrast, the above \LambdaCDM model has serious difficulties in reproducing observational data if galaxies and matter overdensities are related in a simple way.Comment: 12 pages, 10 figures, LaTeX (aaspp4 macro), in press on ApJ, Vol. 479, April 199

7-Li(p,n) Nuclear Data Library for Incident Proton Energies to 150 MeV

We describe evaluation methods that make use of experimental data, and nuclear model calculations, to develop an ENDF-formatted data library for the reaction p + Li7 for incident protons with energies up to 150 MeV. The important 7-Li(p,n_0) and 7-Li(p,n_1) reactions are evaluated from the experimental data, with their angular distributions represented using Lengendre polynomial expansions. The decay of the remaining reaction flux is estimated from GNASH nuclear model calculations. The evaluated ENDF-data are described in detail, and illustrated in numerous figures. We also illustrate the use of these data in a representative application by a radiation transport simulation with the code MCNPX.Comment: 11 pages, 8 figures, LaTeX, submitted to Proc. 2000 ANS/ENS International Meeting, Nuclear Applications of Accelerator Technology (AccApp00), November 12-16, Washington, DC, US

High performance photonic microwave filters based on a 50GHz optical soliton crystal Kerr micro-comb

We demonstrate a photonic radio frequency (RF) transversal filter based on an integrated optical micro-comb source featuring a record low free spectral range of 49 GHz yielding 80 micro-comb lines across the C-band. This record-high number of taps, or wavelengths for the transversal filter results in significantly increased performance including a QRF factor more than four times higher than previous results. Further, by employing both positive and negative taps, an improved out-of-band rejection of up to 48.9 dB is demonstrated using Gaussian apodization, together with a tunable centre frequency covering the RF spectra range, with a widely tunable 3-dB bandwidth and versatile dynamically adjustable filter shapes. Our experimental results match well with theory, showing that our transversal filter is a competitive solution to implement advanced adaptive RF filters with broad operational bandwidths, high frequency selectivity, high reconfigurability, and potentially reduced cost and footprint. This approach is promising for applications in modern radar and communications systems.Comment: 19 pages, 12 figures, 107 reference