arXiv subjects

David Williams

Publications and source records attributed to David Williams.

At least 37 records · Page 2Linked to original sources

arXiv2023

Doppler-aware Odometry from FMCW Scanning Radar

This work explores Doppler information from a millimetre-Wave (mm-W) Frequency-Modulated Continuous-Wave (FMCW) scanning radar to make odometry estimation more robust and accurate. Firstly, doppler information is added to the scan masking process to enhance correlative scan matching. Secondly, we train a Neural Network (NN) for regressing forward velocity directly from a single radar scan; we fuse this estimate with the correlative scan matching estimate and show improved robustness to bad estimates caused by challenging environment geometries, e.g. narrow tunnels. We test our method with a novel custom dataset which is released with this work at https://ori.ox.ac.uk/publications/datasets.

cs.RO↗

arXiv2023

User-Centric Deployment of Automated Program Repair at Bloomberg

Automated program repair (APR) tools have unlocked the potential for the rapid rectification of codebase issues. However, to encourage wider adoption of program repair in practice, it is necessary to address the usability concerns related to generating irrelevant or out-of-context patches. When software engineers are presented with patches they deem uninteresting or unhelpful, they are burdened with more "noise" in their workflows and become less likely to engage with APR tools in future. This paper presents a novel approach to optimally time, target, and present auto-generated patches to software engineers. To achieve this, we designed, developed, and deployed a new tool dubbed B-Assist, which leverages GitHub's Suggested Changes interface to seamlessly integrate automated suggestions into active pull requests (PRs), as opposed to creating new, potentially distracting PRs. This strategy ensures that suggestions are not only timely, but also contextually relevant and delivered to engineers most familiar with the affected code. Evaluation among Bloomberg software engineers demonstrated their preference for this approach. From our user study, B-Assist's efficacy is evident, with the acceptance rate of patch suggestions being as high as 74.56%; engineers also found the suggestions valuable, giving usefulness ratings of at least 4 out of 5 in 78.2% of cases. Further, this paper sheds light on persisting usability challenges in APR and lays the groundwork for enhancing the user experience in future APR tools.

cs.SE↗

arXiv2023

A VERITAS/Breakthrough Listen Search for Optical Technosignatures

The Breakthrough Listen Initiative is conducting a program using multiple telescopes around the world to search for "technosignatures": artificial transmitters of extraterrestrial origin from beyond our solar system. The VERITAS Collaboration joined this program in 2018, and provides the capability to search for one particular technosignature: optical pulses of a few nanoseconds duration detectable over interstellar distances. We report here on the analysis and results of dedicated VERITAS observations of Breakthrough Listen targets conducted in 2019 and 2020 and of archival VERITAS data collected since 2012. Thirty hours of dedicated observations of 136 targets and 249 archival observations of 140 targets were analyzed and did not reveal any signals consistent with a technosignature. The results are used to place limits on the fraction of stars hosting transmitting civilizations. We also discuss the minimum-pulse sensitivity of our observations and present VERITAS observations of CALIOP: a space-based pulsed laser onboard the CALIPSO satellite. The detection of these pulses with VERITAS, using the analysis techniques developed for our technosignature search, allows a test of our analysis efficiency and serves as an important proof-of-principle.

astro-ph.IM↗

arXiv2023

VERITAS discovery of very high energy gamma-ray emission from S3 1227+25 and multiwavelength observations

We report the detection of very high energy gamma-ray emission from the blazar S3 1227+25 (VER J1230+253) with the Very Energetic Radiation Imaging Telescope Array System (VERITAS). VERITAS observations of the source were triggered by the detection of a hard-spectrum GeV flare on May 15, 2015 with the Fermi-Large Area Telescope (LAT). A combined five-hour VERITAS exposure on May 16th and May 18th resulted in a strong 13$σ$ detection with a differential photon spectral index, $Γ$ = 3.8 $\pm$ 0.4, and a flux level at 9% of the Crab Nebula above 120 GeV. This also triggered target of opportunity observations with Swift, optical photometry, polarimetry and radio measurements, also presented in this work, in addition to the VERITAS and Fermi-LAT data. A temporal analysis of the gamma-ray flux during this period finds evidence of a shortest variability timescale of $τ_{obs}$ = 6.2 $\pm$ 0.9 hours, indicating emission from compact regions within the jet, and the combined gamma-ray spectrum shows no strong evidence of a spectral cut-off. An investigation into correlations between the multiwavelength observations found evidence of optical and gamma-ray correlations, suggesting a single-zone model of emission. Finally, the multiwavelength spectral energy distribution is well described by a simple one-zone leptonic synchrotron self-Compton radiation model.

