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The Tarantula Nebula in the Large Magellanic Cloud is known for its high star formation activity. At its center lies the young massive star cluster R136, providing a significant amount of the energy that makes the nebula shine so brightly at many wavelengths. Recently, young massive star clusters have been suggested to also efficiently produce high-energy cosmic rays, potentially beyond PeV energies. Here, we report the detection of very-high-energy $\gamma$-ray emission from the direction of R136 with the High Energy Stereoscopic System, achieved through a multicomponent, likelihood-based modeling of the data. This supports the hypothesis that R136 is indeed a very powerful cosmic-ray accelerator. Moreover, from the same analysis, we provide an updated measurement of the $\gamma$-ray emission from 30 Dor C, the only superbubble detected at TeV energies presently. The $\gamma$-ray luminosity above $0.5\,\mathrm{TeV}$ of both sources is $(2-3)\times 10^{35}\,\mathrm{erg}\,\mathrm{s}^{-1}$. This exceeds by more than a factor of 2 the luminosity of HESS J1646$-$458, which is associated with the most massive young star cluster in the Milky Way, Westerlund 1. Furthermore, the $\gamma$-ray emission from each source is extended with a significance of $>3\sigma$ and a Gaussian width of about $30\,\mathrm{pc}$. For 30 Dor C, a connection between the $\gamma$-ray emission and the nonthermal X-ray emission appears likely. Different interpretations of the $\gamma$-ray signal from R136 are discussed., Comment: 10+11 pages, 4+6 figures. Corresponding authors: L. Mohrmann, N. Komin

In this paper, we emphasise the critical importance of large-scale datasets for advancing field robotics capabilities, particularly in natural environments. While numerous datasets exist for urban and suburban settings, those tailored to natural environments are scarce. Our recent benchmarks WildPlaces and WildScenes address this gap by providing synchronised image, lidar, semantic and accurate 6-DoF pose information in forest-type environments. We highlight the multi-modal nature of this dataset and discuss and demonstrate its utility in various downstream tasks, such as place recognition and 2D and 3D semantic segmentation tasks., Comment: Accepted to the 2024 IEEE ICRA Workshop on Field Robotics

Neural fields provide a continuous scene representation of 3D geometry and appearance in a way which has great promise for robotics applications. One functionality that unlocks unique use-cases for neural fields in robotics is object 6-DoF registration. In this paper, we provide an expanded analysis of the recent Reg-NF neural field registration method and its use-cases within a robotics context. We showcase the scenario of determining the 6-DoF pose of known objects within a scene using scene and object neural field models. We show how this may be used to better represent objects within imperfectly modelled scenes and generate new scenes by substituting object neural field models into the scene., Comment: Accepted to ICRA 2024 RoboNeRF workshop. 5 pages, 10 figures. arXiv admin note: substantial text overlap with arXiv:2402.09722

The radio galaxy M87 is a variable very-high energy (VHE) gamma-ray source, exhibiting three major flares reported in 2005, 2008, and 2010. Despite extensive studies, the origin of the VHE gamma-ray emission is yet to be understood. In this study, we investigate the VHE gamma-ray spectrum of M87 during states of high gamma-ray activity, utilizing 20.2$\,$ hours the H.E.S.S. observations. Our findings indicate a preference for a curved spectrum, characterized by a log-parabola model with extra-galactic background light (EBL) model above 0.3$\,$TeV at the 4$\sigma$ level, compared to a power-law spectrum with EBL. We investigate the degeneracy between the absorption feature and the EBL normalization and derive upper limits on EBL models mainly sensitive in the wavelength range 12.4$\,$$\mu$m - 40$\,$$\mu$m., Comment: 10 pages, 7 figures. Accepted for publication in A&A. Corresponding authors: Victor Barbosa Martins, Rahul Cecil, Iryna Lypova, Manuel Meyer, Perri Zilberman. Supplementary material: https://zenodo.org/records/10781524

Neural fields, coordinate-based neural networks, have recently gained popularity for implicitly representing a scene. In contrast to classical methods that are based on explicit representations such as point clouds, neural fields provide a continuous scene representation able to represent 3D geometry and appearance in a way which is compact and ideal for robotics applications. However, limited prior methods have investigated registering multiple neural fields by directly utilising these continuous implicit representations. In this paper, we present Reg-NF, a neural fields-based registration that optimises for the relative 6-DoF transformation between two arbitrary neural fields, even if those two fields have different scale factors. Key components of Reg-NF include a bidirectional registration loss, multi-view surface sampling, and utilisation of volumetric signed distance functions (SDFs). We showcase our approach on a new neural field dataset for evaluating registration problems. We provide an exhaustive set of experiments and ablation studies to identify the performance of our approach, while also discussing limitations to provide future direction to the research community on open challenges in utilizing neural fields in unconstrained environments., Comment: Accepted to ICRA 2024. The first two authors contributed equally

