123 research outputs found

    INSTA-BEEER: Explicit Error Estimation and Refinement for Fast and Accurate Unseen Object Instance Segmentation

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    Efficient and accurate segmentation of unseen objects is crucial for robotic manipulation. However, it remains challenging due to over- or under-segmentation. Although existing refinement methods can enhance the segmentation quality, they fix only minor boundary errors or are not sufficiently fast. In this work, we propose INSTAnce Boundary Explicit Error Estimation and Refinement (INSTA-BEEER), a novel refinement model that allows for adding and deleting instances and sharpening boundaries. Leveraging an error-estimation-then-refinement scheme, the model first estimates the pixel-wise boundary explicit errors: true positive, true negative, false positive, and false negative pixels of the instance boundary in the initial segmentation. It then refines the initial segmentation using these error estimates as guidance. Experiments show that the proposed model significantly enhances segmentation, achieving state-of-the-art performance. Furthermore, with a fast runtime (less than 0.1 s), the model consistently improves performance across various initial segmentation methods, making it highly suitable for practical robotic applications.Comment: 8 pages, 5 figure

    Right sizes of nano- and microstructures for high-performance and rigid bulk thermoelectrics

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    In this paper, we systematically investigate three different routes of synthesizing 2% Na-doped PbTe after melting the elements: (i) quenching followed by hot-pressing (QH), (ii) annealing followed by hot-pressing, and (iii) quenching and annealing followed by hot-pressing. We found that the thermoelectric figure of merit, zT, strongly depends on the synthesis condition and that its value can be enhanced to similar to 2.0 at 773 K by optimizing the size distribution of the nanostructures in the material. Based on our theoretical analysis on both electron and thermal transport, this zT enhancement is attributed to the reduction of both the lattice and electronic thermal conductivities; the smallest sizes (2 similar to 6 nm) of nanostructures in the QH sample are responsible for effectively scattering the wide range of phonon wavelengths to minimize the lattice thermal conductivity to similar to 0.5 W/m K. The reduced electronic thermal conductivity associated with the suppressed electrical conductivity by nanostructures also helped reduce the total thermal conductivity. In addition to the high zT of the QH sample, the mechanical hardness is higher than the other samples by a factor of around 2 due to the smaller grain sizes. Overall, this paper suggests a guideline on how to achieve high zT and mechanical strength of a thermoelectric material by controlling nano-and microstructures of the material

    Computational and Experimental Evaluation of Peroxide Oxidants for Amine-Peroxide Redox Polymerization

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    Amine–peroxide redox polymerization (APRP) is the prevalent method for producing radical-based polymers in the many industrial and medical applications where light or heat activation is impractical. We recently developed a detailed description of the APRP initiation process through a combined computational and experimental effort to show that APRP proceeds through SN2 attack by the amine on the peroxide, followed by the rate-determining homolysis of the resulting intermediate. Using this new mechanistic understanding, a variety of peroxides were computationally predicted to initiate APRP with fast kinetics. In particular, the rate of APRP initiation can be improved by radical and anion stabilization through increased π-electron conjugation or by increasing the electrophilicity of the peroxy bond through the addition of electron-withdrawing groups. On the other hand, the addition of electron-donating groups lowered the initiation rate. These design principles enabled the computational prediction of several new peroxides that exhibited improved initiation rates over the commonly used benzoyl peroxide. For example, the addition of nitro groups (NO₂) to the para positions of benzoyl peroxide resulted in a theoretical radical generation rate of 1.9 × 10⁻⁹ s⁻¹, which is ∼150 times faster than the 1.3 × 10⁻¹¹ s⁻¹ radical generation rate observed with unsubstituted benzoyl peroxide. These accelerated kinetics enabled the development of a redox-based direct-writing process that exploited the extremely rapid reactivity of an optimized redox pair with a custom inkjet printer, capable of printing custom shapes from polymerizing resins without heat or light. Furthermore, the application of more rapid APRP kinetics could enable the acceleration of existing industrial processes, make new industrial manufacturing methods possible, and improve APRP compatibility with biomedical applications through reduced initiator concentrations that still produce rapid polymerization rates

    Online Gaming Traffic Generator for Reproducing Gamer Behavior

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    International audienceIn this paper, we proposed an online gaming traffic generator reflecting user behavior patterns. We analyzed the packet size and inter departure time distributions of a popular FPS game (Left4Dead) and MMORPG (World of Warcraft) for regenerating gaming traffic. The proposed traffic generator generates an inter departure time and gaming packetbased on analytical model of the gamer behaviors, then transmits the packet according to the inter departure time. Packet generation results show that generated packets of World of Warcraft is much different with analytical model, unlike Left4Dead. It is caused by Nagle algorithm and Delayed Acknowledgments of TCP. Thus, we disabled the Nagle algorithm in the proposed traffic generator. The generation results show that the revised proposed traffic generator guarantees goodness of fit in the generated traffic distribution

