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The rate of parental consent for fetal and perinatal autopsy is decreasing, whereas parents are more likely to agree to virtual autopsy by non-invasive imaging methods. Fetal and perinatal virtual autopsy needs high-resolution and good soft-tissue contrast for investigation of the cause of death and underlying trauma or pathology in fetuses and stillborn infants. This is offered by micro-computed tomography (CT), as opposed to the limited resolution provided by clinical CT scanners, and this is one of the most promising tools for non-invasive perinatal postmortem imaging. We developed and optimized a micro-CT scanner with a dual-energy imaging option. It is dedicated to post-mortem CT angiography and virtual autopsy of fetuses and stillborn infants in that the chamber can be cooled down to around 5 °C; this increases tissue rigidity and slows decomposition of the native specimen. This, together with the dedicated gantry-based architecture, attempts to reduce potential motion artifacts. The developed methodology is based on prior endovascular injection of a BaSO4-based contrast agent. We explain the design choices and considerations for this scanner prototype. We give details of the treatment of the optimization of the dual-energy and virtual mono-energetic imaging option that has been based on minimizing noise propagation and maximizing the contrast-to-noise ratio for vascular features. We demonstrate the scanner capabilities with proof-of-concept experiments on phantoms and stillborn piglets.

Understanding and identifying musical shape plays an important role in music education and performance assessment. To simplify the otherwise time- and cost-intensive musical shape evaluation, in this paper we explore how artificial intelligence (AI) driven models can be applied. Considering musical shape evaluation as a classification problem, a light-weight Siamese residual neural network (S-ResNN) is proposed to automatically identify musical shapes. To assess the proposed approach in the context of piano musical shape evaluation, we have generated a new dataset, containing 4116 music pieces derived by 147 piano preparatory exercises and performed in 28 categories of musical shapes. The experimental results show that the S-ResNN significantly outperforms a number of benchmark methods in terms of the precision, recall and F1 score., Comment: X.Li, S.Weiss, Y.Yan, Y.Li, J.Ren, J.Soraghan, M.Gong,"Siamese residual neural network for musical shape evaluation in piano performance assessment" in Proc. of the 31st European Signal Processing Conference, Helsinki, Finland

The electronic structure of UCx (x = 0.9, 1.0, 1.1, 2.0) was studied by means of x-ray absorption spectroscopy (XAS) at the CK edge and measurements in the high energy resolution fluorescence detection (HERFD) mode at the U M-4 and L-3 edges. The full-relativistic density functional theory calculations taking into account the 5f - 5f Coulomb interaction U and spin-orbit coupling (DFT+U+SOC) were also performed for UCand UC2. While the U L-3 HERFD-XAS spectra of the studied samples reveal little difference, the U M-4 HERFD-XAS spectra show certain sensitivity to the varying carbon content in uranium carbides. The observed gradual changes in the U M-4 HERFD spectra suggest an increase in the C2p-U 5f charge transfer, which is supported by the orbital population analysis in the DFT+U+ SOC calculations, indicating an increase in the U 5f occupancy in UC2 as compared to that in UC. On the other hand, the density of states at the Fermi level were found to be significantly lower in UC2, thus affecting the thermodynamic properties. Both the x-ray spectroscopic data (in particular, the CK XAS measurements) and results of the DFT+U+SOC calculations indicate the importance of taking into account U and SOC for the description of the electronic structure of actinide carbides.

The electronic structure of UCx (x = 0.9, 1.0, 1.1, 2.0) was studied by means of x-ray absorption spectroscopy (XAS) at the CK edge and measurements in the high energy resolution fluorescence detection (HERFD) mode at the U M-4 and L-3 edges. The full-relativistic density functional theory calculations taking into account the 5f - 5f Coulomb interaction U and spin-orbit coupling (DFT+U+SOC) were also performed for UCand UC2. While the U L-3 HERFD-XAS spectra of the studied samples reveal little difference, the U M-4 HERFD-XAS spectra show certain sensitivity to the varying carbon content in uranium carbides. The observed gradual changes in the U M-4 HERFD spectra suggest an increase in the C2p-U 5f charge transfer, which is supported by the orbital population analysis in the DFT+U+ SOC calculations, indicating an increase in the U 5f occupancy in UC2 as compared to that in UC. On the other hand, the density of states at the Fermi level were found to be significantly lower in UC2, thus affecting the thermodynamic properties. Both the x-ray spectroscopic data (in particular, the CK XAS measurements) and results of the DFT+U+SOC calculations indicate the importance of taking into account U and SOC for the description of the electronic structure of actinide carbides.

The electronic structure of UCx (x = 0.9, 1.0, 1.1, 2.0) was studied by means of x-ray absorption spectroscopy (XAS) at the CK edge and measurements in the high energy resolution fluorescence detection (HERFD) mode at the U M-4 and L-3 edges. The full-relativistic density functional theory calculations taking into account the 5f - 5f Coulomb interaction U and spin-orbit coupling (DFT+U+SOC) were also performed for UCand UC2. While the U L-3 HERFD-XAS spectra of the studied samples reveal little difference, the U M-4 HERFD-XAS spectra show certain sensitivity to the varying carbon content in uranium carbides. The observed gradual changes in the U M-4 HERFD spectra suggest an increase in the C2p-U 5f charge transfer, which is supported by the orbital population analysis in the DFT+U+ SOC calculations, indicating an increase in the U 5f occupancy in UC2 as compared to that in UC. On the other hand, the density of states at the Fermi level were found to be significantly lower in UC2, thus affecting the thermodynamic properties. Both the x-ray spectroscopic data (in particular, the CK XAS measurements) and results of the DFT+U+SOC calculations indicate the importance of taking into account U and SOC for the description of the electronic structure of actinide carbides.

