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5 pags., 4 figs., Excited states in Zn were populated following one-neutron removal from a Zn beam impinging on a Be target at intermediate energies in an experiment conducted at the Radioactive Isotope Beam Factory at RIKEN. Three γ rays were observed and tentatively assigned to the 6→4→2→0 yrast sequence. This turns Zn into the heaviest T=−2 nucleus in which excited states are known. The excitation-energy differences between these levels and the isobaric analogue states in the T=+2 mirror partner, Fe, are compared with large-scale shell-model calculations considering the full pf valence space and various isospin-breaking contributions. This comparison, together with an analysis of the mirror energy differences in the A=58, T=±1 pair Zn and Ni, provides valuable information with respect to the size of the monopole radial and the isovector multipole isospin-breaking terms in the region above doubly-magic Ni., We thank the RIKEN Nishina Center accelerator staff and the BigRIPS team for providing excellent beams to the experiment. This work was supported by the Spanish Ministerio de Ciencia e Inno- vación under contracts FPA2017-84756-C4-2-P, PGC-2018-94583, and SEV-2016-0597, the Swedish Research Council (Vetenskap- srådet, VR 2016-3969), and the UK Science and Technology Facil- ities Council (STFC) under grants ST/L005727/1 and ST/P003885/1. FB is supported by the RIKEN Special Postdoctoral Researcher Pro- gram

Direct proton-knockout reactions of ^{55}Sc at ∼220 MeV/nucleon were studied at the RIKEN Radioactive Isotope Beam Factory. Populated states of ^{54}Ca were investigated through γ-ray and invariant-mass spectroscopy. Level energies were calculated from the nuclear shell model employing a phenomenological internucleon interaction. Theoretical cross sections to states were calculated from distorted-wave impulse approximation estimates multiplied by the shell model spectroscopic factors, which describe the wave function overlap of the ^{55}Sc ground state with states in ^{54}Ca. Despite the calculations showing a significant amplitude of excited neutron configurations in the ground-state of ^{55}Sc, valence proton removals populated predominantly the ground state of ^{54}Ca. This counterintuitive result is attributed to pairing effects leading to a dominance of the ground-state spectroscopic factor. Owing to the ubiquity of the pairing interaction, this argument should be generally applicable to direct knockout reactions from odd-even to even-even nuclei.

6 pags., 4 figs., 1 tab.-- Open Access funded by Creative Commons Atribution Licence 4.0, Inclusive one- and multi-nucleon removal cross sections have been measured for several Sn, Sb and Te isotopes just beyond the N=82 neutron shell closure. The beams were produced in the projectile fission of a U beam at the Radioactive Isotope Beam Factory at RIKEN. The experimental cross sections are compared to predictions from the most recent version of the Liege intranuclear cascade model. Although the overall agreement is good, severe discrepancies are observed for the cases of one- and two-neutron removal from Sn and Sb projectiles and one-proton knockout from all measured N=84 isotones. These discrepancies, as well as the relevance of quasi-elastic reaction channels to the one-neutron removal cross sections, are discussed. In addition, the measured inclusive one-proton knockout cross section for the semi-magic Sn projectile is compared to eikonal direct reaction theory calculations to assess if the suppression factors to these calculated cross sections, deduced from data on reactions of lighter projectile nuclei, are also applicable to heavy nuclei., We thank the staff of the RIKEN Nishina Center accelerator complex for providing high-intensity beams to the experiment. This work was supported by the Spanish Ministerio de Economía y Competitividad under contracts FPA2014-57196-C5-4-P and FPA2017-84756-C4-2-P. J.A.T. acknowledges the support of the Science and Technology Facilities Council (UK) grant ST/L005314/1 and R.O. that of JSPS KAKENHI Grant No. 26887048. G.M.T. grate-fully acknowledges funding of this research from the Research Council of Norway, Project Grant No. 222287.

We present a novel vehicle detection and tracking system that works solely on 3D LiDAR information. Our approach segments vehicles using a dual-view representation of the 3D LiDAR point cloud on two independently trained convolutional neural networks, one for each view. A bounding box growing algorithm is applied to the fused output of the networks to properly enclose the segmented vehicles. Bounding boxes are grown using a probabilistic method that takes into account also occluded areas. The final vehicle bounding boxes act as observations for a multi-hypothesis tracking system which allows to estimate the position and velocity of the observed vehicles. We thoroughly evaluate our system on the KITTI benchmarks both for detection and tracking separately and show that our dual-branch classifier consistently outperforms previous single-branch approaches, improving or directly competing to other state of the art LiDAR-based methods., This work is supported by the EU project LOGIMATIC (H2020-Galileo2015-1-687534), the Spanish State Research Agency through the Mar´ıa de Maeztu Seal of Excellence to IRI (MDM-2016-0656), the ColRobTransp project (DPI2016-78957-R AEI/FEDER EU), the EB-SLAM project (DPI2017-89564-P), and the FPU grant FPU15/04446.

