Publications

We propose a new approach for vision based longitudinal and lateral vehicle control. The novel feature of this approach is the use of binocular vision. We integrated two modules consisting of a new, domain-specific binocular stereo algorithm, and a lane marker detection algorithm, and show that the integration results in improved performance for each of the modules. Longitudinal control is supported by detecting and measuring the distances to leading vehicles using binocular stereo. The knowledge of the camera geometry with respect to the locally planar road is used to map the images of the road plane in the two camera views into alignment. This allows us to separate image features into those lying in the road plane, e.g. lane markers, and those due to other objects which are dynamically integrated into an obstacle map. Therefore, in contrast with the previous work, we can cope with the difficulties arising from occlusion of lane markers by other vehicles. Detected vehicles are then tracked in time using a vehicle centered coordinate system. Multiple cameras can be integrated to provide full surround awareness. The detection and measurement of the lane markers provides us with the positional parameters and the road curvature which are needed for lateral vehicle control. Moreover, this information is also used to update the camera geometry with respect to the road, therefore allowing us to cope with the problem of vibrations and road inclination to obtain consistent results from binocular stereo.

Studying the formation and evolution of galaxies at the earliest cosmic times, and their role in reionization, requires the deepest imaging possible. Ultra-deep surveys like the HUDF and HFF have pushed to mag m_(AB)∼30, revealing galaxies at the faint end of the LF to z∼9−11 and constraining their role in reionization. However, a key limitation of these fields is their size, only a few arcminutes (less than a Mpc at these redshifts), too small to probe large-scale environments or clustering properties of these galaxies, crucial for advancing our understanding of reionization. Achieving HUDF-quality depth over areas ∼100 times larger becomes possible with a mission like the Wide Field Infrared Survey Telescope (WFIRST), a 2.4-m telescope with similar optical properties to HST, with a field of view of ∼1000 arcmin^2, ∼100× the area of the HST/ACS HUDF. 
\nThis whitepaper motivates an Ultra-Deep Field survey with WFIRST, covering ∼100−300× the area of the HUDF, or up to ∼1 deg^2, to m_(AB)∼30, potentially revealing thousands of galaxies and AGN at the faint end of the LF, at or beyond z∼9−10 in the epoch of reionization, and tracing their LSS environments, dramatically increasing the discovery potential at these redshifts. 
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\n(Note: This paper is a somewhat expanded version of one that was submitted as input to the Astro2020 Decadal Survey, with this version including an Appendix (which exceeded the Astro2020 page limits), describing how the science drivers for a WFIRST Ultra Deep Field might map into a notional observing program, including the filters used and exposure times needed to achieve these depths.)

An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.

Key Points Spontaneous regression of B-cell tumors in Eμ-myc mice. Regression depends on DNAM-1, natural killer cells, and T cells.

Abstract 2D layered materials have emerged in recent years as a new platform to host novel electronic, optical, or excitonic physics and develop unprecedented nanoelectronic and energy applications. By definition, these materials are strongly anisotropic between the basal plane and cross the plane. The structural and property anisotropies inside their basal plane, however, are much less investigated. Black phosphorus, for example, is a 2D material that has such in‐plane anisotropy. Here, a rare chemical form of arsenic, called black‐arsenic (b‐As), is reported as a cousin of black phosphorus, as an extremely anisotropic layered semiconductor. Systematic characterization of the structural, electronic, thermal, and electrical properties of b‐As single crystals is performed, with particular focus on its anisotropies along two in‐plane principle axes, armchair (AC) and zigzag (ZZ). The analysis shows that b‐As exhibits higher or comparable electronic, thermal, and electric transport anisotropies between the AC and ZZ directions than any other known 2D crystals. Such extreme in‐plane anisotropies can potentially implement novel ideas for scientific research and device applications.

An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.