The electronic structure of UCx (x = 0.9, 1.0, 1.1, 2.0) was studied by means of x-ray absorption spectroscopy (XAS) at the CK edge and measurements in the high energy resolution fluorescence detection (HERFD) mode at the U M-4 and L-3 edges. The full-relativistic density functional theory calculations taking into account the 5f - 5f Coulomb interaction U and spin-orbit coupling (DFT+U+SOC) were also performed for UCand UC2. While the U L-3 HERFD-XAS spectra of the studied samples reveal little difference, the U M-4 HERFD-XAS spectra show certain sensitivity to the varying carbon content in uranium carbides. The observed gradual changes in the U M-4 HERFD spectra suggest an increase in the C2p-U 5f charge transfer, which is supported by the orbital population analysis in the DFT+U+ SOC calculations, indicating an increase in the U 5f occupancy in UC2 as compared to that in UC. On the other hand, the density of states at the Fermi level were found to be significantly lower in UC2, thus affecting the thermodynamic properties. Both the x-ray spectroscopic data (in particular, the CK XAS measurements) and results of the DFT+U+SOC calculations indicate the importance of taking into account U and SOC for the description of the electronic structure of actinide carbides.

The electronic structure of UCx (x = 0.9, 1.0, 1.1, 2.0) was studied by means of x-ray absorption spectroscopy (XAS) at the CK edge and measurements in the high energy resolution fluorescence detection (HERFD) mode at the U M-4 and L-3 edges. The full-relativistic density functional theory calculations taking into account the 5f - 5f Coulomb interaction U and spin-orbit coupling (DFT+U+SOC) were also performed for UCand UC2. While the U L-3 HERFD-XAS spectra of the studied samples reveal little difference, the U M-4 HERFD-XAS spectra show certain sensitivity to the varying carbon content in uranium carbides. The observed gradual changes in the U M-4 HERFD spectra suggest an increase in the C2p-U 5f charge transfer, which is supported by the orbital population analysis in the DFT+U+ SOC calculations, indicating an increase in the U 5f occupancy in UC2 as compared to that in UC. On the other hand, the density of states at the Fermi level were found to be significantly lower in UC2, thus affecting the thermodynamic properties. Both the x-ray spectroscopic data (in particular, the CK XAS measurements) and results of the DFT+U+SOC calculations indicate the importance of taking into account U and SOC for the description of the electronic structure of actinide carbides.

The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs), for example, requires precise navigation relative to the structure that is to be inspected. Recently, Artificial Intelligence (AI)-based methods have been shown to excel at extracting semantic information such as 6 degree-of-freedom (6-DoF) poses of objects from images. In this paper, we propose a method combining a state-of-the-art AI-based pose estimator for objects in camera images with data from an inertial measurement unit (IMU) for 6-DoF multi-object relative state estimation of a mobile robot. The AI-based pose estimator detects multiple objects of interest in camera images along with their relative poses. These measurements are fused with IMU data in a state-of-the-art sensor fusion framework. We illustrate the feasibility of our proposed method with real world experiments for different trajectories and number of arbitrarily placed objects. We show that the results can be reliably reproduced due to the self-calibrating capabilities of our approach., Comment: 7 pages, 4 figures

This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to the well known MSCKF). We define a symmetry group and corresponding group action that allow specifically the design of an equivariant filter for the problem of visual-inertial odometry (VIO) including IMU bias, and camera intrinsic and extrinsic calibration states. In contrast to state-of-the-art invariant extended Kalman filter (IEKF) approaches that simply tack IMU bias and other states onto the $\mathbf{SE}_2(3)$ group, our filter builds upon a symmetry that properly includes all the states in the group structure. Thus, we achieve improved behavior, particularly when linearization points largely deviate from the truth (i.e., on transients upon state disturbances). Our approach is inherently consistent even during convergence phases from significant errors without the need for error uncertainty adaptation, observability constraint, or other consistency enforcing techniques. This leads to greatly improved estimator behavior for significant error and unexpected state changes during, e.g., long-duration missions. We evaluate our approach with a multitude of different experiments using three different prominent real-world datasets., Comment: Accepted for publication in the IEEE Robotics and Automation Letters (RA-L), 2023

In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative Kalman filter (MEKF), have some limitations concerning their consistency, errors in the initial state estimate, and convergence performance. Symmetry-based methods, such as the equivariant filter (EqF), offer significant advantages for these points by exploiting the mathematical properties of the system - its symmetry. These filters yield faster convergence rates and robustness to wrong initial state estimates through their error definition. To demonstrate the usability of EqFs, we focus on the sensor-fusion problem with the most common sensors in outdoor robotics: global navigation satellite system (GNSS) sensors and an inertial measurement unit (IMU). We provide an implementation of such an EqF leveraging the semi-direct product of the symmetry group to derive the filter equations. To validate the practical usability of EqFs in real-world scenarios, we evaluate our method using data from all outdoor runs of the INSANE Dataset. Our results demonstrate the performance improvements of the EqF in real-world environments, highlighting its potential for enhancing state estimation for UAVs., Comment: Pre-print version, accepted to IEEE ICAR 2023

This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the staple of INS filtering for 50 years; however, recent advances in inertial navigation systems have exploited matrix Lie group structure to design stochastic filters and state observers that have been shown to display superior performance compared to classical solutions. In this work we consider the case where a vehicle has an inertial measurement unit (IMU) and a global navigation satellite system (GNSS) receiver. We show that all the modern variants of the EKF for these sensors can be interpreted as the recently proposed Equivariant Filter (EqF) design methodology applied to different choices of symmetry group for the INS problem. This leads us to propose two new symmetries for the INS problem that have not been considered in the prior literature, and provide a discussion of the relative strengths and weaknesses of all the different algorithms. We believe the collection of symmetries that we present here capture all the sensible choices of symmetry for this problem and sensor suite, and that the analysis provided is indicative of the relative real-world performance potential of the different algorithms., Comment: Submitted to Automatica

This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state estimation, the position of the UWB anchors must be known. This study proposes a multi-step initialization procedure to map multiple unknown anchors by an Unmanned Aerial Vehicle (UAV), in a fully autonomous fashion. To address the limitations of initializing UWB anchors via a random trajectory, this paper uses the Geometric Dilution of Precision (GDOP) as a measure of optimality in anchor position estimation, to compute a set of optimal waypoints and synthesize a trajectory that minimizes the mapping uncertainty. After the initialization is complete, the range measurements from multiple anchors, including measurement biases, are tightly integrated into the VIO system. While in range of the initialized anchors, the VIO drift in position and heading is eliminated. The effectiveness of UVIO and our initialization procedure has been validated through a series of simulations and real-world experiments.