8 pags., 4 figs., 3 tabs., The nuclear structure of 51Ar, an uncharted territory so far, was studied by the (p,2p) reaction using γ-ray spectroscopy for the bound states and the invariant mass method for the unbound states. Two peaks were detected in the γ-ray spectrum and six peaks were observed in the 50Ar+n relative energy spectrum. Comparing the results to our shell-model calculations, two bound and six unbound states were established. Three of the unbound states could only be placed tentatively due to the low number of counts in the relative energy spectrum of events associated with the decay through the first excited state of 50Ar. The low cross sections populating the two bound states of 51Ar could be interpreted as a clear signature for the presence of significant subshell closures at neutron numbers 32 and 34 in argon isotopes. It was also revealed that due to the two valence holes, unbound collective states coexist with individual-particle states in 51Ar., We are very grateful to the RIKEN Nishina Center accelerator staff for providing the stable beam and to the BigRIPS team for the smooth operation of the secondary beams. The development of the MINOS device has been supported by the European Research Council through the ERC Grant No. MINOS-258567. F. B. was supported by the RIKEN Special Postdoctoral Researcher Program. K. O. acknowledges the support by Grant-in-Aid for Scientific Research JP16K05352. Y. U. acknowledges the support by Grant-in-Aid for Scientific Research 20K03981. Y. L. S. acknowledges the support of Marie Skłodowska-Curie Individual Fellowship (H2020-MSCA-IF-2015-705023) from the European Union and the support from the Helmholtz International Center for FAIR. H. N. L. acknowledges the support from the Enhanced Eurotalents program (PCOFUND-GA-2013-600382) co-funded by CEA and the European Union. T. A., C. L., D. R., H. T., V. W., L. Z., H. N. L., V. W. and A. O. acknowledge the support from the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) Project No. 279384907-SFB 1245. R. B. G. acknowledges the support from the DFG under Grant No. BL 1513/1-1. Y. L. S. and A. O. acknowledge the support from the Alexander von Humboldt Foundation. B. D. L. and L. X. C. acknowledge the support from the Vietnam Ministry of Science and Technology under Grant No. ĐTCB.01/21/VKHKTHN. I. G. has been supported by HIC for FAIR and HRZZ under project No. 1257 and 7194. K. I. H., D. K. and S. Y. P. acknowledge the support from the NRF grant funded by the Korea government (No. 2017R1A2B2012382 and 2019M7A1A1033186). F. B. acknowledge the support from the RIKEN Special Postdoctoral Researcher Program. D. S. and Z. E. were supported by projects No. GINOP-2.3.3-15-2016-00034 and No. K128947. V. V. acknowledges support from the Spanish Ministerio de Economía y Competitividad under Contract No. FPA2017-84756-C4-2-P. V. W. and P. K. acknowledge the support from BMBF grants 05P15RDFN1 and 05P19RDFN1. P. K. acknowledges support from HGS-HIRe. This work was also supported by NKFIH (114454).

Twenty-one two-proton knockout (p; 3p) cross sections from neutron-rich nuclei at ~ 250 MeV/nucleon were measured. For the first time, the angular distribution of the three emitted protons were measured in coincidence with the tracker and hydrogen target MINOS, demonstrating that the (p; 3p) kinematics is consistent with two sequential proton-proton collisions within the projectile nucleus. Ratios of (p; 3p) over (p; 2p) inclusive cross sections follow the trend of other many-proton (neutron) removal reactions, further reinforcing the sequential nature of (p; 3p) in neutron-rich nuclei.

Here we present new information on the shape evolution of the very neutron-rich ^{92,94}Se nuclei from an isomer-decay spectroscopy experiment at the Radioactive Isotope Beam Factory at RIKEN. High-resolution germanium detectors were used to identify delayed γ rays emitted following the decay of their isomers. New transitions are reported extending the previously known level schemes. The isomeric levels are interpreted as originating from high-K quasineutron states with an oblate deformation of β∼0.25, with the high-K state in ^{94}Se being metastable and K hindered. Following this, ^{94}Se is the lowest-mass neutron-rich nucleus known to date with such a substantial K hindrance. Furthermore, it is the first observation of an oblate K isomer in a deformed nucleus. This opens up the possibility for a new region of K isomers at low Z and at oblate deformation, involving the same neutron orbitals as the prolate orbitals within the classic Z∼72 deformed hafnium region. From an interpretation of the level scheme guided by theoretical calculations, an oblate deformation is also suggested for the ^{94}Se_{60} ground-state band.