HST WFPC2 images are presented that span the inner 19 kpc diameter of the edge-on spiral galaxy NGC 3079; they are combined with ground-based Halpha+[N II] Fabry-Perot spectra and VLA images of radio polarization vectors and rotation measures. Ionized gas filaments within 9 kpc diameter project ~3 kpc above the disk, with the brightest forming the 1 kpc diameter superbubble. They are often resolved into strands ~0."3 (25 pc) wide which emerge from the nuclear CO ring as five distinct gas streams with velocity gradients and dispersions of hundreds of km/s. One stream flows for 250 pc and aligns with the VLBI-scale radio jet, the other four are not connected to the jet, instead curving to the vertical 0.6 kpc above the galaxy disk, then dispersing in a spray of droplets each with ionized mass ~1000 sqrt(f) Msun (volume filling factor f > 0.003 from our data). Shredded clumps of disk gas form a similar structure in hydro models of a galaxy-scale wind. The pattern of magnetic fields and the gas kinematics also suggest a wind of mechanical luminosity 10^43 erg/s that has stagnated in the galaxy disk at radius ~800 pc, flared to larger radii with increasing height as the balancing ISM pressure reduces above the disk, and entrained dense clouds into a vortex. Total KE and momentum of the filaments are (0.4-5)x10^55 sqrt(f) ergs and (1.6-6)x10^47 sqrt(f) dyne s. A star-forming complex elsewhere in the galaxy shows a striking spray of linear filaments that extend for hundreds of parsecs.

Herein we report the synthesis of cation-disordered rocksalt NaMO<sub>2</sub> (M = 3d transition metal), i.e., NaFeO<sub>2–δ</sub> (δ ~ 0.18), for the first time via a martensitic-like phase transformation from β-NaFeO<sub>2</sub>. This disordered rocksalt NaFeO<sub>2–δ</sub> does not exhibit long-range cation ordering, as evidenced by synchrotron X-ray diffraction, neutron diffraction, and transmission electron microscopy analyses. Pair distribution function analysis revealed that although the cation sublattice mostly preserved the rocksalt symmetry, O atoms were significantly displaced to accommodate the different Na<sup>+</sup>–O, Fe<sup>2+</sup>–O, and Fe<sup>3+</sup>–O bond lengths (~2.4, 2.1, and 2 Å, respectively). In addition, we confirmed the presence of O vacancies and partial Fe reduction from 3+ to 2+ in NaFeO<sub>2–δ</sub> based on <sup>57</sup>Fe Mössbauer and X-ray absorption spectroscopy analyses. Controlled experiments revealed that three factors are essential for the successful synthesis of the rocksalt structure: (1) an appropriate precursor structure, (2) the application of a large stress by high-energy milling, and (3) the creation of O vacancies via carbon reduction. Density functional theory calculations demonstrated that these factors substantially affect the energetics of the minimum-energy reaction path of the phase transformation, making the highly metastable disordered rocksalt phase accessible. Our work suggests the effectiveness of mechanical milling to access metastable phases that are structurally related to the precursors via a shearing transformation. Utilizing this mechanism, we were able to predict and synthesize another cation-disordered rocksalt structure, NaMnO<sub>2</sub>, and explain the syntheses of several other related materials.

Open-world instance segmentation is the task of grouping pixels into object instances without any pre-determined taxonomy. This is challenging, as state-of-the-art methods rely on explicit class semantics obtained from large labeled datasets, and out-of-domain evaluation performance drops significantly. Here we propose a novel approach for mask proposals, Generic Grouping Networks (GGNs), constructed without semantic supervision. Our approach combines a local measure of pixel affinity with instance-level mask supervision, producing a training regimen designed to make the model as generic as the data diversity allows. We introduce a method for predicting Pairwise Affinities (PA), a learned local relationship between pairs of pixels. PA generalizes very well to unseen categories. From PA we construct a large set of pseudo-ground-truth instance masks; combined with human-annotated instance masks we train GGNs and significantly outperform the SOTA on open-world instance segmentation on various benchmarks including COCO, LVIS, ADE20K, and UVO.