The aim of this study is to synthesize PuO2 nanoparticles (NPs) at low pH values and characterize the materials using laboratory and synchrotron-based methods. Properties of the PuO2 NPs formed under acidic conditions (pH 1-4) are explored here at the atomic scale. High-resolution transmission electron microscopy (HRTEM) is applied to characterize the crystallinity, morphology and size of the particles. It is found that 2 nm crystalline NPs are formed with a PuO2 crystal structure. High energy resolution fluorescence detected (HERFD) X-ray absorption spectroscopy at the Pu M-4 edge has been used to identify the Pu oxidation states and recorded data are analysed using the theory based on the Anderson impurity model (AIM). The experimental data obtained on NPs show that the Pu(iv) oxidation state dominates in all NPs formed at pH 1-4. However, the suspension at pH 1 demonstrates the presence of Pu(iii) and Pu(vi) in addition to the Pu(iv), which is associated with redox dissolution of PuO2 NPs under acidic conditions. We discuss in detail the mechanism that affects the PuO2 NPs synthesis under acidic conditions and compare it with one in neutral and alkaline conditions. Hence, the results shown here, together with the first Pu M-4 HERFD data on PuF3 and PuF4 compounds, are significant for the colloid facilitated transport governing the migration of plutonium in a subsurface environment.

The aim of this study is to synthesize PuO2 nanoparticles (NPs) at low pH values and characterize the materials using laboratory and synchrotron-based methods. Properties of the PuO2 NPs formed under acidic conditions (pH 1-4) are explored here at the atomic scale. High-resolution transmission electron microscopy (HRTEM) is applied to characterize the crystallinity, morphology and size of the particles. It is found that 2 nm crystalline NPs are formed with a PuO2 crystal structure. High energy resolution fluorescence detected (HERFD) X-ray absorption spectroscopy at the Pu M-4 edge has been used to identify the Pu oxidation states and recorded data are analysed using the theory based on the Anderson impurity model (AIM). The experimental data obtained on NPs show that the Pu(iv) oxidation state dominates in all NPs formed at pH 1-4. However, the suspension at pH 1 demonstrates the presence of Pu(iii) and Pu(vi) in addition to the Pu(iv), which is associated with redox dissolution of PuO2 NPs under acidic conditions. We discuss in detail the mechanism that affects the PuO2 NPs synthesis under acidic conditions and compare it with one in neutral and alkaline conditions. Hence, the results shown here, together with the first Pu M-4 HERFD data on PuF3 and PuF4 compounds, are significant for the colloid facilitated transport governing the migration of plutonium in a subsurface environment.

The aim of this study is to synthesize PuO2 nanoparticles (NPs) at low pH values and characterize the materials using laboratory and synchrotron-based methods. Properties of the PuO2 NPs formed under acidic conditions (pH 1-4) are explored here at the atomic scale. High-resolution transmission electron microscopy (HRTEM) is applied to characterize the crystallinity, morphology and size of the particles. It is found that 2 nm crystalline NPs are formed with a PuO2 crystal structure. High energy resolution fluorescence detected (HERFD) X-ray absorption spectroscopy at the Pu M-4 edge has been used to identify the Pu oxidation states and recorded data are analysed using the theory based on the Anderson impurity model (AIM). The experimental data obtained on NPs show that the Pu(iv) oxidation state dominates in all NPs formed at pH 1-4. However, the suspension at pH 1 demonstrates the presence of Pu(iii) and Pu(vi) in addition to the Pu(iv), which is associated with redox dissolution of PuO2 NPs under acidic conditions. We discuss in detail the mechanism that affects the PuO2 NPs synthesis under acidic conditions and compare it with one in neutral and alkaline conditions. Hence, the results shown here, together with the first Pu M-4 HERFD data on PuF3 and PuF4 compounds, are significant for the colloid facilitated transport governing the migration of plutonium in a subsurface environment.

UC and UMeC2 (Me = Fe, Zr, Mo) carbides were studied by the high-energyresolution fluorescence-detected X-ray absorption (HERFD-XAS) technique at the U M-4 and L-3 edges. Both U M-4 and L-3 HERFD-XAS reveal some differences between UMeC2 and UC; there are differences also between the M-4 and L-3 edge results for both types of carbide in terms of the spectral width and energy position. The observed differences are attributed to the consequences of the U 5f, 6d-4d(3d) hybridization in UMeC2. Calculations of the U M-4 HERFD-XAS spectra were also performed using the Anderson impurity model (AIM). Based on the analysis of the data, the 5f occupancy in the ground state of UC was estimated to be 3.05 electrons. This finding is also supported by the analysis of U N-4,N-5 XAS of UC and by the results of the AIM calculations of the U 4f X-ray photoelectron spectrum of UC.

UC and UMeC2 (Me = Fe, Zr, Mo) carbides were studied by the high-energyresolution fluorescence-detected X-ray absorption (HERFD-XAS) technique at the U M-4 and L-3 edges. Both U M-4 and L-3 HERFD-XAS reveal some differences between UMeC2 and UC; there are differences also between the M-4 and L-3 edge results for both types of carbide in terms of the spectral width and energy position. The observed differences are attributed to the consequences of the U 5f, 6d-4d(3d) hybridization in UMeC2. Calculations of the U M-4 HERFD-XAS spectra were also performed using the Anderson impurity model (AIM). Based on the analysis of the data, the 5f occupancy in the ground state of UC was estimated to be 3.05 electrons. This finding is also supported by the analysis of U N-4,N-5 XAS of UC and by the results of the AIM calculations of the U 4f X-ray photoelectron spectrum of UC.

UC and UMeC2 (Me = Fe, Zr, Mo) carbides were studied by the high-energyresolution fluorescence-detected X-ray absorption (HERFD-XAS) technique at the U M-4 and L-3 edges. Both U M-4 and L-3 HERFD-XAS reveal some differences between UMeC2 and UC; there are differences also between the M-4 and L-3 edge results for both types of carbide in terms of the spectral width and energy position. The observed differences are attributed to the consequences of the U 5f, 6d-4d(3d) hybridization in UMeC2. Calculations of the U M-4 HERFD-XAS spectra were also performed using the Anderson impurity model (AIM). Based on the analysis of the data, the 5f occupancy in the ground state of UC was estimated to be 3.05 electrons. This finding is also supported by the analysis of U N-4,N-5 XAS of UC and by the results of the AIM calculations of the U 4f X-ray photoelectron spectrum of UC.