astro-ph.HE↗

arXiv2022

The Mechanism of Lift and Pitching Moment Reversal

The experiment of separated flow response to a single-burst actuation over a 2-D NACA-0009 airfoil at $12^o$ angle of attack was conducted. The mechanism of the lift and pitching moment reversal following the single-burst actuation was studied. A spatially localized region of high pressure caused by a vortices-induced downwash is responsible for the lift and pitching moment reversal. Proper orthogonal decomposition (POD) of the flowfield shows that mode 2 shares a similar structure that produces the downwash and is responsible for the lift and pitching moment reversal. On the other hand, POD mode 1, which represents the direction and strength of the reverse flow on the suction side of the airfoil is responsible for the lift enhancement.

physics.flu-dyn↗

arXiv2022

Serendipitous discovery of radio flaring behaviour from a nearby M dwarf with MeerKAT

We report on the detection of MKT J174641.0$-$321404, a new radio transient found in untargeted searches of wide-field MeerKAT radio images centred on the black hole X-ray binary H1743$-$322. MKT J174641.0$-$321404 is highly variable at 1.3 GHz and was detected three times during 11 observations of the field in late 2018, reaching a maximum flux density of 590 $\pm$ 60 $μ$Jy. We associate this radio transient with a high proper motion, M dwarf star SCR~1746$-$3214 12 pc away from the Sun. Multiwavelength observations of this M dwarf indicate flaring activity across the electromagnetic spectrum, consistent with emission expected from dMe stars, and providing upper limits on quiescent brightness in both the radio and X-ray regimes. \textit{TESS} photometry reveals a rotational period for SCR~1746$-$3214 of $0.2292 \pm 0.0025$ days, which at its estimated radius makes the star a rapid rotator, comparable to other low mass systems. Dedicated spectroscopic follow up confirms the star as a mid-late spectral M dwarf with clear magnetic activity indicated by strong H$α$ emission. This transient's serendipitous discovery by MeerKAT, along with multiwavelength characterisation, make it a prime demonstration of both the capabilities of the current generation of radio interferometers and the value of simultaneous observations by optical facilities such as MeerLICHT. Our results build upon the literature of of M dwarfs' flaring behaviour, particularly relevant to the habitability of their planetary systems.

astro-ph.SR↗

arXiv2021

Essential Metadata for 3D BRAIN Microscopy

Recent advances in fluorescence microscopy techniques and tissue clearing, labeling, and staining provide unprecedented opportunities to investigate brain structure and function. These experiments' images make it possible to catalog brain cell types and define their location, morphology, and connectivity in a native context, leading to a better understanding of normal development and disease etiology. Consistent annotation of metadata is needed to provide the context necessary to understand, reuse, and integrate these data. This report describes an effort to establish metadata standards for 3D microscopy datasets for use by the Brain Research through Advancing Innovative Neurotechnologies (BRAIN) Initiative and the neuroscience research community. These standards were built on existing efforts and developed with input from the brain microscopy community to promote adoption. The resulting Essential Metadata for 3D BRAIN Microscopy includes 91 fields organized into seven categories: Contributors, Funders, Publication, Instrument, Dataset, Specimen, and Image. Adoption of these metadata standards will ensure that investigators receive credit for their work, promote data reuse, facilitate downstream analysis of shared data, and encourage collaboration.

q-bio.OT↗

arXiv2021

Fool Me Once: Robust Selective Segmentation via Out-of-Distribution Detection with Contrastive Learning

