Visual Chunking: A List Prediction Framework for Region-Based Object Detection

We consider detecting objects in an image by iteratively selecting from a set of arbitrarily shaped candidate regions. Our generic approach, which we term visual chunking, reasons about the locations of multiple object instances in an image while expressively describing object boundaries. We design an optimization criterion for measuring the performance of a list of such detections as a natural extension to a common per-instance metric. We present an efficient algorithm with provable performance for building a high-quality list of detections from any candidate set of region-based proposals. We also develop a simple class-specific algorithm to generate a candidate region instance in near-linear time in the number of low-level superpixels that outperforms other region generating methods. In order to make predictions on novel images at testing time without access to ground truth, we develop learning approaches to emulate these algorithms' behaviors. We demonstrate that our new approach outperforms sophisticated baselines on benchmark datasets.Comment: to appear at ICRA 201

A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application

We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is confined to be convex even-degree homogeneous in order to obey the maximum work inequality, symmetry, shape invariance in scale, and fast invertibility. We present a simple and statistically-efficient model identification procedure using a sum-of-squares convex relaxation. Simulation and robotic experiments validate the accuracy and efficiency of our approach. We also show practical applications of our model including stable pushing of objects and free sliding dynamic simulations.Comment: 2016 IEEE International Conference on Robotics and Automation (ICRA

Correlation-driven eightfold magnetic anisotropy in a two-dimensional oxide monolayer.

Engineering magnetic anisotropy in two-dimensional systems has enormous scientific and technological implications. The uniaxial anisotropy universally exhibited by two-dimensional magnets has only two stable spin directions, demanding 180° spin switching between states. We demonstrate a previously unobserved eightfold anisotropy in magnetic SrRuO3 monolayers by inducing a spin reorientation in (SrRuO3)1/(SrTiO3) N superlattices, in which the magnetic easy axis of Ru spins is transformed from uniaxial 〈001〉 direction (N < 3) to eightfold 〈111〉 directions (N ≥ 3). This eightfold anisotropy enables 71° and 109° spin switching in SrRuO3 monolayers, analogous to 71° and 109° polarization switching in ferroelectric BiFeO3. First-principle calculations reveal that increasing the SrTiO3 layer thickness induces an emergent correlation-driven orbital ordering, tuning spin-orbit interactions and reorienting the SrRuO3 monolayer easy axis. Our work demonstrates that correlation effects can be exploited to substantially change spin-orbit interactions, stabilizing unprecedented properties in two-dimensional magnets and opening rich opportunities for low-power, multistate device applications

Role of interspecies transfer of chromosomal genes in the evolution of penicillin resistance in pathogenic and commensal Neisseria species

The two pathogenic species of Neisseria, N. meningitidis and N. gonorrhoeae , have evolved resistance to penicillin by alterations in chromosomal genes encoding the high molecular weight penicillin-binding proteins, or PBPs. The PBP 2 gene ( penA ) has been sequenced from over 20 Neisseria isolates, including susceptible and resistant strains of the two pathogenic species, and five human commensal species. The genes from penicillin-susceptible strains of N. meningitidis and N. gonorrhoeae are very uniform, whereas those from penicillin-resistant strains consist of a mosaic of regions resembling those in susceptible strains of the same species, interspersed with regions resembling those in one, or in some cases, two of the commensal species. The mosaic structure is interpreted as having arisen from the horizontal transfer, by genetic transformation, of blocks of DNA, usually of a few hundred base pairs. The commensal species identified as donors in these interspecies recombinational events ( N. flavescens and N. cinerea ) are intrinsically more resistant to penicillin than typical isolates of the pathogenic species. Transformation has apparently provided N. meningitidis and N. gonorrhoeae with a mechanism by which they can obtain increased resistance to penicillin by replacing their penA genes (or the relevant parts of them) with the penA genes of related species that fortuitously produce forms of PBP 2 that are less susceptible to inhibition by the antibiotic. The ends of the diverged blocks of DNA in the penA genes of different penicillin-resistant strains are located at the same position more often than would be the case if they represent independent crossovers at random points along the gene. Some of these common crossover points may represent common ancestry, but reasons are given for thinking that some may represent independent events occurring at recombinational hotspots.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/48045/1/239_2004_Article_BF00182388.pd

Association between fish consumption and risk of dementia: a new study from China and a systematic literature review and meta-analysis.

To assess the association of fish consumption with risk of dementia and its dose-response relationship, and investigate variations in the association among low-, middle- and high-income countries. A new community-based cross-sectional study and a systematic literature review.SettingsUrban and rural communities in China; population-based studies systematically searched from worldwide literature. Chinese adults aged ≥60 years in six provinces (n 6981) took part in a household health survey of dementia prevalence and risk factors. In addition, 33 964 participants from eleven published and eligible studies were included in the systematic review and meta-analysis. In the new study in China, 326 participants were diagnosed with dementia (4·7 %); those who consumed any amount of fish in the past two years v. those who consumed no fish had reduced risk of dementia (adjusted OR=0·73, 95 % CI 0·64, 0·99), but the dose-response relationship was not statistically significant. The meta-analysis of available data from the literature and the new study showed relative risk (RR) of dementia of 0·80 (95 % CI 0·74, 0·87) for people with fish consumption; the impact was similar among countries with different levels of income. Pooled dose-response data revealed RR (95 % CI) of 0·84 (0·72, 0·98), 0·78 (0·68, 0·90) and 0·77 (0·61, 0·98) in people with low, middle and high consumption of fish, respectively. Corresponding figures for Alzheimer's disease were 0·88 (0·74, 1·04), 0·79 (0·65, 0·96) and 0·67 (0·58, 0·78), respectively

Asymmetric Fraunhofer pattern in Josephson junctions from inversion symmetry broken V5_5S8_8

Introduction of spin orbit coupling (SOC) in a Josephson junction (JJ) gives rise to unusual Josephson effects. We investigate JJs based on a newly discovered heterodimensional superlattice V$_5$S$_8$ with broken inversion symmetry and a special form of SOC. The unique homointerface of our JJs enables elimination of extrinsic effects due to interfaces and disorder. We observe asymmetric Fraunhofer patterns with respect to both the perpendicular magnetic field and the current. The asymmetry is influenced by an in-plane magnetic field. Analysis of the pattern points to a nontrivial spatial distribution of the Josephson current that is intrinsic to the SOC in V$_5$S$_8$.Comment: 16 pages,5 figure