Robust and Fast 3D Scan Alignment using Mutual Information

This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. We first divide the scene into a 3D voxel grid and define simple to compute features for each voxel in the scan. The two scans that need to be aligned are considered as a collection of these features and the MI between these voxelized features is maximized to obtain the correct alignment of scans. We have implemented our method with various simple point cloud features (such as number of points in voxel, variance of z-height in voxel) and compared the performance of the proposed method with existing point-to-point and point-to- distribution registration methods. We show that our approach has an efficient and fast parallel implementation on GPU, and evaluate the robustness and speed of the proposed algorithm on two real-world datasets which have variety of dynamic scenes from different environments

Synthesis of SnS nanocrystals by the solvothermal decomposition of a single source precursor

SnS nanocrystals (NCs) were synthesized from bis(diethyldithiocarbamato) tin(II) in oleylamine at elevated temperature. High-resolution transmission electron microscopy (HRTEM) investigation and X-ray diffraction (XRD) analysis showed that the synthesized SnS particles are monocrystalline with an orthorhombic structure. The shape and size tunability of SnS NCs can be achieved by controlling the reaction temperature and time, and the nature of the stabilizing ligands. The comparison between experimental optical band gap values shows evidence of quantum confinement of SnS NCs. Prepared SnS NCs display strong absorption in the visible and near-infrared (NIR) spectral regions making them promising candidates for solar cell energy conversion

Experimental Design for the Gemini Planet Imager

The Gemini Planet Imager (GPI) is a high performance adaptive optics system being designed and built for the Gemini Observatory. GPI is optimized for high contrast imaging, combining precise and accurate wavefront control, diffraction suppression, and a speckle-suppressing science camera with integral field and polarimetry capabilities. The primary science goal for GPI is the direct detection and characterization of young, Jovian-mass exoplanets. For plausible assumptions about the distribution of gas giant properties at large semi-major axes, GPI will be capable of detecting more than 10% of gas giants more massive than 0.5 M_J around stars younger than 100 Myr and nearer than 75 parsecs. For systems younger than 1 Gyr, gas giants more massive than 8 M_J and with semi-major axes greater than 15 AU are detected with completeness greater than 50%. A survey targeting young stars in the solar neighborhood will help determine the formation mechanism of gas giant planets by studying them at ages where planet brightness depends upon formation mechanism. Such a survey will also be sensitive to planets at semi-major axes comparable to the gas giants in our own solar system. In the simple, and idealized, situation in which planets formed by either the "hot-start" model of Burrows et al. (2003) or the core accretion model of Marley et al. (2007), a few tens of detected planets are sufficient to distinguish how planets form.Comment: 15 pages, 9 figures, revised after referee's comments and resubmitted to PAS

Toward mutual information based place recognition

Abstract — This paper reports on a novel mutual information (MI) based algorithm for robust place recognition. The pro-posed method provides a principled framework for fusing the complementary information obtained from 3D lidar and camera imagery for recognizing places within an a priori map of a dynamic environment. The visual appearance of the locations in the map can be significantly different due to changing weather, lighting conditions and dynamical objects present in the environment. Various 3D/2D features are extracted from the textured point clouds (scans) and each scan is represented as a collection of these features. For two scans acquired from the same location, the high value of MI between the features present in the scans indicates that the scans are captured from the same location. We use a non-parametric entropy estimator to estimate the true MI from the sparse marginal and joint histograms of the features extracted from the scans. Experimental results using seasonal datasets collected over several years are used to validate the robustness of the proposed algorithm. I

Understanding the Journey of Dopant Copper Ions in Atomically Flat Colloidal Nanocrystals of CdSe Nanoplatelets Using Partial Cation Exchange Reactions

Unique electronic and optical properties of doped semiconductor nanocrystals (NCs) have widely stimulated a great deal of interest to explore new effective synthesis routes to achieve controlled doping for highly efficient materials. In this work, we show copper doping via postsynthesis partial cation exchange (CE) in atomically flat colloidal semiconductor nanoplatelets (NPLs). Here chemical reactivity of different dopant precursors, reaction kinetics, and shape of seed NPLs were extensively elaborated for successful doping and efficient emission. Dopant-induced Stokes shifted and tunable photoluminescence emission (640 to 830 nm) was observed in these Cu-doped CdSe NPLs using different thicknesses and heterostructures. High quantum yields (reaching 63%) accompanied by high absorption cross sections (>2.5 times) were obtained in such NPLs compared to those of Cu-doped CdSe colloidal quantum dots (CQDs). Systematic tuning of the doping level in these two-dimensional NPLs provides an insightful understanding of the chemical dopant based orbital hybridization in NCs. The unique combination of doping via the partial CE method and precise control of quantum confinement in such atomically flat NPLs originating from their magic-sized vertical thickness exhibits an excellent model platform for studying photophysics of doped quantum confined systems

The reinforcing properties of ethanol are quantitatively enhanced in adulthood by peri-adolescent ethanol, but not saccharin, consumption in female alcohol-preferring (P) rats

