Low-cost Thermal Mapping for Concrete Heat Monitoring

Robotics has been widely applied in smart construction for generating the digital twin or for autonomous inspection of construction sites. For example, for thermal inspection during concrete curing, continual monitoring of the concrete temperature is required to ensure concrete strength and to avoid cracks. However, buildings are typically too large to be monitored by installing fixed thermal cameras, and post-processing is required to compute the accumulated heat of each measurement point. Thus, by using an autonomous monitoring system with the capability of long-term thermal mapping at a large construction site, both cost-effectiveness and a precise safety margin of the curing period estimation can be acquired. Therefore, this study proposes a low-cost thermal mapping system consisting of a 2D range scanner attached to a consumer-level inertial measurement unit and a thermal camera for automated heat monitoring in construction using mobile robots.Comment: 4 pages, 5 figures, 2022 ICRA Worksho

(LC)2^2: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively studied for the consistent transformation of measurements into localization descriptors. Street view images are easily accessible; however, images are vulnerable to appearance changes. LiDAR can robustly provide precise structural information. However, constructing a point cloud database is expensive, and point clouds exist only in limited places. Different from previous works that train networks to produce shared embedding directly between the 2D image and 3D point cloud, we transform both data into 2.5D depth images for matching. In this work, we propose a novel cross-matching method, called (LC)$^2$, for achieving LiDAR localization without a prior point cloud map. To this end, LiDAR measurements are expressed in the form of range images before matching them to reduce the modality discrepancy. Subsequently, the network is trained to extract localization descriptors from disparity and range images. Next, the best matches are employed as a loop factor in a pose graph. Using public datasets that include multiple sessions in significantly different lighting conditions, we demonstrated that LiDAR-based navigation systems could be optimized from image databases and vice versa.Comment: 8 pages, 11 figures, Accepted to IEEE Robotics and Automation Letters (RA-L

eCDT: Event Clustering for Simultaneous Feature Detection and Tracking-

Contrary to other standard cameras, event cameras interpret the world in an entirely different manner; as a collection of asynchronous events. Despite event camera's unique data output, many event feature detection and tracking algorithms have shown significant progress by making detours to frame-based data representations. This paper questions the need to do so and proposes a novel event data-friendly method that achieve simultaneous feature detection and tracking, called event Clustering-based Detection and Tracking (eCDT). Our method employs a novel clustering method, named as k-NN Classifier-based Spatial Clustering and Applications with Noise (KCSCAN), to cluster adjacent polarity events to retrieve event trajectories.With the aid of a Head and Tail Descriptor Matching process, event clusters that reappear in a different polarity are continually tracked, elongating the feature tracks. Thanks to our clustering approach in spatio-temporal space, our method automatically solves feature detection and feature tracking simultaneously. Also, eCDT can extract feature tracks at any frequency with an adjustable time window, which does not corrupt the high temporal resolution of the original event data. Our method achieves 30% better feature tracking ages compared with the state-of-the-art approach while also having a low error approximately equal to it.Comment: IROS2022 accepted pape

Optimasi Portofolio Resiko Menggunakan Model Markowitz MVO Dikaitkan dengan Keterbatasan Manusia dalam Memprediksi Masa Depan dalam Perspektif Al-Qur`an

Risk portfolio on modern finance has become increasingly technical, requiring the use of sophisticated mathematical tools in both research and practice. Since companies cannot insure themselves completely against risk, as human incompetence in predicting the future precisely that written in Al-Quran surah Luqman verse 34, they have to manage it to yield an optimal portfolio. The objective here is to minimize the variance among all portfolios, or alternatively, to maximize expected return among all portfolios that has at least a certain expected return. Furthermore, this study focuses on optimizing risk portfolio so called Markowitz MVO (Mean-Variance Optimization). Some theoretical frameworks for analysis are arithmetic mean, geometric mean, variance, covariance, linear programming, and quadratic programming. Moreover, finding a minimum variance portfolio produces a convex quadratic programming, that is minimizing the objective function ðð¥with constraintsð ð 𥠥 ðandð´ð¥ = ð. The outcome of this research is the solution of optimal risk portofolio in some investments that could be finished smoothly using MATLAB R2007b software together with its graphic analysis

Combined searches for the production of supersymmetric top quark partners in proton-proton collisions at root s=13 TeV

