arXiv subjects

Miao Li

Publications and source records attributed to Miao Li.

At least 91 records · Page 5Linked to original sources

arXiv2023

DUVET Survey: Mapping Outflows in the Metal-Poor Starburst Mrk 1486

We present a method to characterize star-formation driven outflows from edge-on galaxies and apply this method to the metal-poor starburst galaxy, Mrk 1486. Our method uses the distribution of emission line flux (from H$β$ and [OIII] 5007) to identify the location of the outflow and measure the extent above the disk, the opening angle, and the transverse kinematics. We show that this simple technique recovers a similar distribution of the outflow without requiring complex modelling of line-splitting or multi-Gaussian components, and is therefore applicable to lower spectral resolution data. In Mrk 1486 we observe an asymmetric outflow in both the location of the peak flux and total flux from each lobe. We estimate an opening angle of $17-37^{\circ}$ depending on the method and assumptions adopted. Within the minor axis outflows, we estimate a total mass outflow rate of $\sim2.5$ M$_{\odot}$ yr$^{-1}$, which corresponds to a mass loading factor of $η=0.7$. We observe a non-negligible amount of flux from ionized gas outflowing along the edge of the disk (perpendicular to the biconical components), with a mass outflow rate $\sim0.9$ M$_{\odot}$ yr$^{-1}$. Our results are intended to demonstrate a method that can be applied to high-throughput, low spectral resolution observations, such as narrow band filters or low spectral resolution IFS that may be more able to recover the faint emission from outflows.

astro-ph.GA↗

arXiv2023

A novel tactile palm for robotic object manipulation

Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the fingertips for grasping or the upper-body for human-robot interaction. In this paper, a novel soft tactile sensor has been designed to mimic the functionality of human palm that can estimate the contact state of different objects. The tactile palm mainly consists of three parts including an electrode array, a soft cover skin and the conductive sponge. The design principle are described in details, with a number of experiments showcasing the effectiveness of the proposed design.

cs.RO↗

arXiv2023

Fast calibration for ultrasound imaging guidance based on depth camera

During the process of robot-assisted ultrasound(US) puncture, it is important to estimate the location of the puncture from the 2D US images. To this end, the calibration of the US image becomes an important issue. In this paper, we proposed a depth camera-based US calibration method, where an easy-to-deploy device is designed for the calibration. With this device, the coordinates of the puncture needle tip are collected respectively in US image and in the depth camera, upon which a correspondence matrix is built for calibration. Finally, a number of experiments are conducted to validate the effectiveness of our calibration method.

cs.RO↗

arXiv2023

Learning Autonomous Ultrasound via Latent Task Representation and Robotic Skills Adaptation

As medical ultrasound is becoming a prevailing examination approach nowadays, robotic ultrasound systems can facilitate the scanning process and prevent professional sonographers from repetitive and tedious work. Despite the recent progress, it is still a challenge to enable robots to autonomously accomplish the ultrasound examination, which is largely due to the lack of a proper task representation method, and also an adaptation approach to generalize learned skills across different patients. To solve these problems, we propose the latent task representation and the robotic skills adaptation for autonomous ultrasound in this paper. During the offline stage, the multimodal ultrasound skills are merged and encapsulated into a low-dimensional probability model through a fully self-supervised framework, which takes clinically demonstrated ultrasound images, probe orientations, and contact forces into account. During the online stage, the probability model will select and evaluate the optimal prediction. For unstable singularities, the adaptive optimizer fine-tunes them to near and stable predictions in high-confidence regions. Experimental results show that the proposed approach can generate complex ultrasound strategies for diverse populations and achieve significantly better quantitative results than our previous method.

cs.RO↗

arXiv2023

3D-SeqMOS: A Novel Sequential 3D Moving Object Segmentation in Autonomous Driving

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving objects, resulting in drift errors and even loop-closure failure. Thus, the ability to detect and segment moving objects is essential for high-precision positioning and building a consistent map. In this paper, we address the problem of moving object segmentation from 3D LiDAR scans to improve the odometry and loop-closure accuracy of SLAM. We propose a novel 3D Sequential Moving-Object-Segmentation (3D-SeqMOS) method that can accurately segment the scene into moving and static objects, such as moving and static cars. Different from the existing projected-image method, we process the raw 3D point cloud and build a 3D convolution neural network for MOS task. In addition, to make full use of the spatio-temporal information of point cloud, we propose a point cloud residual mechanism using the spatial features of current scan and the temporal features of previous residual scans. Besides, we build a complete SLAM framework to verify the effectiveness and accuracy of 3D-SeqMOS. Experiments on SemanticKITTI dataset show that our proposed 3D-SeqMOS method can effectively detect moving objects and improve the accuracy of LiDAR odometry and loop-closure detection. The test results show our 3D-SeqMOS outperforms the state-of-the-art method by 12.4%. We extend the proposed method to the SemanticKITTI: Moving Object Segmentation competition and achieve the 2nd in the leaderboard, showing its effectiveness.