The Y1-xLixBa2Cu3O7-d polycrystalline bulk superconductors doped with Li substituting at the Y site at different concentrations (x = 0, 0.01, 0.02, 0.1) were prepared using the citrate-gel method to study the effects of doping on the superconducting temperature and critical current density. The question was whether Li addition characterized by a high Debye frequency would have any positive effects on Tc. The optimum citrate-gel and heat treatment conditions were identified as those yielding samples with a maximum grain size on the order of 50 micro.m (up to the optimum Li-doping level, x=0.01). Li substitution at the Y site was verified by structural, electrical, and magnetic measurements of the produced samples, whereas X-ray diffraction (XRD) analysis revealed the formation of a pure phase with no visible impurity phases. Moreover, AC magnetic susceptibility measurements showed no increase in the superconducting transition temperature Tc, consistent with the predicted results obtained by machine learning method, although it was theoretically expected to increase owing to the high Debye frequency of Li. This observation is consistent with magnetic coupling models for pairing mechanism in cuprates. Finally, because of the optimum conditions of the preparation procedure, nearly identical values of the critical current density (Jc) were recorded for samples with different Li doping levels (up to the optimum Li doping level). It was found that improved compound preparation conditions would have a critical and extensive effect on Jc enhancement, with nearly no Tc suppression.

The integration of sensorized vessels, enabling real-time data collection and machine learning-driven data analysis marks a pivotal advancement in the maritime industry. This transformative technology not only can enhance safety, efficiency, and sustainability but also usher in a new era of cost-effective and smart maritime transportation in our increasingly interconnected world. This study presents a deep learning-driven anomaly detection system augmented with interpretable machine learning models for identifying performance anomalies in an industrial sensorized vessel, called TUCANA. We Leverage a human-in-the-loop unsupervised process that involves utilizing standard and Long Short-Term Memory (LSTM) autoencoders augmented with interpretable surrogate models, i.e., random forest and decision tree, to add transparency and interpretability to the results provided by the deep learning models. The interpretable models also enable automated rule generation for translating the inference into human-readable rules. Additionally, the process also includes providing a projection of the results using t-distributed stochastic neighbor embedding (t-SNE), which helps with a better understanding of the structure and relationships within the data and assessment of the identified anomalies. We empirically evaluate the system using real data acquired from the vessel TUCANA and the results involve achieving over 80% precision and 90% recall with the LSTM model used in the process. The interpretable models also provide logical rules aligned with expert thinking, and the t-SNE-based projection enhances interpretability. Our system demonstrates that the proposed approach can be used effectively in real-world scenarios, offering transparency and precision in performance anomaly detection.

Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and lidar) datasets in urban environments. However, such annotated datasets are also needed for natural, unstructured environments to enable semantic perception for applications, including conservation, search and rescue, environment monitoring, and agricultural automation. Therefore, we introduce WildScenes, a bi-modal benchmark dataset consisting of multiple large-scale traversals in natural environments, including semantic annotations in high-resolution 2D images and dense 3D lidar point clouds, and accurate 6-DoF pose information. The data is (1) trajectory-centric with accurate localization and globally aligned point clouds, (2) calibrated and synchronized to support bi-modal inference, and (3) containing different natural environments over 6 months to support research on domain adaptation. Our 3D semantic labels are obtained via an efficient automated process that transfers the human-annotated 2D labels from multiple views into 3D point clouds, thus circumventing the need for expensive and time-consuming human annotation in 3D. We introduce benchmarks on 2D and 3D semantic segmentation and evaluate a variety of recent deep-learning techniques to demonstrate the challenges in semantic segmentation in natural environments. We propose train-val-test splits for standard benchmarks as well as domain adaptation benchmarks and utilize an automated split generation technique to ensure the balance of class label distributions. The data, evaluation scripts and pretrained models will be released upon acceptance at https://csiro-robotics.github.io/WildScenes., Comment: Under review. The first 3 authors contributed equally

Oceans, covering 70% of Earth's surface, arelargely unexplored, with about 95% remaining a mystery.Underwater wireless communication is pivotal in various domains,such as real-time aquatic data collection, marine surveillance,disaster prevention, archaeological exploration, andenvironmental monitoring. The Internet of Things has openednew avenues in underwater exploration through the underwaterInternet of Things concept. This innovative technology facilitatessmart ocean research, from small case studies to large-scaleoperations. UIoT networks utilise underwater equipment andsensors to gather and transmit data in aquatic environments.However, the dynamic nature of these environments poseschallenges to the network's structure and communication,necessitating efficient routing solutions. Quality-of-service-awarerouting is vital as it minimises energy usage, extends battery life,and enhances network performance. This paper delves into thechallenges and limitations of UIoT networks, highlighting recentrouting methodologies. It also proposes a comparison frameworkfor routing methods, focusing on the quality of service inunderwater IoT networks, to foster more optimal route selectionand better resource management., Comment: 6 pages, 1 figure, conference

