A Diagram Is Worth A Dozen Images

Diagrams are common tools for representing complex concepts, relationships and events, often when it would be difficult to portray the same information with natural images. Understanding natural images has been extensively studied in computer vision, while diagram understanding has received little attention. In this paper, we study the problem of diagram interpretation and reasoning, the challenging task of identifying the structure of a diagram and the semantics of its constituents and their relationships. We introduce Diagram Parse Graphs (DPG) as our representation to model the structure of diagrams. We define syntactic parsing of diagrams as learning to infer DPGs for diagrams and study semantic interpretation and reasoning of diagrams in the context of diagram question answering. We devise an LSTM-based method for syntactic parsing of diagrams and introduce a DPG-based attention model for diagram question answering. We compile a new dataset of diagrams with exhaustive annotations of constituents and relationships for over 5,000 diagrams and 15,000 questions and answers. Our results show the significance of our models for syntactic parsing and question answering in diagrams using DPGs

Overview of a Preliminary Destination Mission Concept for a Human Orbital Mission to the Martial Moons

The National Aeronautics and Space Administration s Human Spaceflight Architecture Team (HAT) has been developing a preliminary Destination Mission Concept (DMC) to assess how a human orbital mission to one or both of the Martian moons, Phobos and Deimos, might be conducted as a follow-on to a human mission to a near-Earth asteroid (NEA) and as a possible preliminary step prior to a human landing on Mars. The HAT Mars-Phobos-Deimos (MPD) mission also permits the teleoperation of robotic systems by the crew while in the Mars system. The DMC development activity provides an initial effort to identify the science and exploration objectives and investigate the capabilities and operations concepts required for a human orbital mission to the Mars system. In addition, the MPD Team identified potential synergistic opportunities via prior exploration of other destinations currently under consideration

Comparing approximate methods for mock catalogues and covariance matrices \u2013 III: bispectrum

We compare the measurements of the bispectrum and the estimate of its covariance obtained from a set of different methods for the efficient generation of approximate dark matter halo catalogues to the same quantities obtained from full N-body simulations. To this purpose we employ a large set of 300 realizations of the same cosmology for each method, run with matching initial conditions in order to reduce the contribution of cosmic variance to the comparison. In addition, we compare how the error on cosmological parameters such as linear and non-linear bias parameters depends on the approximate method used for the determination of the bispectrum variance. As general result, most methods provide errors within 10 per cent of the errors estimated from N-body simulations. Exceptions are those methods requiring calibration of the clustering amplitude but restrict this to 2-point statistics. Finally we test how our results are affected by being limited to a few hundreds measurements from N-body simulation by comparing with a larger set of several thousands of realizations performed with one approximate method

Grid-based scan-to-map matching for accurate simultaneous localization and mapping: Theory and preliminary numerical study

This paper presents a grid-based scan-to-map matching technique for accurate simultaneous localization and mapping (SLAM). At every acquisition of a new scan, the proposed technique estimates the relative position from which the previous scan was taken, and further corrects its estimation error by matching the new scan to the globally defined map. In order to achieve best scan-to-map matching at each acquisition, the map to match is represented as a grid map with multiple normal distributions (NDs) in each cell. Additionally, the new scan is also represented by NDs, developing a novel ND-to-ND matching technique. The ND-to-ND matching technique has significant potential in the enhancement of the global matching as well as the computational efficiency. Experimental results first show that the proposed technique successfully matches new scans to the map generating very small position and orientation errors, and then demonstrates the effectiveness of the multi-ND representation in comparison to the single-ND representation. Copyright © 2013 by ASME

Features of weak C-H\ub7\ub7\ub7O and C-H\ub7\ub7\ub7F intermolecular hydrogen bonds by Fourier transform microwave spectroscopy

So much scientific interest has been dedicated during the last years to the Weak Hydrogen Bond (WHB), a non covalent interaction which manifests itself in myriad ways in Structural Chemistry and Biology, that this topic deserved recently the publication of a book [1]. Only a few rotationally resolved spectroscopic investigations, which detail specific or local interactions, are available, however, on WHB. The three C-H 7 7 7F-C WHB interactions of the difluoromethane dimer [2] and the three C-H\ub7\ub7\ub7O interactions of dimethylether dimer [3] have been characterized from their pure rotational spectra. Each of these interactions has been estimated to have an energy of about 2 kJ/mol and a little blue shift of the C-H stretching Here we report the results of the investigations of the rotational spectra of some heterodimers held together through three WHB\u2019s. 1) Oxirane-trifluoromethane. The investigation of the parent and of its two 13C species has been used to establish a Cs geometry, with the two moieties bound by one C-H 7 7 7O and two C-H 7 7 7F-C hydrogen bonds. An overall bonding energy of about 6.7 kJ/mol has been derived from the centrifugal distortion analysis. The lengths of the C-H 7 7 7O and C-H 7 7 7F hydrogen bonds, r(O 7 7 7H) and r(F 7 7 7H), are 2.37 and 2.68 \uc5, respectively. The C-H\ub7\ub7\ub7F-C interactions are at the origin of the HCF3 internal rotation motion barrier of 0.55(1) kJ/mol giving rise to the A-E splittings observed in the rotational spectra. 2) 1,4-dioxane-trifluoromethane. The FT-MW spectrum of the Cs conformation with CHF3 axial with respect to 1,3-dioxane has been assigned. It is stabilized by one C-H 7 7 7O and two C-H 7 7 7F weak hydrogen bonds. 3) cyclobutanone-trifluoromethane. This is the first rotationally resolved investigation of a complex with a C-H 7 7 7O interaction involving one carbonylic oxygen. This bridge, together with two C-H 7 7 7F weak hydrogen bonds, stabilizes the configuration shown aside. [1] - \u201cThe weak hydrogen bond in structural chemistry and biology\u201d IUCr Monographs on crystallography, Vol. IX (G.R.Desiraju and T.Steiner Ed.s) Oxford University Press, (2001). [2] - (a) Caminati, W.; Melandri, S.; Moreschini, P.; Favero, P.G.; Angew. Chem. Int. Ed., 1999, 38, 2924; (b) Blanco, S.; L\uf3pez, J. C.; Lesarri, A.; Alonso, J. L.; J. Mol. Struct. 2002, 612, 255. [3] - Y. Tatamitani, B. Liu, J. Shimada, T. Ogata, P. Ottaviani, A. Maris, W. Caminati and J. L. Alonso, J. Am. Chem. Soc., 124 (2002) 2739