cs.RO↗

arXiv2023

Scientific Objectives of the Hot Universe Baryon Surveyor (HUBS) Mission

The Hot Universe Baryon Surveyor (HUBS) is a proposed space-based X-ray telescope for detecting X-ray emissions from the hot gas content in our universe. With its unprecedented spatially-resolved high-resolution spectroscopy and large field of view, the HUBS mission will be uniquely qualified to measure the physical and chemical properties of the hot gas in the interstellar medium, the circumgalactic medium, the intergalactic medium, and the intracluster medium. These measurements will be valuable for two key scientific goals of HUBS, namely to unravel the AGN and stellar feedback physics that governs the formation and evolution of galaxies, and to probe the baryon budget and multi-phase states from galactic to cosmological scales. In addition to these two goals, the HUBS mission will also help us solve some problems in the fields of galaxy clusters, AGNs, diffuse X-ray backgrounds, supernova remnants, and compact objects. This paper discusses the perspective of advancing these fields using the HUBS telescope.

astro-ph.GA↗

arXiv2023

X-ray Emission from the Interstellar and Circumgalactic Medium of Elliptical Galaxies based on MACER simulations

Interstellar (ISM) and circumgalactic mediums (CGM) around galaxies are linked to several physical processes that drive galaxy evolution. For example, the X-ray emission from the CGM gas around ellipticals has been linked to the AGN feedback occurring in the host. Upcoming telescopes, such as HUBS with ~2 eV resolution, can provide us with deep insights about the hot gas properties of such galaxies thus constrain these processes. In this project, we discuss X-ray emission of the ISM and CGM of elliptical galaxies simulated using MACER code. We generate X-ray emission data from the MACER simulations with various feedback models and produce mock observations for an instrument with high spectral resolution, which is a necessary step of selecting sources for the future observations with planned mission such as HUBS. More importantly, we establish connections between the physics of AGN and stellar feedback with the emission spectra from the ISM and CGM to investigate the possibility of using observations to constrain feedback models. We fit the X-ray spectra from these simulations with standard fitting procedures and compare the retrieved physical properties with their counterparts from the simulations to understand whether the future high-resolution observations can reliably reveal the properties of the gas in the galaxies.

astro-ph.GA↗

arXiv2023

Not gone with the Wind: Survival of High-Velocity Molecular Clouds in the Galactic center

High-velocity atomic clouds in the Galactic center have attracted significant attention due to their enigmatic formation process, which is potentially linked to the starburst or supermassive black hole activities in the region. Further, the discovery of high-velocity molecular clouds (HVMCs) presents a greater puzzle, because they are much denser and more massive. If the HVMCs were accelerated by the strong activities in the Galactic center, they are expected to be destroyed before they reach such a high velocity. To shed light on this phenomenon, we perform three-dimensional numerical simulations to investigate the origin and hydrodynamic evolution of HVMCs during a starburst in the Galactic center. We find that the presence of a magnetic field provides effective protection and acceleration to molecular clouds (MCs) within the galactic winds. Consequently, the MCs can attain latitudes of approximately 1 kpc with velocities around 200 km/s, consistent with the observed characteristics of HVMCs. The consistency of our findings across a wide parameter space supports the conclusion that HVMCs can indeed withstand the starburst environment in the Galactic center, providing valuable insights into their survival mechanisms.

astro-ph.GA↗

arXiv2023

THiFLY Research at SemEval-2023 Task 7: A Multi-granularity System for CTR-based Textual Entailment and Evidence Retrieval

The NLI4CT task aims to entail hypotheses based on Clinical Trial Reports (CTRs) and retrieve the corresponding evidence supporting the justification. This task poses a significant challenge, as verifying hypotheses in the NLI4CT task requires the integration of multiple pieces of evidence from one or two CTR(s) and the application of diverse levels of reasoning, including textual and numerical. To address these problems, we present a multi-granularity system for CTR-based textual entailment and evidence retrieval in this paper. Specifically, we construct a Multi-granularity Inference Network (MGNet) that exploits sentence-level and token-level encoding to handle both textual entailment and evidence retrieval tasks. Moreover, we enhance the numerical inference capability of the system by leveraging a T5-based model, SciFive, which is pre-trained on the medical corpus. Model ensembling and a joint inference method are further utilized in the system to increase the stability and consistency of inference. The system achieves f1-scores of 0.856 and 0.853 on textual entailment and evidence retrieval tasks, resulting in the best performance on both subtasks. The experimental results corroborate the effectiveness of our proposed method. Our code is publicly available at https://github.com/THUMLP/NLI4CT.