The aim of this study is to synthesize PuO2 nanoparticles (NPs) at low pH values and characterize the materials using laboratory and synchrotron-based methods. Properties of the PuO2 NPs formed under acidic conditions (pH 1-4) are explored here at the atomic scale. High-resolution transmission electron microscopy (HRTEM) is applied to characterize the crystallinity, morphology and size of the particles. It is found that 2 nm crystalline NPs are formed with a PuO2 crystal structure. High energy resolution fluorescence detected (HERFD) X-ray absorption spectroscopy at the Pu M-4 edge has been used to identify the Pu oxidation states and recorded data are analysed using the theory based on the Anderson impurity model (AIM). The experimental data obtained on NPs show that the Pu(iv) oxidation state dominates in all NPs formed at pH 1-4. However, the suspension at pH 1 demonstrates the presence of Pu(iii) and Pu(vi) in addition to the Pu(iv), which is associated with redox dissolution of PuO2 NPs under acidic conditions. We discuss in detail the mechanism that affects the PuO2 NPs synthesis under acidic conditions and compare it with one in neutral and alkaline conditions. Hence, the results shown here, together with the first Pu M-4 HERFD data on PuF3 and PuF4 compounds, are significant for the colloid facilitated transport governing the migration of plutonium in a subsurface environment.

UC and UMeC2 (Me = Fe, Zr, Mo) carbides were studied by the high-energyresolution fluorescence-detected X-ray absorption (HERFD-XAS) technique at the U M-4 and L-3 edges. Both U M-4 and L-3 HERFD-XAS reveal some differences between UMeC2 and UC; there are differences also between the M-4 and L-3 edge results for both types of carbide in terms of the spectral width and energy position. The observed differences are attributed to the consequences of the U 5f, 6d-4d(3d) hybridization in UMeC2. Calculations of the U M-4 HERFD-XAS spectra were also performed using the Anderson impurity model (AIM). Based on the analysis of the data, the 5f occupancy in the ground state of UC was estimated to be 3.05 electrons. This finding is also supported by the analysis of U N-4,N-5 XAS of UC and by the results of the AIM calculations of the U 4f X-ray photoelectron spectrum of UC.

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when additional information, such as depth and 3D models, is not provided. We present a transformer-based approach that takes an RGB image as input and predicts a 6D pose for each object in the image. Besides the image, our network does not require any additional information such as depth maps or 3D object models. First, the image is passed through an object detector to generate feature maps and to detect objects. Then, the feature maps are fed into a transformer with the detected bounding boxes as additional information. Afterwards, the output object queries are processed by a separate translation and rotation head. We achieve state-of-the-art results for RGB-only approaches on the challenging YCB-V dataset. We illustrate the suitability of the resulting model as pose sensor for a 6-DoF state estimation task. Code is available at https://github.com/aau-cns/poet., Comment: Supplementary material available: https://www.aau.at/wp-content/uploads/2022/09/jantos_poet.pdf , Code available: https://github.com/aau-cns/poet

For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust localization being a key prerequisite. To support further research in this domain, we present the INSANE data sets - a collection of versatile Micro Aerial Vehicle (MAV) data sets for cross-environment localization. The data sets provide various scenarios with multiple stages of difficulty for localization methods. These scenarios range from trajectories in the controlled environment of an indoor motion capture facility, to experiments where the vehicle performs an outdoor maneuver and transitions into a building, requiring changes of sensor modalities, up to purely outdoor flight maneuvers in a challenging Mars analog environment to simulate scenarios which current and future Mars helicopters would need to perform. The presented work aims to provide data that reflects real-world scenarios and sensor effects. The extensive sensor suite includes various sensor categories, including multiple Inertial Measurement Units (IMUs) and cameras. Sensor data is made available as raw measurements and each data set provides highly accurate ground truth, including the outdoor experiments where a dual Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS) setup provides sub-degree and centimeter accuracy (1-sigma). The sensor suite also includes a dedicated high-rate IMU to capture all the vibration dynamics of the vehicle during flight to support research on novel machine learning-based sensor signal enhancement methods for improved localization. The data sets and post-processing tools are available at: https://sst.aau.at/cns/datasets

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular operation) and transient response (e.g.,~for fast initialization and reset) of such filters are of crucial importance in guaranteeing robust operation of autonomous systems. This paper introduces a new generic formulation for a gyroscope aided attitude estimator using N direction measurements including both body-frame and reference-frame direction type measurements. The approach is based on an integrated state formulation that incorporates navigation, extrinsic calibration for all direction sensors, and gyroscope bias states in a single equivariant geometric structure. This newly proposed symmetry allows modular addition of different direction measurements and their extrinsic calibration while maintaining the ability to include bias states in the same symmetry. The subsequently proposed filter-based estimator using this symmetry noticeably improves the transient response, and the asymptotic bias and extrinsic calibration estimation compared to state-of-the-art approaches. The estimator is verified in statistically representative simulations and is tested in real-world experiments., Comment: to be published in Robotics and Automation Letters

The aim of this study is to synthesize PuO2 nanoparticles (NPs) at low pH values and characterize the materials using laboratory and synchrotron-based methods. Properties of the PuO2 NPs formed under acidic conditions (pH 1-4) are explored here at the atomic scale. High-resolution transmission electron microscopy (HRTEM) is applied to characterize the crystallinity, morphology and size of the particles. It is found that 2 nm crystalline NPs are formed with a PuO2 crystal structure. High energy resolution fluorescence detected (HERFD) X-ray absorption spectroscopy at the Pu M-4 edge has been used to identify the Pu oxidation states and recorded data are analysed using the theory based on the Anderson impurity model (AIM). The experimental data obtained on NPs show that the Pu(iv) oxidation state dominates in all NPs formed at pH 1-4. However, the suspension at pH 1 demonstrates the presence of Pu(iii) and Pu(vi) in addition to the Pu(iv), which is associated with redox dissolution of PuO2 NPs under acidic conditions. We discuss in detail the mechanism that affects the PuO2 NPs synthesis under acidic conditions and compare it with one in neutral and alkaline conditions. Hence, the results shown here, together with the first Pu M-4 HERFD data on PuF3 and PuF4 compounds, are significant for the colloid facilitated transport governing the migration of plutonium in a subsurface environment.