A combination of searches for top squark pair production using proton-proton collision data at a center-of-mass energy of 13 TeV at the CERN LHC, corresponding to an integrated luminosity of 137 fb(-1) collected by the CMS experiment, is presented. Signatures with at least 2 jets and large missing transverse momentum are categorized into events with 0, 1, or 2 leptons. New results for regions of parameter space where the kinematical properties of top squark pair production and top quark pair production are very similar are presented. Depending on themodel, the combined result excludes a top squarkmass up to 1325 GeV for amassless neutralino, and a neutralinomass up to 700 GeV for a top squarkmass of 1150 GeV. Top squarks with masses from 145 to 295 GeV, for neutralino masses from 0 to 100 GeV, with a mass difference between the top squark and the neutralino in a window of 30 GeV around the mass of the top quark, are excluded for the first time with CMS data. The results of theses searches are also interpreted in an alternative signal model of dark matter production via a spin-0 mediator in association with a top quark pair. Upper limits are set on the cross section for mediator particle masses of up to 420 GeV

Search for new particles in events with energetic jets and large missing transverse momentum in proton-proton collisions at root s=13 TeV

A search is presented for new particles produced at the LHC in proton-proton collisions at root s = 13 TeV, using events with energetic jets and large missing transverse momentum. The analysis is based on a data sample corresponding to an integrated luminosity of 101 fb(-1), collected in 2017-2018 with the CMS detector. Machine learning techniques are used to define separate categories for events with narrow jets from initial-state radiation and events with large-radius jets consistent with a hadronic decay of a W or Z boson. A statistical combination is made with an earlier search based on a data sample of 36 fb(-1), collected in 2016. No significant excess of events is observed with respect to the standard model background expectation determined from control samples in data. The results are interpreted in terms of limits on the branching fraction of an invisible decay of the Higgs boson, as well as constraints on simplified models of dark matter, on first-generation scalar leptoquarks decaying to quarks and neutrinos, and on models with large extra dimensions. Several of the new limits, specifically for spin-1 dark matter mediators, pseudoscalar mediators, colored mediators, and leptoquarks, are the most restrictive to date.Peer reviewe

Search for supersymmetry in events with one lepton and multiple jets in proton-proton collisions at root s=13 TeV

Peer reviewe

Probing effective field theory operators in the associated production of top quarks with a Z boson in multilepton final states at root s=13 TeV

Peer reviewe

Measurement of the Splitting Function in &ITpp &ITand Pb-Pb Collisions at root&ITsNN&IT=5.02 TeV

Data from heavy ion collisions suggest that the evolution of a parton shower is modified by interactions with the color charges in the dense partonic medium created in these collisions, but it is not known where in the shower evolution the modifications occur. The momentum ratio of the two leading partons, resolved as subjets, provides information about the parton shower evolution. This substructure observable, known as the splitting function, reflects the process of a parton splitting into two other partons and has been measured for jets with transverse momentum between 140 and 500 GeV, in pp and PbPb collisions at a center-of-mass energy of 5.02 TeV per nucleon pair. In central PbPb collisions, the splitting function indicates a more unbalanced momentum ratio, compared to peripheral PbPb and pp collisions.. The measurements are compared to various predictions from event generators and analytical calculations.Peer reviewe

Measurements of Higgs boson production cross sections and couplings in the diphoton decay channel at root s=13 TeV

Measurements of Higgs boson production cross sections and couplings in events where the Higgs boson decays into a pair of photons are reported. Events are selected from a sample of proton-proton collisions at root s = 13TeV collected by the CMS detector at the LHC from 2016 to 2018, corresponding to an integrated luminosity of 137 fb(-1). Analysis categories enriched in Higgs boson events produced via gluon fusion, vector boson fusion, vector boson associated production, and production associated with top quarks are constructed. The total Higgs boson signal strength, relative to the standard model (SM) prediction, is measured to be 1.12 +/- 0.09. Other properties of the Higgs boson are measured, including SM signal strength modifiers, production cross sections, and its couplings to other particles. These include the most precise measurements of gluon fusion and vector boson fusion Higgs boson production in several different kinematic regions, the first measurement of Higgs boson production in association with a top quark pair in five regions of the Higgs boson transverse momentum, and an upper limit on the rate of Higgs boson production in association with a single top quark. All results are found to be in agreement with the SM expectations.Peer reviewe