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A potential field solution is widely used to extrapolate the coronal magnetic field above the Sun’s surface to a certain height. This model applies the current-free approximation and assumes that the magnetic field is entirely radial beyond the source surface height, which is defined as the radial distance from the center of the Sun. Even though the source surface is commonly specified at 2.5R_s(solar radii), previous studies have suggested that this value is not optimal in all cases. In this study, we propose a novel approach to specify the source surface height by comparing the areas of the open magnetic field regions from the potential field solution with predictions made by a magnetohydrodynamic model, in our case the Alfvén Wave Solar atmosphere Model. We find that the adjusted source surface height is significantly less than 2.5R_snear solar minimum and slightly larger than 2.5R_snear solar maximum. We also report that the adjusted source surface height can provide a better open flux agreement with the observations near the solar minimum, while the comparison near the solar maximum is slightly worse.

 

The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and unstructured environments with a broad and sophisticated set of objectives, all under strict computation and power limitations. We therefore argue that the computational kernels enabling robotic autonomy must bescheduledandoptimizedto guarantee timely and correct behavior, while allowing for reconfiguration of scheduling parameters at runtime. In this paper, we consider a necessary first step towards this goal ofcomputational awarenessin autonomous robots: an empirical study of a base set of computational kernels from the resource management perspective. Specifically, we conduct a data-driven study of the timing, power, and memory performance of kernels for localization and mapping, path planning, task allocation, depth estimation, and optical flow, across three embedded computing platforms. We profile and analyze these kernels to provide insight into scheduling and dynamic resource management for computation-aware autonomous robots. Notably, our results show that there is a correlation of kernel performance with a robot’s operational environment, justifying the notion of computation-aware robots and why our work is a crucial step towards this goal.

 

A thermal component is suggested to be the physical composition of the ejecta of several bright gamma-ray bursts (GRBs). Such a thermal component is discovered in the time-integrated spectra of several short GRBs as well as long GRBs. In this work, we present a comprehensive analysis of ten very short GRBs detected by Fermi Gamma-Ray Burst Monitor to search for the thermal component. We found that both the resultant low-energy spectral index and the peak energy in each GRB imply a common hard spectral feature, which is in favor of the main classification of the short/hard versus long/soft dichotomy in the GRB duration. We also found moderate evidence for the detection of thermal component in eight GRBs. Although such a thermal component contributes a small proportion of the global prompt gamma-ray emission, the modified thermal-radiation mechanism could enhance the proportion significantly, such as in subphotospheric dissipation. 

We are developing a system for long term Semi-Automated Rehabilitation At the Home (SARAH) that relies on low-cost and unobtrusive video-based sensing. We present a cyber-human methodology used by the SARAH system for automated assessment of upper extremity stroke rehabilitation at the home. We propose a hierarchical model for automatically segmenting stroke survivor's movements and generating training task performance assessment scores during rehabilitation. The hierarchical model fuses expert therapist knowledge-based approaches with data-driven techniques. The expert knowledge is more observable in the higher layers of the hierarchy (task and segment) and therefore more accessible to algorithms incorporating high level constraints relating to activity structure (i.e., type and order of segments per task). We utilize an HMM and a Decision Tree model to connect these high level priors to data driven analysis. The lower layers (RGB images and raw kinematics) need to be addressed primarily through data driven techniques. We use a transformer based architecture operating on low-level action features (tracking of individual body joints and objects) and a Multi-Stage Temporal Convolutional Network(MS-TCN) operating on raw RGB images. We develop a sequence combining these complimentary algorithms effectively, thus encoding the information from different layers of the movement hierarchy. Through this combination, we produce a robust segmentation and task assessment results on noisy, variable and limited data, which is characteristic of low cost video capture of rehabilitation at the home. Our proposed approach achieves 85% accuracy in per-frame labeling, 99% accuracy in segment classification and 93% accuracy in task completion assessment. Although the methodology proposed in this paper applies to upper extremity rehabilitation using the SARAH system, it can potentially be used, with minor alterations, to assist automation in many other movement rehabilitation contexts (i.e., lower extremity training for neurological accidents). 

Using the first epoch of four-band NIRCam observations obtained by the James Webb Space Telescope (JWST) Prime Extragalactic Areas for Reionization and Lensing Science Program in the Spitzer IRAC Dark Field, we search for F150W and F200W dropouts. In 14.2 arcmin², we have found eight F150W dropouts and eight F200W dropouts, all brighter than 27.5 mag (the brightest being ∼24 mag) in the band to the red side of the break. As they are detected in multiple bands, these must be real objects. Their nature, however, is unclear, and characterizing their properties is important for realizing the full potential of JWST. If the observed color decrements are due to the Lyman break, these objects should be atz≳ 11.7 andz≳ 15.4, respectively. The color diagnostics show that at least four F150W dropouts are far away from the usual contaminators encountered in dropout searches (red galaxies at much lower redshifts or brown dwarf stars). While the diagnostics of the F200W dropouts are less certain due to the limited number of passbands, at least one of them is likely not a known type of contaminant, and the rest are consistent with either high-redshift galaxies with evolved stellar populations or old galaxies atz≈ 3–8. If a significant fraction of our dropouts are indeed atz≳ 12, we have to face the severe problem of explaining their high luminosities and number densities. Spectroscopic identifications of such objects are urgently needed.

 

Monocular visual odometry (VO) suffers severely from error accumulation during frame-to-frame pose estimation. In this paper, we present a self-supervised learning method for VO with special consideration for consistency over longer sequences. To this end, we model the long-term dependency in pose prediction using a pose network that features a two-layer convolutional LSTM module. We train the networks with purely self-supervised losses, including a cycle consistency loss that mimics the loop closure module in geometric VO. Inspired by prior geometric systems, we allow the networks to see beyond a small temporal window during training, through a novel a loss that incorporates temporally distant (e.g., O(100)) frames. Given GPU memory constraints, we propose a stage-wise training mechanism, where the first stage operates in a local time window and the second stage refines the poses with a "global" loss given the first stage features. We demonstrate competitive results on several standard VO datasets, including KITTI and TUM RGB-D.