    The Development of Transparent Photovoltaics

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    Transparent photovoltaics (TPVs), which combine visible transparency and solar energy conversion, are being developed for applications in which conventional opaque solar cells are unlikely to be feasible, such as windows of buildings or vehicles. In this paper, we review recent progress in TPVs along with strategies that enable the transparency of conventional photovoltaics, including thin-film technology, selective light-transmission technology, and luminescent solar concentrator technology. From fundamental research to commercialization of the TPV, three main perspectives should be considered: (1) high-power conversion efficiency at the same average visible transmittance; (2) aesthetic factors, which should not detract from applications such as buildings and vehicles; and (3) feasibility for real-world applications, including modularization and stability evaluation. We present the distinct analysis criteria for these main perspectives and discuss their importance. We also discuss possible research directions for the commercialization of TPVs

    Modeling the Fate and Transport of Malathion in the Pagsanjan-Lumban Basin, Philippines

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    Exposure to highly toxic pesticides could potentially cause cancer and disrupt the development of vital systems. Monitoring activities were performed to assess the level of contamination; however, these were costly, laborious, and short-term leading to insufficient monitoring data. However, the performance of the existing Soil and Water Assessment Tool (SWAT model) can be restricted by its two-phase partitioning approach, which is inadequate when it comes to simulating pesticides with limited dataset. This study developed a modified SWAT pesticide model to address these challenges. The modified model considered the three-phase partitioning model that classifies the pesticide into three forms: dissolved, particle-bound, and dissolved organic carbon (DOC)-associated pesticide. The addition of DOC-associated pesticide particles increases the scope of the pesticide model by also considering the adherence of pesticides to the organic carbon in the soil. The modified SWAT and original SWAT pesticide model was applied to the Pagsanjan-Lumban (PL) basin, a highly agricultural region. Malathion was chosen as the target pesticide since it is commonly used in the basin. The pesticide models simulated the fate and transport of malathion in the PL basin and showed the temporal pattern of selected subbasins. The sensitivity analyses revealed that application efficiency and settling velocity were the most sensitive parameters for the original and modified SWAT model, respectively. Degradation of particulate-phase malathion were also significant to both models. The rate of determination (R2) and Nash-Sutcliffe efficiency (NSE) values showed that the modified model (R2 = 0.52; NSE = 0.36) gave a slightly better performance compared to the original (R2 = 0.39; NSE = 0.18). Results from this study will be able to aid the government and private agriculture sectors to have an in-depth understanding in managing pesticide usage in agricultural watersheds

    Effects of NaOH Activation on Adsorptive Removal of Herbicides by Biochars Prepared from Ground Coffee Residues

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    In this study, the adsorption of herbicides using ground coffee residue biochars without (GCRB) and with NaOH activation (GCRB-N) was compared to provide deeper insights into their adsorption behaviors and mechanisms. The physicochemical characteristics of GCRB and GCRB-N were analyzed using Brunauer-Emmett-Teller surface area, Fourier transform infrared spectroscopy, scanning electron microscopy, and X-ray diffraction and the effects of pH, temperature, ionic strength, and humic acids on the adsorption of herbicides were identified. Moreover, the adsorption kinetics and isotherms were studied. The specific surface area and total pore volume of GCRB-N (405.33 m(2)/g and 0.293 cm(3)/g) were greater than those of GCRB (3.83 m(2)/g and 0.014 cm(3)/g). The GCBR-N could more effectively remove the herbicides (Q(e,exp) of Alachlor = 122.71 mu mol/g, Q(e,exp) of Diuron = 166.42 mu mol/g, and Q(e,exp) of Simazine = 99.16 mu mol/g) than GCRB (Q(e,exp) of Alachlor = 11.74 mu mol/g, Q(e,exp) of Diuron = 9.95 mu mol/g, and Q(e,exp) of Simazine = 6.53 mu mol/g). These results suggested that chemical activation with NaOH might be a promising option to make the GCRB more practical and effective for removing herbicides in the aqueous solutions

    Application of airborne hyperspectral imagery to retrieve spatiotemporal CDOM distribution using machine learning in a reservoir

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    Colored dissolved organic matter (CDOM) in inland waters is used as a proxy to estimate dissolved organic carbon (DOC) and may be a key indicator of water quality and nutrient enrichment. CDOM is optically active fraction of DOC so that remote sensing techniques can remotely monitor CDOM with wide spatial coverage. However, to effectively retrieve CDOM using optical algorithms, it may be critical to select the absorption co-efficient at an appropriate wavelength as an output variable and to optimize input reflectance wavelengths. In this study, we constructed a CDOM retrieval model using airborne hyperspectral reflectance data and a machine learning model such as random forest. We evaluated the best combination of input wavelength bands and the CDOM absorption coefficient at various wavelengths. Seven sampling events for airborne hyperspectral imagery and CDOM absorption coefficient data from 350 nm to 440 nm over two years (2016-2017) were used, and the collected data helped train and validate the random forest model in a freshwater reservoir. An absorption co-efficient of 355 nm was selected to best represent the CDOM concentration. The random forest exhibited the best performance for CDOM estimation with an R2 of 0.85, Nash-Sutcliffe efficiency of 0.77, and percent bias of 3.88, by using a combination of three reflectance bands: 475, 497, and 660 nm. The results show that our model can be utilized to construct a CDOM retrieving algorithm and evaluate its spatiotemporal variation across a reservoir
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