In this work, we train a network to simultaneously perform segmentation and pixel-wise Out-of-Distribution (OoD) detection, such that the segmentation of unknown regions of scenes can be rejected. This is made possible by leveraging an OoD dataset with a novel contrastive objective and data augmentation scheme. By combining data including unknown classes in the training data, a more robust feature representation can be learned with known classes represented distinctly from those unknown. When presented with unknown classes or conditions, many current approaches for segmentation frequently exhibit high confidence in their inaccurate segmentations and cannot be trusted in many operational environments. We validate our system on a real-world dataset of unusual driving scenes, and show that by selectively segmenting scenes based on what is predicted as OoD, we can increase the segmentation accuracy by an IoU of 0.2 with respect to alternative techniques.

cs.CV↗

arXiv2020

Keep off the Grass: Permissible Driving Routes from Radar with Weak Audio Supervision

Reliable outdoor deployment of mobile robots requires the robust identification of permissible driving routes in a given environment. The performance of LiDAR and vision-based perception systems deteriorates significantly if certain environmental factors are present e.g. rain, fog, darkness. Perception systems based on FMCW scanning radar maintain full performance regardless of environmental conditions and with a longer range than alternative sensors. Learning to segment a radar scan based on driveability in a fully supervised manner is not feasible as labelling each radar scan on a bin-by-bin basis is both difficult and time-consuming to do by hand. We therefore weakly supervise the training of the radar-based classifier through an audio-based classifier that is able to predict the terrain type underneath the robot. By combining odometry, GPS and the terrain labels from the audio classifier, we are able to construct a terrain labelled trajectory of the robot in the environment which is then used to label the radar scans. Using a curriculum learning procedure, we then train a radar segmentation network to generalise beyond the initial labelling and to detect all permissible driving routes in the environment.

cs.RO↗

arXiv2020

Maximizing the value of Solar System data through Planetary Spatial Data Infrastructures

Planetary spatial data returned by spacecraft, including images and higher-order products such as mosaics, controlled basemaps, and digital elevation models (DEMs), are of critical importance to NASA, its commercial partners and other space agencies. Planetary spatial data are an essential component of basic scientific research and sustained planetary exploration and operations. The Planetary Data System (PDS) is performing the essential job of archiving and serving these data, mostly in raw or calibrated form, with less support for higher-order, more ready-to-use products. However, many planetary spatial data remain not readily accessible to and/or usable by the general science user because particular skills and tools are necessary to process and interpret them from the raw initial state. There is a critical need for planetary spatial data to be more accessible and usable to researchers and stakeholders. A Planetary Spatial Data Infrastructure (PSDI) is a collection of data, tools, standards, policies, and the people that use and engage with them. A PSDI comprises an overarching support system for planetary spatial data. PSDIs (1) establish effective plans for data acquisition; (2) create and make available higher-order products; and (3) consider long-term planning for correct data acquisition, processing and serving (including funding). We recommend that Planetary Spatial Data Infrastructures be created for all bodies and key regions in the Solar System. NASA, with guidance from the planetary science community, should follow established data format standards to build foundational and framework products and use those to build and apply PDSIs to all bodies. Establishment of PSDIs is critical in the coming decade for several locations under active or imminent exploration, and for all others for future planning and current scientific analysis.

astro-ph.IM↗

arXiv2019

Coupling Rendering and Generative Adversarial Networks for Artificial SAS Image Generation

Acquisition of Synthetic Aperture Sonar (SAS) datasets is bottlenecked by the costly deployment of SAS imaging systems, and even when data acquisition is possible,the data is often skewed towards containing barren seafloor rather than objects of interest. We present a novel pipeline, called SAS GAN, which couples an optical renderer with a generative adversarial network (GAN) to synthesize realistic SAS images of targets on the seafloor. This coupling enables high levels of SAS image realism while enabling control over image geometry and parameters. We demonstrate qualitative results by presenting examples of images created with our pipeline. We also present quantitative results through the use of t-SNE and the Fréchet Inception Distance to argue that our generated SAS imagery potentially augments SAS datasets more effectively than an off-the-shelf GAN.