In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory control tracking and, at the same time, estimation performance. Our proposed novel Control & Observability-aware Planning (COP) framework is the first that uses these possibly opposing objectives in a Single-Objective Optimization Problem (SOOP) based on the Augmented Weighted Tchebycheff method to perform the balancing of them and generation of B\'ezier curve-based trajectories. Statistically relevant simulations for a 3D quadrotor unmanned aerial vehicle (UAV) case study produce results that support our claims and show the negative correlation between both objectives. We were able to reduce the positional mean integral error norm as well as the estimation uncertainty with the same trajectory to comparable levels of the trajectories optimized with individual objectives., Comment: To be published in IEEE International Conference on Robotics and Automation (ICRA), 2022

Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geometry and symmetry to overcome limitations of the classical Extended Kalman Filter (EKF) approach that formed the mainstay of INS systems since the mid-twentieth century. The industry standard INS filter, the Multiplicative Extended Kalman Filter (MEKF), uses a geometric construction for attitude estimation coupled with classical Euclidean construction for position, velocity and bias estimation. The recent Invariant Extended Kalman Filter (IEKF) provides a geometric framework for the full navigation states, integrating attitude, position and velocity, but still uses the classical Euclidean construction to model the bias states. In this paper, we use the recently proposed Equivariant Filter (EqF) framework to derive a novel observer for biased inertial-based navigation in a fully geometric framework. The introduction of virtual velocity inputs with associated virtual bias leads to a full equivariant symmetry on the augmented system. The resulting filter performance is evaluated with both simulated and real-world data, and demonstrates increased robustness to a wide range of erroneous initial conditions, and improved accuracy when compared with the industry standard Multiplicative EKF (MEKF) approach.

UC and UMeC2 (Me = Fe, Zr, Mo) carbides were studied by the high-energyresolution fluorescence-detected X-ray absorption (HERFD-XAS) technique at the U M-4 and L-3 edges. Both U M-4 and L-3 HERFD-XAS reveal some differences between UMeC2 and UC; there are differences also between the M-4 and L-3 edge results for both types of carbide in terms of the spectral width and energy position. The observed differences are attributed to the consequences of the U 5f, 6d-4d(3d) hybridization in UMeC2. Calculations of the U M-4 HERFD-XAS spectra were also performed using the Anderson impurity model (AIM). Based on the analysis of the data, the 5f occupancy in the ground state of UC was estimated to be 3.05 electrons. This finding is also supported by the analysis of U N-4,N-5 XAS of UC and by the results of the AIM calculations of the U 4f X-ray photoelectron spectrum of UC.

Highly crystalline UO2 nanoparticles (NPs) with sizes of 2–3 nm were produced by fast chemical deposition of uranium(IV) under reducing conditions at pH 8–11. The particles were then characterized by microscopy and spectroscopy techniques including high-resolution transmission electron microscopy (HRTEM), X-ray diffraction (XRD), high-energy resolution fluorescence detection (HERFD) X-ray absorption spectroscopy at the U M4 edge and extended X-ray absorption fine structure (EXAFS) spectroscopy at the U L3 edge. The results of this investigation show that despite U(IV) being the dominant oxidation state of the freshly prepared UO2 NPs, they oxidize to U4O9 with time and under the X-ray beam, indicating the high reactivity of U(IV) under these conditions. Moreover, it was found that the oxidation process of NPs is accompanied by their growth in size to 6 nm. We highlight here the major differences and similarities of the UO2 NP properties to PuO2, ThO2 and CeO2 NPs.

Highly crystalline UO2 nanoparticles (NPs) with sizes of 2–3 nm were produced by fast chemical deposition of uranium(IV) under reducing conditions at pH 8–11. The particles were then characterized by microscopy and spectroscopy techniques including high-resolution transmission electron microscopy (HRTEM), X-ray diffraction (XRD), high-energy resolution fluorescence detection (HERFD) X-ray absorption spectroscopy at the U M4 edge and extended X-ray absorption fine structure (EXAFS) spectroscopy at the U L3 edge. The results of this investigation show that despite U(IV) being the dominant oxidation state of the freshly prepared UO2 NPs, they oxidize to U4O9 with time and under the X-ray beam, indicating the high reactivity of U(IV) under these conditions. Moreover, it was found that the oxidation process of NPs is accompanied by their growth in size to 6 nm. We highlight here the major differences and similarities of the UO2 NP properties to PuO2, ThO2 and CeO2 NPs.

Highly crystalline UO2 nanoparticles (NPs) with sizes of 2–3 nm were produced by fast chemical deposition of uranium(IV) under reducing conditions at pH 8–11. The particles were then characterized by microscopy and spectroscopy techniques including high-resolution transmission electron microscopy (HRTEM), X-ray diffraction (XRD), high-energy resolution fluorescence detection (HERFD) X-ray absorption spectroscopy at the U M4 edge and extended X-ray absorption fine structure (EXAFS) spectroscopy at the U L3 edge. The results of this investigation show that despite U(IV) being the dominant oxidation state of the freshly prepared UO2 NPs, they oxidize to U4O9 with time and under the X-ray beam, indicating the high reactivity of U(IV) under these conditions. Moreover, it was found that the oxidation process of NPs is accompanied by their growth in size to 6 nm. We highlight here the major differences and similarities of the UO2 NP properties to PuO2, ThO2 and CeO2 NPs.