cs.CL↗

arXiv2023

Inspiraling streams of enriched gas observed around a massive galaxy 11 billion years ago

Stars form in galaxies, from gas that has been accreted from the intergalactic medium. Simulations have shown that recycling of gas-the reaccretion of gas that was previously ejected from a galaxy-could sustain star formation in the early Universe. We observe the gas surrounding a massive galaxy at redshift 2.3 and detect emission lines from neutral hydrogen, helium, and ionized carbon that extend 100 kiloparsecs from the galaxy. The kinematics of this circumgalactic gas is consistent with an inspiraling stream. The carbon abundance indicates that the gas had already been enriched with elements heavier than helium, previously ejected from a galaxy. We interpret the results as evidence of gas recycling during high-redshift galaxy assembly.

astro-ph.GA↗

arXiv2023

PoseFusion: Robust Object-in-Hand Pose Estimation with SelectLSTM

Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains fixed in the hand without any relative movements, which is not representative of real-world scenarios. To address this issue, a 6D object-in-hand pose dataset is proposed using a teleoperation method with an anthropomorphic Shadow Dexterous hand. Our dataset comprises RGB-D images, proprioception and tactile data, covering diverse grasping poses, finger contact states, and object occlusions. To overcome the significant hand occlusion and limited tactile sensor contact in real-world scenarios, we propose PoseFusion, a hybrid multi-modal fusion approach that integrates the information from visual and tactile perception channels. PoseFusion generates three candidate object poses from three estimators (tactile only, visual only, and visuo-tactile fusion), which are then filtered by a SelectLSTM network to select the optimal pose, avoiding inferior fusion poses resulting from modality collapse. Extensive experiments demonstrate the robustness and advantages of our framework. All data and codes are available on the project website: https://elevenjiang1.github.io/ObjectInHand-Dataset/

cs.RO↗

arXiv2023

4D iRIOM: 4D Imaging Radar Inertial Odometry and Mapping

Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height. Previous studies have used 3D radars for ego-motion estimation. But few methods leveraged the rich data of imaging radars, and they usually omitted the mapping aspect, thus leading to inferior odometry accuracy. This paper presents a real-time imaging radar inertial odometry and mapping method, iRIOM, based on the submap concept. To deal with moving objects and multipath reflections, we use the graduated non-convexity method to robustly and efficiently estimate ego-velocity from a single scan. To measure the agreement between sparse non-repetitive radar scan points and submap points, the distribution-to-multi-distribution distance for matches is adopted. The ego-velocity, scan-to-submap matches are fused with the 6D inertial data by an iterative extended Kalman filter to get the platform's 3D position and orientation. A loop closure module is also developed to curb the odometry module's drift. To our knowledge, iRIOM based on the two modules is the first 4D radar inertial SLAM system. On our and third-party data, we show iRIOM's favorable odometry accuracy and mapping consistency against the FastLIO-SLAM and the EKFRIO. Also, the ablation study reveal the benefit of inertial data versus the constant velocity model, and scan-to-submap matching versus scan-to-scan matching.

cs.RO↗

arXiv2023

Compressed Heterogeneous Graph for Abstractive Multi-Document Summarization

Multi-document summarization (MDS) aims to generate a summary for a number of related documents. We propose HGSUM, an MDS model that extends an encoder-decoder architecture, to incorporate a heterogeneous graph to represent different semantic units (e.g., words and sentences) of the documents. This contrasts with existing MDS models which do not consider different edge types of graphs and as such do not capture the diversity of relationships in the documents. To preserve only key information and relationships of the documents in the heterogeneous graph, HGSUM uses graph pooling to compress the input graph. And to guide HGSUM to learn compression, we introduce an additional objective that maximizes the similarity between the compressed graph and the graph constructed from the ground-truth summary during training. HGSUM is trained end-to-end with graph similarity and standard cross-entropy objectives. Experimental results over MULTI-NEWS, WCEP-100, and ARXIV show that HGSUM outperforms state-of-the-art MDS models. The code for our model and experiments is available at: https://github.com/oaimli/HGSum.

cs.CL↗

arXiv2023

Truthful and Stable One-sided Matching on Networks

Mechanism design on social networks is a hot research direction recently, and we have seen many interesting results in auctions and matching. Compared to the traditional settings, the new goal of the network settings is that we need to design incentives to incentivize the participants of the game to invite their neighbors on the network to join the game. This is challenging because they are competing for something (e.g., resources or matches) in the game. In one-sided matching, especially house exchange, the well-known unique truthful, stable and optimal solution called Top Trading Cycle (TTC) cannot achieve the new goal. Existing works have tried to add constraints on TTC to obtain the incentive, but it only works in trees and it does not guarantee any stability. In this paper, we move this forward and propose the first mechanism called Leave and Share (LS) which not only achieves the goal in all networks but also gives the most stable solution in the new settings. In terms of optimality, as it is impossible to achieve it in any network, we conduct simulations to compare it with the extensions of TTC.