eess.IV↗

arXiv2019

The Breakthrough Listen Search for Extraterrestrial Intelligence

The discovery of the ubiquity of habitable extrasolar planets, combined with revolutionary advances in instrumentation and observational capabilities, have ushered in a renaissance in the millenia-old quest to answer our most profound question about the Universe and our place within it - Are we alone? The Breakthrough Listen Initiative, announced in July 2015 as a 10-year 100M USD program, is the most comprehensive effort in history to quantify the distribution of advanced, technologically capable life in the universe. In this white paper, we outline the status of the on-going observing campaign with our primary observing facilities, as well as planned activities with these instruments over the next few years. We also list collaborative facilities which will conduct searches for technosignatures in either primary observing mode, or commensally. We highlight some of the novel analysis techniques we are bringing to bear on multi-petabyte data sets, including machine learning tools we are deploying to search for a broader range of technosignatures than was previously possible.

astro-ph.IM↗

arXiv2019

Investigating the Efficiency of Explosion Chemistry as a Source of Complex Organic Molecules in TMC-1

Many species of complex organic molecules (COMs) have been observed in several astrophysical environments but it is not clear how they are produced, particularly in cold, quiescent regions. One process that has been proposed as a means to enhance the chemical complexity of the gas phase in such regions is the explosion of the ice mantles of dust grains. In this process, a build up of chemical energy in the ice is released, sublimating the ices and producing a short lived phase of high density, high temperature gas. The gas-grain chemical code UCLCHEM has been modified to treat these explosions in order to model the observed abundances of COMs towards the TMC-1 region. It is found that, based on our current understanding of the explosion mechanism and chemical pathways, the inclusion of explosions in chemical models is not warranted at this time. Explosions are not shown to improve the model's match to the observed abundances of simple species in TMC-1. Further, neither the inclusion of surface diffusion chemistry, nor explosions, results in the production of COMs with observationally inferred abundances.

astro-ph.GA↗

arXiv2018

Additional Representations for Improving Synthetic Aperture Sonar Classification Using Convolutional Neural Networks

Object classification in synthetic aperture sonar (SAS) imagery is usually a data starved and class imbalanced problem. There are few objects of interest present among much benign seafloor. Despite these problems, current classification techniques discard a large portion of the collected SAS information. In particular, a beamformed SAS image, which we call a single-look complex (SLC) image, contains complex pixels composed of real and imaginary parts. For human consumption, the SLC is converted to a magnitude-phase representation and the phase information is discarded. Even more problematic, the magnitude information usually exhibits a large dynamic range (>80dB) and must be dynamic range compressed for human display. Often it is this dynamic range compressed representation, originally designed for human consumption, which is fed into a classifier. Consequently, the classification process is completely void of the phase information. In this work, we show improvements in classification performance using the phase information from the SLC as well as information from an alternate source: photographs. We perform statistical testing to demonstrate the validity of our results.

cs.CV↗

arXiv2018

15-GHz radio emission from nearby low-luminosity active galactic nuclei

We present a sub-arcsec resolution radio imaging survey of a sample of 76 low-luminosity active galactic nuclei (LLAGN) that were previously not detected with the Very Large Array at 15 GHz. Compact, parsec-scale radio emission has been detected above a flux density of 40 $μ$Jy in 60% (45 of 76) of the LLAGN sample. We detect 20 out of 31 (64%) low-ionization nuclear emission-line region (LINER) nuclei, ten out of 14 (71%) low-luminosity Seyfert galaxies, and 15 out of 31 (48%) transition objects. We use this sample to explore correlations between different emission lines and the radio luminosity. We also populate the X-ray and the optical fundamental plane of black hole activity and further refine its parameters. We obtain a fundamental plane relation of log L$_\textrm{R}$ = $0.48\,(\pm0.04$) log L$_\textrm{X}$ + $0.79\,(\pm0.03$) log $\textrm{M}$ and an optical fundamental plane relation of log L$_\textrm{R}$ = $0.63\,(\pm 0.05)$ log L$_{[\rm O~III]}$ + $0.67\,(\pm 0.03)$ log $\textrm{M}$ after including all the LLAGN detected at high resolution at 15 GHz, and the best-studied hard-state X-ray binaries (luminosities are given in erg s$^{-1}$ while the masses are in units of solar mass). Finally, we find conclusive evidence that the nuclear 15 GHz radio luminosity function (RLF) of all the detected Palomar Sample LLAGN has a turnover at the low-luminosity end, and is best-fitted with a broken power law. The break in the power law occurs at a critical mass accretion rate of 1.2$\times$10$^{-3}$ M$_{\odot}$/yr, which translates to an Eddington ratio of $\rm \dot m_{Edd} \sim 5.1 \times 10^{-5}$, assuming a black hole mass of 10$^9 M_{\odot}$. The local group stands closer to the extrapolation of the higher-luminosity sources, and the classical Seyferts agree with the nuclear RLF of the LLAGN in the local universe.