Highly crystalline UO2 nanoparticles (NPs) with sizes of 2–3 nm were produced by fast chemical deposition of uranium(IV) under reducing conditions at pH 8–11. The particles were then characterized by microscopy and spectroscopy techniques including high-resolution transmission electron microscopy (HRTEM), X-ray diffraction (XRD), high-energy resolution fluorescence detection (HERFD) X-ray absorption spectroscopy at the U M4 edge and extended X-ray absorption fine structure (EXAFS) spectroscopy at the U L3 edge. The results of this investigation show that despite U(IV) being the dominant oxidation state of the freshly prepared UO2 NPs, they oxidize to U4O9 with time and under the X-ray beam, indicating the high reactivity of U(IV) under these conditions. Moreover, it was found that the oxidation process of NPs is accompanied by their growth in size to 6 nm. We highlight here the major differences and similarities of the UO2 NP properties to PuO2, ThO2 and CeO2 NPs.

In this paper, we present a novel deep neural network architecture for joint class-agnostic object segmentation and grasp detection for robotic picking tasks using a parallel-plate gripper. We introduce depth-aware Coordinate Convolution (CoordConv), a method to increase accuracy for point proposal based object instance segmentation in complex scenes without adding any additional network parameters or computation complexity. Depth-aware CoordConv uses depth data to extract prior information about the location of an object to achieve highly accurate object instance segmentation. These resulting segmentation masks, combined with predicted grasp candidates, lead to a complete scene description for grasping using a parallel-plate gripper. We evaluate the accuracy of grasp detection and instance segmentation on challenging robotic picking datasets, namely Sil\'eane and OCID_grasp, and show the benefit of joint grasp detection and segmentation on a real-world robotic picking task.

Highly crystalline UO2 nanoparticles (NPs) with sizes of 2–3 nm were produced by fast chemical deposition of uranium(IV) under reducing conditions at pH 8–11. The particles were then characterized by microscopy and spectroscopy techniques including high-resolution transmission electron microscopy (HRTEM), X-ray diffraction (XRD), high-energy resolution fluorescence detection (HERFD) X-ray absorption spectroscopy at the U M4 edge and extended X-ray absorption fine structure (EXAFS) spectroscopy at the U L3 edge. The results of this investigation show that despite U(IV) being the dominant oxidation state of the freshly prepared UO2 NPs, they oxidize to U4O9 with time and under the X-ray beam, indicating the high reactivity of U(IV) under these conditions. Moreover, it was found that the oxidation process of NPs is accompanied by their growth in size to 6 nm. We highlight here the major differences and similarities of the UO2 NP properties to PuO2, ThO2 and CeO2 NPs.

The nanoscience field often produces results more mystifying than any other discipline. It has been argued that changes in the plutonium dioxide (PuO2) particle size from bulk to nano can have a drastic effect on PuO2 properties. Here we report a full characterization of PuO2 nanoparticles (NPs) at the atomic level and probe their local and electronic structures by a variety of methods available at the synchrotron, including extended X-ray absorption fine structure (EXAFS) at the Pu L-3 edge, X-ray absorption near edge structure (XANES) in high energy resolution fluorescence detection (HERFD) mode at the Pu L-3 and M-4 edges, high energy X-ray scattering (HEXS) and X-ray diffraction (XRD). The particles were synthesized from precursors with different oxidation states of plutonium (III, IV, and V) under various environmentally and waste storage relevant conditions (pH 8 and pH > 10). Our experimental results analyzed with state-of-the-art theoretical approaches demonstrate that well dispersed, crystalline NPs with a size of similar to 2.5 nm in diameter are always formed in spite of diverse chemical conditions. Identical crystal structures and the presence of only the Pu(IV) oxidation state in all NPs, reported here for the first time, indicate that the structure of PuO2 NPs is very similar to that of the bulk PuO2. All methods give complementary information and show that investigated fundamental properties of PuO2 NPs, rather than being exotic, are very similar to those of the bulk PuO2.

A general strategy for the determination of Tc oxidation state by new approach involving X-ray absorption near edge spectroscopy (XANES) at the Tc L-3 edge is shown. A comprehensive series of Tc-99 compounds, ranging from oxidation states I to VII, was measured and subsequently simulated within the framework of crystal-field multiplet theory. The observable trends in the absorption edge energy shift in combination with the spectral shape allow for a deeper understanding of complicated Tc coordination chemistry. This approach can be extended to numerous studies of Tc systems as this method is one of the most sensitive methods for accurate Tc oxidation state and ligand characterization.

We report on Rayleigh-Bénard convection with strongly varying fluid properties experimentally and theoretically. Using pressurized sulfur-hexafluoride (SF6) above its critical point, we are able to make measurements at mean temperatures (Tm) and pressures (Pm) along Prandtl-number isolines in the (T,P) parameter space. This allows us to keep the mean Rayleigh- (Ram) and Prandtl number (Prm) constant while changing the temperature dependences of the fluid properties independently, e.g., probing the liquidlike or gaslike region that are left and right of the supercritical isochore. Hence, non-Oberbeck-Boussinesq (NOB) effects can be measured and analyzed cleanly. We measure the temperature at midheight (Tc) as well as the global vertical heat flux. We observe a significant heat transport enhancement of up to 112% under strong NOB conditions. Furthermore, we develop a theoretical model for the global vertical heat flux based on ideas of Grossmann and Lohse (GL) in OB systems, adjusted for nonconstant fluid properties. In this model, the NOB effects influence the boundary layer and hence Tc, but the change of the heat flux is predominantly due to a change of the fluid properties in the bulk, in particular the heat capacity cp and density ρ. Predictions from our model are consistent with our experimental results as well as with previous measurements carried out in pressurized ethane and cryogenic helium., RST/Reactor Physics and Nuclear Materials

Here we provide evidence that the formation of PuO2 nanoparticles from oxidized PuVI under alkaline conditions proceeds through the formation of an intermediate PuV solid phase, similar to NH4PuO2CO3, which is stable over a period of several months. For the first time, state‐of‐the‐art experiments at Pu M4 and at L3 absorption edges combined with theoretical calculations unambiguously allow to determine the oxidation state and the local structure of this intermediate phase., Early View: Online Version of Record before inclusion in an issue

Developing characterization techniques and analysis methods adapted to the investigation of nanoparticles (NPs) is of fundamental importance considering the role of these materials in many fields of research. The study of actinide based NPs, despite their environmental relevance, is still underdeveloped compared to that of NPs based on stable and lighter elements. We present here an investigation of ThO2 NPs performed with High-Energy Resolution Fluorescence Detected (HERFD) X-ray Absorption Near-Edge Structure (XANES) and with ab initio XANES simulations. The first post-edge feature of Th L-3 edge HERFD XANES disappears in small NPs and simulations considering non-relaxed structural models reproduce the trends observed in experimental data. Inspection of the simulations of Th atoms in the core and on the surface of the NP indeed demonstrates that the first post-edge feature is very sensitive to the lowering of the number of coordinating atoms and therefore to the more exposed Th atoms at the surface of the NP. The sensitivity of the L-3 edge HERFD XANES to low coordinated atoms at the surface stems from the hybridization of the d-Density of States (DOS) of Th with both O and Th neighboring atoms. This may be a common feature to other oxide systems that can be exploited to investigate surface interactions.