cs.GT↗

arXiv2022

A Bioinspired Bidirectional Stiffening Soft Actuator for Multimodal, Compliant, and Robust Grasping

The stiffness modulation mechanism for soft robotics has gained considerable attention to improve deformability, controllability, and stability. However, for the existing stiffness soft actuator, high lateral stiffness and a wide range of bending stiffness are hard to be provided at the same time. This paper presents a bioinspired bidirectional stiffening soft actuator (BISA) combining the air-tendon hybrid actuation (ATA) and a bone-like structure (BLS). The ATA is the main actuation of the BISA, and the bending stiffness can be modulated with a maximum stiffness of about 0.7 N/mm and a maximum magnification of 3 times when the bending angle is 45 deg. Inspired by the morphological structure of the phalanx, the lateral stiffness can be modulated by changing the pulling force of the BLS. The lateral stiffness can be modulated by changing the pulling force to it. The actuator with BLSs can improve the lateral stiffness about 3.9 times compared to the one without BLSs. The maximum lateral stiffness can reach 0.46 N/mm. And the lateral stiffness can be modulated decoupling about 1.3 times (e.g., from 0.35 N/mm to 0.46 when the bending angle is 45 deg). The test results show the influence of the rigid structures on bending is small with about 1.5 mm maximum position errors of the distal point of actuator bending in different pulling forces. The advantages brought by the proposed method enable a soft four-finger gripper to operate in three modes: normal grasping, inverse grasping, and horizontal lifting. The performance of this gripper is further characterized and versatile grasping on various objects is conducted, proving the robust performance and potential application of the proposed design method.

cs.RO↗

arXiv2022

Mixline: A Hybrid Reinforcement Learning Framework for Long-horizon Bimanual Coffee Stirring Task

Bimanual activities like coffee stirring, which require coordination of dual arms, are common in daily life and intractable to learn by robots. Adopting reinforcement learning to learn these tasks is a promising topic since it enables the robot to explore how dual arms coordinate together to accomplish the same task. However, this field has two main challenges: coordination mechanism and long-horizon task decomposition. Therefore, we propose the Mixline method to learn sub-tasks separately via the online algorithm and then compose them together based on the generated data through the offline algorithm. We constructed a learning environment based on the GPU-accelerated Isaac Gym. In our work, the bimanual robot successfully learned to grasp, hold and lift the spoon and cup, insert them together and stir the coffee. The proposed method has the potential to be extended to other long-horizon bimanual tasks.

cs.RO↗

arXiv2022

DUVET: Spatially Resolved Observations of Star Formation Regulation via Galactic Outflows in a Starbursting Disk Galaxy

We compare 500~pc scale, resolved observations of ionised and molecular gas for the $z\sim0.02$ starbursting disk galaxy IRAS08339+6517, using measurements from KCWI and NOEMA. We explore the relationship of the star formation driven ionised gas outflows with colocated galaxy properties. We find a roughly linear relationship between the outflow mass flux ($\dotΣ_{\rm out}$) and star formation rate surface density ($Σ_{\rm SFR}$), $\dotΣ_{\rm out}\proptoΣ_{\rm SFR}^{1.06\pm0.10}$, and a strong correlation between $\dotΣ_{\rm out}$ and the gas depletion time, such that $\dotΣ_{\rm out} \propto t_{dep}^{-1.1\pm0.06}$. Moreover, we find these outflows are so-called ``breakout" outflows, according to the relationship between the gas fraction and disk kinematics. Assuming that ionised outflow mass scales with total outflow mass, our observations suggest that the regions of highest $Σ_{\rm SFR}$ in IRAS08 are removing more gas via the outflow than through the conversion of gas into stars. Our results are consistent with a picture in which the outflow limits the ability for a region of a disk to maintain short depletion times. Our results underline the need for resolved observations of outflows in more galaxies.

astro-ph.GA↗

arXiv2022

PeerSum: A Peer Review Dataset for Abstractive Multi-document Summarization

We present PeerSum, a new MDS dataset using peer reviews of scientific publications. Our dataset differs from the existing MDS datasets in that our summaries (i.e., the meta-reviews) are highly abstractive and they are real summaries of the source documents (i.e., the reviews) and it also features disagreements among source documents. We found that current state-of-the-art MDS models struggle to generate high-quality summaries for PeerSum, offering new research opportunities.

cs.IR↗