astro-ph.HE↗

arXiv2016

Geomorphologic Mapping of Titan's Polar Terrains: Constraining Surface Processes and Landscape Evolution

We present a geomorphologic map of Titan's polar terrains. The map was generated from a combination of Cassini Synthetic Aperture Radar (SAR) and Imaging Science Subsystem imaging products, as well as altimetry, SARTopo and radargrammetry topographic datasets. In combining imagery with topographic data, our geomorphologic map reveals a stratigraphic sequence from which we infer process interactions between units. In mapping both polar regions with the same geomorphologic units, we conclude that processes that formed the terrains of the north polar region also acted to form the landscape we observe at the south. Uniform, SAR-dark plains are interpreted as sedimentary deposits, and are bounded by moderately dissected uplands. These plains contain the highest density of filled and empty lake depressions, and canyons. These units unconformably overlay a basement rock that outcrops as mountains and SAR-bright dissected terrains at various elevations across both poles. All these units are then superposed by surficial units that slope towards the seas, suggestive of subsequent overland transport of sediment. From estimates of the depths of the embedded empty depressions and canyons that drain into the seas, the SAR-dark plains must be >600 m thick in places, though the thickness may vary across the poles. At the lowest elevations of each polar region, there are large seas, which are currently liquid methane/ethane filled at the north and empty at the south. The large plains deposits and the surrounding hillslopes may represent remnant landforms that are a result of previously vast polar oceans, where larger liquid bodies may have allowed for a sustained accumulation of soluble and insoluble sediments, potentially forming layered sedimentary deposits. Coupled with vertical crustal movements, the resulting layers would be of varying solubilities and erosional resistances.

astro-ph.EP↗

arXiv2014

Managing LTL properties in Event-B refinement

Refinement in Event-B supports the development of systems via proof based step-wise refinement of events. This refinement approach ensures safety properties are preserved, but additional reasoning is required in order to establish liveness and fairness properties. In this paper we present results which allow a closer integration of two formal methods, Event-B and linear temporal logic. In particular we show how a class of temporal logic properties can carry through a refinement chain of machines. Refinement steps can include introduction of new events, event renaming and event splitting. We also identify a general liveness property that holds for the events of the initial system of a refinement chain. The approach will aid developers in enabling them to verify linear temporal logic properties at early stages of a development, knowing they will be preserved at later stages. We illustrate the results via a simple case study.

cs.SE↗

arXiv2013

Photosensor Characterization for the Cherenkov Telescope Array: Silicon Photomultiplier versus Multi-Anode Photomultiplier Tube

Photomultiplier tube technology has been the photodetector of choice for the technique of imaging atmospheric Cherenkov telescopes since its birth more than 50 years ago. Recently, new types of photosensors are being contemplated for the next generation Cherenkov Telescope Array. It is envisioned that the array will be partly composed of telescopes using a Schwarzschild-Couder two mirror design never built before which has significantly improved optics. The camera of this novel optical design has a small plate scale which enables the use of compact photosensors. We present an extensive and detailed study of the two most promising devices being considered for this telescope design: the silicon photomultiplier and the multi-anode photomultiplier tube. We evaluated their most critical performance characteristics for imaging gamma-ray showers, and we present our results in a cohesive manner to clearly evaluate the advantages and disadvantages that both types of device have to offer in the context of GeV-TeV gamma-ray astronomy.

astro-ph.IM↗