Here we provide evidence that the formation of PuO2 nanoparticles from oxidized PuVI under alkaline conditions proceeds through the formation of an intermediate PuV solid phase, similar to NH4PuO2CO3, which is stable over a period of several months. For the first time, state‐of‐the‐art experiments at Pu M4 and at L3 absorption edges combined with theoretical calculations unambiguously allow to determine the oxidation state and the local structure of this intermediate phase., Early View: Online Version of Record before inclusion in an issue

Here we provide evidence that the formation of PuO2 nanoparticles from oxidized PuVI under alkaline conditions proceeds through the formation of an intermediate PuV solid phase, similar to NH4PuO2CO3, which is stable over a period of several months. For the first time, state‐of‐the‐art experiments at Pu M4 and at L3 absorption edges combined with theoretical calculations unambiguously allow to determine the oxidation state and the local structure of this intermediate phase., Early View: Online Version of Record before inclusion in an issue

A major research focus of the DREsden Accelerator Mass Spectrometry (DREAMS) facility is sample preparation: in-house and at cooperating laboratories. Besides routine applications, developments are mainly driven by the users’ demands such as “new” radionuclides (e.g. short-lived 7Be), radionuclides from new matrices or in larger sample amounts and at lower concentrations. Within the chemical preparation of BeO for 7,10Be, Al2O3 for 26Al, AgCl for 36Cl, and Fe2O3 for 60Fe and actinide AMS targets, we investigated and improved mostly particular steps: For oxide preparation aging for several hours and two-times rinsing of hydroxides is recommended, especially for Be(OH)2 and Al(OH)3, to prevent losses in the final preparation steps. Rinsing of freshly precipitated hydroxides can yield to losses as high as 31%. For Al(OH)3 rinsing with H2O (pH5) instead of pH8-9 is recommended for further reducing redissolving. For 60Fe and coprecipitated actinides (the latter tested by U6+ and Er3+), rinsing of overnight-aged Fe(OH)3, yield to 2.6–3.5% losses. The depletion of the isobar 7Li for (7)BeO is easily gained by hydroxide precipitation and rinsing. The quality of BeO and Al2O3 AMS targets can be monitored and improved (e.g. by using larger ion exchanger columns) by using the so-called “quality factor”, which is the current of the stable nuclide (9Be or 27Al), normalised to the current of the standard of the same batch. Finally, there is a high potential for ion exchange as a pre-enrichment tool for Cl for large ice samples containing low natCl concentrations and low absolute amounts of natCl.

A major research focus of the DREsden Accelerator Mass Spectrometry (DREAMS) facility is sample preparation: in-house and at cooperating laboratories. Besides routine applications, developments are mainly driven by the users’ demands such as “new” radionuclides (e.g. short-lived 7Be), radionuclides from new matrices or in larger sample amounts and at lower concentrations. Within the chemical preparation of BeO for 7,10Be, Al2O3 for 26Al, AgCl for 36Cl, and Fe2O3 for 60Fe and actinide AMS targets, we investigated and improved mostly particular steps: For oxide preparation aging for several hours and two-times rinsing of hydroxides is recommended, especially for Be(OH)2 and Al(OH)3, to prevent losses in the final preparation steps. Rinsing of freshly precipitated hydroxides can yield to losses as high as 31%. For Al(OH)3 rinsing with H2O (pH5) instead of pH8-9 is recommended for further reducing redissolving. For 60Fe and coprecipitated actinides (the latter tested by U6+ and Er3+), rinsing of overnight-aged Fe(OH)3, yield to 2.6–3.5% losses. The depletion of the isobar 7Li for (7)BeO is easily gained by hydroxide precipitation and rinsing. The quality of BeO and Al2O3 AMS targets can be monitored and improved (e.g. by using larger ion exchanger columns) by using the so-called “quality factor”, which is the current of the stable nuclide (9Be or 27Al), normalised to the current of the standard of the same batch. Finally, there is a high potential for ion exchange as a pre-enrichment tool for Cl for large ice samples containing low natCl concentrations and low absolute amounts of natCl.

Here we provide evidence that the formation of PuO2 nanoparticles from oxidized PuVI under alkaline conditions proceeds through the formation of an intermediate PuV solid phase, similar to NH4PuO2CO3, which is stable over a period of several months. For the first time, state‐of‐the‐art experiments at Pu M4 and at L3 absorption edges combined with theoretical calculations unambiguously allow to determine the oxidation state and the local structure of this intermediate phase., Early View: Online Version of Record before inclusion in an issue

Here we provide evidence that the formation of PuO2 nanoparticles from oxidized PuVI under alkaline conditions proceeds through the formation of an intermediate PuV solid phase, similar to NH4PuO2CO3, which is stable over a period of several months. For the first time, state‐of‐the‐art experiments at Pu M4 and at L3 absorption edges combined with theoretical calculations unambiguously allow to determine the oxidation state and the local structure of this intermediate phase., Early View: Online Version of Record before inclusion in an issue

The global muscle and collagen fiber orientation in the human uterus has been analyzed hitherto by various standard microscopic techniques. However, no widely accepted model of the fiber architecture of the myometrium could be acquired. The purpose of the present study was to investigate the uterus by magnetic resonance (MR) diffusion tensor imaging (DTI) in a 3D macroscopic approach. Ex vivo MR DTI measurements were performed on five uteri from nonpregnant patients. The main diffusion directions reflecting the orientation of directional structures in the examined tissues were determined from diffusion-weighted spin-echo measurements. A fiber tracking algorithm was used to extrapolate the fiber architecture. The method was validated against histological slides and indirectly through the analysis of leiomyomas, which exhibit less anisotropy than normal myometrium. Significant anisotropy was found in most regions of all examined nonpregnant human uteri. But only two systems of fibers were found running circularly along the intramural part of the uterine tubes. They merged caudally and built a close fitting envelope of circular layers around the uterine cavity. On the cervix, circular fibers were observed in the outer part as well as mostly longitudinal fibers in the inner part. These results confirm the existence of directional structures in the complex fiber architecture of the human uterus. They also indicate that MR DTI is a beneficial and complementary tool to standard microscopic techniques to determine the intrinsic fiber architecture in human organs.