This manuscript aims to formalize and conclude the discussions initiated during the PriTEM workshop 22-23 March 2023. We present important ideas and discussion topics in the context of transactive energy systems. Moreover, the conclusions from the discussions articulate potential aspects to be explored in future studies on transactive energy management. Particularly, these conclusions cover research topics in energy technology and energy informatics, energy law, data law, energy market and socio-psychology that are relevant to the seamless integration of renewable energy resources and the transactive energy systems-in smart microgrids-focusing on distributed frameworks such as peer-to-peer (P2P) energy trading. We clarify issues, identify barriers, and suggest possible solutions to open questions in diversified topics, such as block-chain interoperability, consumer privacy and data sharing, and participation incentivization. Furthermore, we also elaborate challenges associated with cross-disciplinary collaboration and coordination for transactive energy systems, and enumerate the lessons learned from our work so far.

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR data from 3D Euclidean space into an image super-resolution problem in 2D image space. Although their methods can generate high-resolution range images with fine-grained details, the resulting 3D point clouds often blur out details and predict invalid points. In this paper, we propose TULIP, a new method to reconstruct high-resolution LiDAR point clouds from low-resolution LiDAR input. We also follow a range image-based approach but specifically modify the patch and window geometries of a Swin-Transformer-based network to better fit the characteristics of range images. We conducted several experiments on three public real-world and simulated datasets. TULIP outperforms state-of-the-art methods in all relevant metrics and generates robust and more realistic point clouds than prior works., Comment: The paper was accepted by CVPR2024

Hyperdimensional computing (HDC) is a novel computational paradigm that operates on long-dimensional vectors known as hypervectors. The hypervectors are constructed as long bit-streams and form the basic building blocks of HDC systems. In HDC, hypervectors are generated from scalar values without taking their bit significance into consideration. HDC has been shown to be efficient and robust in various data processing applications, including computer vision tasks. To construct HDC models for vision applications, the current state-of-the-art practice utilizes two parameters for data encoding: pixel intensity and pixel position. However, the intensity and position information embedded in high-dimensional vectors are generally not generated dynamically in the HDC models. Consequently, the optimal design of hypervectors with high model accuracy requires powerful computing platforms for training. A more efficient approach to generating hypervectors is to create them dynamically during the training phase, which results in accurate, low-cost, and highly performable vectors. To this aim, we use low-discrepancy sequences to generate intensity hypervectors only, while avoiding position hypervectors. By doing so, the multiplication step in vector encoding is eliminated, resulting in a power-efficient HDC system. For the first time in the literature, our proposed approach employs lightweight vector generators utilizing unary bit-streams for efficient encoding of data instead of using conventional comparator-based generators., Comment: 7 pages, 6 figures, Accepted to the Design, Automation and Test in Europe (DATE) Conference 2024

Masked Image Modeling (MIM) is a powerful self-supervised strategy for visual pre-training without the use of labels. MIM applies random crops to input images, processes them with an encoder, and then recovers the masked inputs with a decoder, which encourages the network to capture and learn structural information about objects and scenes. The intermediate feature representations obtained from MIM are suitable for fine-tuning on downstream tasks. In this paper, we propose an Image Modeling framework based on random orthogonal projection instead of binary masking as in MIM. Our proposed Random Orthogonal Projection Image Modeling (ROPIM) reduces spatially-wise token information under guaranteed bound on the noise variance and can be considered as masking entire spatial image area under locally varying masking degrees. Since ROPIM uses a random subspace for the projection that realizes the masking step, the readily available complement of the subspace can be used during unmasking to promote recovery of removed information. In this paper, we show that using random orthogonal projection leads to superior performance compared to crop-based masking. We demonstrate state-of-the-art results on several popular benchmarks., Comment: Published as a conference paper at the International Conference on Learning Representations (ICLR) 2024. 19 pages

The paper proposes a new approach to minimize the number of relays while maximizing the lifetime of underwater acoustic sensor networks (UASNs). This involves formulating the relay node placement (RNP) problem as a multi-objective optimization problem and employing the multi-objective lexico-graphic method (MOLM) to solve it. To achieve the optimal solution, the MOLM consists of two steps. First, the problem of lifetime maximization is tackled to find RNP solutions. This transforms the RNP into a non-convex optimization problem which is then converted into a convex programming equivalent. The proposed method has the same computational complexity as previous relay-node adjustment (RA) and difference convex algorithm (DCA) methods. The second step introduces a novel relay node selection to reach the optimal number of relays. Simulation results demonstrate that it has superior network lifetime and efficiency compared to RA and DCA., Comment: Accepted for publication at IEEE Systems journal