Alcohol drinking during adolescence is associated in adulthood with heavier alcohol drinking and an increased rate of alcohol dependence. Past research in our laboratory has indicated that peri-adolescent ethanol consumption can enhance the acquisition and reduce the rate of extinction of ethanol self-administration in adulthood. Caveats of the past research include reinforcer specificity, increased oral consumption during peri-adolescence, and a lack of quantitative assessment of the reinforcing properties of ethanol. The current experiments were designed to determine the effects of peri-adolescent ethanol or saccharin drinking on acquisition and extinction of oral ethanol self-administration and ethanol seeking, and to quantitatively assess the reinforcing properties of ethanol (progressive ratio). Ethanol or saccharin access by alcohol-preferring (P) rats occurred during postnatal day (PND) 30-60. Animals began operant self-administration of ethanol or saccharin after PND 85. After 10 weeks of daily operant self-administration, rats were tested in a progressive ratio paradigm. Two weeks later, self-administration was extinguished in all rats. Peri-adolescent ethanol consumption specifically enhanced the acquisition of ethanol self-administration, reduced the rate of extinction for ethanol self-administration, and quantitatively increased the reinforcing properties of ethanol during adulthood. Peri-adolescent saccharin consumption was without effect. The data indicate that ethanol consumption during peri-adolescence results in neuroadaptations that may specifically enhance the reinforcing properties of ethanol during adulthood. This increase in the reinforcing properties of ethanol could be a part of biological sequelae that are the basis for the effects of adolescent alcohol consumption on the increase in the rate of alcoholism during adulthood

Reinforcing properties and neurochemical response of ethanol within the posterior ventral tegmental area are enhanced in adulthood by periadolescent ethanol consumption

Alcohol drinking during adolescence is associated with increased alcohol drinking and alcohol dependence in adulthood. Research examining the biologic consequences of adolescent ethanol (EtOH) consumption on the response to EtOH in the neurocircuitry shown to regulate drug reinforcement is limited. The experiments were designed to determine the effects of periadolescent alcohol drinking on the reinforcing properties of EtOH within the posterior ventral tegmental area (pVTA) and the ability of EtOH microinjected into the pVTA to stimulate dopamine (DA) release in the nucleus accumbens shell (AcbSh). EtOH access (24-hour free-choice) by alcohol-preferring rats occurred during postnatal days (PND) 30-60. Animals were tested for their response to EtOH after PND 85. Intracranial self-administration techniques were performed to assess EtOH self-infusion into the pVTA. In the second experiment, rats received microinjections of EtOH into the pVTA, and dialysis samples were collected from the AcbSh. The results indicate that in rats that consumed EtOH during adolescence, the pVTA was more sensitive to the reinforcing effects of EtOH (a lower concentration of EtOH supported self-administration) and the ability of EtOH microinjected into the pVTA to stimulate DA release in the AcbSh was enhanced (sensitivity and magnitude). The data indicate that EtOH consumption during adolescence altered the mesolimbic DA system to be more sensitive and responsive to EtOH. This increase in the response to EtOH within the mesolimbic DA during adulthood could be part of biologic sequelae that are the basis for the deleterious effects of adolescent alcohol consumption on the rate of alcoholism during adulthood

A Machine Checked Model of Idempotent MGU Axioms For Lists of Equational Constraints

We present formalized proofs verifying that the first-order unification algorithm defined over lists of satisfiable constraints generates a most general unifier (MGU), which also happens to be idempotent. All of our proofs have been formalized in the Coq theorem prover. Our proofs show that finite maps produced by the unification algorithm provide a model of the axioms characterizing idempotent MGUs of lists of constraints. The axioms that serve as the basis for our verification are derived from a standard set by extending them to lists of constraints. For us, constraints are equalities between terms in the language of simple types. Substitutions are formally modeled as finite maps using the Coq library Coq.FSets.FMapInterface. Coq's method of functional induction is the main proof technique used in proving many of the axioms.Comment: In Proceedings UNIF 2010, arXiv:1012.455

Tropical cyclones and climate change

Recent research has strengthened the understanding of the links between climate and tropical cyclones (TCs) on various timescales. Geological records of past climates have shown century-long variations in TC numbers. While no significant trends have been identified in the Atlantic since the late 19th century, significant observed trends in TC numbers and intensities have occurred in this basin over the past few decades, and trends in other basins are increasingly being identified. However, understanding of the causes of these trends is incomplete, and confidence in these trends continues to be hampered by a lack of consistent observations in some basins. A theoretical basis for maximum TC intensity appears now to be well established, but a climate theory of TC formation remains elusive. Climate models mostly continue to predict future decreases in global TC numbers, projected increases in the intensities of the strongest storms and increased rainfall rates. Sea level rise will likely contribute toward increased storm surge risk. Against the background of global climate change and sea level rise, it is important to carry out quantitative assessments on the potential risk of TC-induced storm surge and flooding to densely populated cities and river deltas. Several climate models are now able to generate a good distribution of both TC numbers and intensities in the current climate. Inconsistent TC projection results emerge from modeling studies due to different downscaling methodologies and warming scenarios, inconsistencies in projected changes of large-scale conditions, and differences in model physics and tracking algorithms