The global muscle and collagen fiber orientation in the human uterus has been analyzed hitherto by various standard microscopic techniques. However, no widely accepted model of the fiber architecture of the myometrium could be acquired. The purpose of the present study was to investigate the uterus by magnetic resonance (MR) diffusion tensor imaging (DTI) in a 3D macroscopic approach. Ex vivo MR DTI measurements were performed on five uteri from nonpregnant patients. The main diffusion directions reflecting the orientation of directional structures in the examined tissues were determined from diffusion-weighted spin-echo measurements. A fiber tracking algorithm was used to extrapolate the fiber architecture. The method was validated against histological slides and indirectly through the analysis of leiomyomas, which exhibit less anisotropy than normal myometrium. Significant anisotropy was found in most regions of all examined nonpregnant human uteri. But only two systems of fibers were found running circularly along the intramural part of the uterine tubes. They merged caudally and built a close fitting envelope of circular layers around the uterine cavity. On the cervix, circular fibers were observed in the outer part as well as mostly longitudinal fibers in the inner part. These results confirm the existence of directional structures in the complex fiber architecture of the human uterus. They also indicate that MR DTI is a beneficial and complementary tool to standard microscopic techniques to determine the intrinsic fiber architecture in human organs.

The fusion of inertial and visual data is widely used to improve an object's pose estimation. However, this type of fusion is rarely used to estimate further unknowns in the visual framework. In this paper we present and compare two different approaches to estimate the unknown scale parameter in a monocular SLAM framework. Directly linked to the scale is the estimation of the object's absolute velocity and position in 3D. The first approach is a spline fitting task adapted from Jung and Taylor and the second is an extended Kalman filter. Both methods have been simulated offline on arbitrary camera paths to analyze their behavior and the quality of the resulting scale estimation. We then embedded an online multi rate extended Kalman filter in the Parallel Tracking and Mapping (PTAM) algorithm of Klein and Murray together with an inertial sensor. In this inertial/monocular SLAM framework, we show a real time, robust and fast converging scale estimation. Our approach does not depend on known patterns in the vision part nor a complex temporal synchronization between the visual and inertial sensor

Recent development showed that Micro Aerial Vehicles (MAVs) are nowadays capable of autonomously take off at one point and land at another using only one single camera as exteroceptive sensor. During the flight and landing phase the MAV and user have, however, little knowledge about the whole terrain and potential obstacles. In this paper we show a new solution for a real-time dense 3D terrain reconstruction. This can be used for efficient unmanned MAV terrain exploration and yields a solid base for standard autonomous obstacle avoidance algorithms and path planners. Our approach is based on a textured 3D mesh on sparse 3D point features of the scene. We use the same feature points to localize and control the vehicle in the 3D space as we do for building the 3D terrain reconstruction mesh. This enables us to reconstruct the terrain without significant additional cost and thus in real-time. Experiments show that the MAV is easily guided through an unknown, GPS denied environment. Obstacles are recognized in the iteratively built 3D terrain reconstruction and are thus well avoided

Aim: To investigate the relation between intrauterine pressures and volumes for virtual-reality-based surgical training in hysteroscopy. Material and methods: Ten fresh extirpated uteri were insufflated by commercial hysteroscopy pump and imaged by computer tomography (CT) under intrauterine air pressure in distension-collapse cycles between 0, 20 (150mmHg), and 0kPa, performing a CT scan at every step at about 2.7kPa (20mmHg). Results: An initial threshold pressure to distend the cavity was avoided by introducing the insufflation tube up to the fundus. The filling and release phases of seven uteri that were completely distended showed the typical characteristics of a hysteresis curve which is expected from a viscoelastic, nonlinear, anisotropic soft tissue organ like the uterus. In three cases tightening the extirpated uterus especially at the lateral resection lines caused significant problems that inhibited registration of a complete distension-collapse cycle. Interpolated volumes for complete distended cavities and extrapolated for incomplete data sets, derived from the digitally reconstructed three-dimensional (3D) geometries, ranged from 0.6 to 11.4mL at 20kPa. These values highly correlate with the uterine volume (not insufflated) considering different biometric data of the uteri and patient data. Linear (R 2=0.66) and quadratic least-squares fits (R 2=0.74) were used to derive the formulas y=0.069x and y=0.00037x 2+0.036x, where x is the uterine volume in mL (not insufflated) and y is the cavity volume in mL at 20kPa intrauterine pressure. Conclusions: Our experimental hysteroscopical setup enabled us to reconstruct the changes in volumes of insufflated uteri under highly realistic conditions in 3D. The relation between intrauterine pressure and cavity volume in distension-collapse cycles describes a typical hysteresis curve

This paper presents a real-time vision based algorithm for 5 degrees-of-freedom pose estimation and set-point control for a Micro Aerial Vehicle (MAV). The camera is mounted on-board a quadrotor helicopter. Camera pose estimation is based on the appearance of two concentric circles which are used as landmark. We show that that by using a calibrated camera, conic sections, and the assumption that yaw is controlled independently, it is possible to determine the six degrees-of-freedom pose of the MAV. First we show how to detect the landmark in the image frame. Then we present a geometric approach for camera pose estimation from the elliptic appearance of a circle in perspective projection. Using this information we are able to determine the pose of the vehicle. Finally, given a set point in the image frame we are able to control the quadrotor such that the feature appears in the respective target position. The performance of the proposed method is presented through experimental results