Spectroscopic factors of neutron-hole and proton-hole states in 131Sn and 131In, respectively, were measured using one-nucleon removal reactions from doubly magic 132Sn at relativistic energies. For 131In, a 2910(50)-keV γ ray was observed for the first time and tentatively assigned to a decay from a 5=2− state at 3275(50) keV to the known 1=2− level at 365 keV. The spectroscopic factors determined for this new excited state and three other single-hole states provide first evidence for a strong fragmentation of singlehole strength in 131Sn and 131In. The experimental results are compared to theoretical calculations based on the relativistic particle-vibration coupling

7 pags., 4 figs., 1 tab., Excited states in the N=40 isotone Ti were populated via the V(p,2p)Ti reaction at ∼200 MeV/nucleon at the Radioactive Isotope Beam Factory and studied using γ-ray spectroscopy. The energies of the 2 →0 and 4 →2 transitions, observed here for the first time, indicate a deformed Ti ground state. These energies are increased compared to the neighboring Cr and Fe isotones, suggesting a small decrease of quadrupole collectivity. The present measurement is well reproduced by large-scale shell-model calculations based on effective interactions, while ab initio and beyond mean-field calculations do not yet reproduce our findings. The shell-model calculations for Ti show a dominant configuration with four neutrons excited across the N=40 gap. Likewise, they indicate that the N=40 island of inversion extends down to Z=20, disfavoring a possible doubly magic character of the elusive Ca., We thank the RIKEN Nishina Center accelerator staff and the Bi-gRIPS team for the stable operation of the high-intensity Zn beam and for the preparation of the secondary beam setting. K.O. ac-knowledges the support by Grant-in-Aid for Scientific Research of the Japan Society for the Promotion of Science (JSPS) JP16K05352. A.P. is supported in part by the Ministerio de Ciencia, Innovación y Universidades (Spain), Severo Ochoa Programme SEV-2016-0597 and grant PGC-2018-94583. F.B. is supported by the RIKEN Spe-cial Postdoctoral Researcher Program. L.X.C. and B.D.L. would like to thank the Vietnam Ministry of Science and Technology (MOST) for its support through the Physics Development Program Grant No. ÐTÐLCN.25/18. I.G. has been supported by HIC for FAIR and Croatian Science Foundation under projects no. 1257 and 7194. D. So. was supported by the the European Regional Develop-ment Fund contract No. GINOP-2.3.3-15-2016-00034 and the National Research, Development and Innovation Fund of Hungary via Project No. K128947. V.V. acknowledges support from the Span-ish Ministerio de Economía y Competitividad under Contract No. FPA2017-84756-C4-2-P. K.I.H., D.K. and S.Y.P. acknowledge the sup-port from the National Research Foundation of Korea grant No. 2018R1A5A1025563 and 2019M7A1A1033186. The development of MINOS was supported by the European Research Council through the ERC Grant No. MINOS-258567. This work was also supported by the JSPS KAKENHI Grant No. 18K03639, MEXT as “Priority is-sue on post-K computer” (Elucidation of the fundamental laws and evolution of the universe), the Joint Institute for Computational Fundamental Science (JICFuS), the CNS-RIKEN joint project for large-scale nuclear structure calculations, Natural Sciences and Engineering Research Council (NSERC) of Canada, the Deutsche Forschungsgemeinschaft – Projektnummer 279384907 – SFB 1245, the PRISMA Cluster of Excellence, and the BMBF under Contracts No. 05P18RDFN1 and 05P19RDFN1. TRIUMF receives funding via a contribution through the National Research Council Canada. Com-putations were performed at the Jülich Supercomputing Center (JURECA)

12 pags., 11 figs., 2 tabs., The N= Z= 36 nucleus Kr has been studied by inelastic scattering at intermediate energies. Two targets, Be and Au, were used to extract the nuclear deformation length, δ, and the reduced E2 transition probability, B(E2). The previously unknown non-yrast 2 and 4 states as well as a new candidate for the octupole 3 state have been observed in the scattering on the Be target and placed in the level scheme based on γ- γ coincidences. The second 2 state was also observed in the scattering on the Au target and the B(E2;22+→01+) value could be determined for the first time. Analyzing the results in terms of a two-band mixing model shows clear evidence for a oblate-prolate shape coexistence and can be explained by a shape change from an oblate ground state to prolate deformed yrast band from the first 2 state. This interpretation is corroborated by beyond mean field calculations using the Gogny D1S interaction., We would like to thank the RIKEN accelerator and BigRIPS teams for providing the high intensity beams. We thank T. Furumoto for providing us with the optical potentials and A. Moro for giving access to an unpublished version of the FRESCO code. This work has been supported by UK STFC under Grant numbers ST/L005727/1 and ST/P003885/1, the Spanish Ministerio de Economía y Competitividad under Grants FPA2011-24553, FPA2014-52823-C2- 1-P, and PGC2018-094583-B-I00, the Program Severo Ochoa (SEV2014-0398), the European Research Council through the ERC Grant No. MINOS-258567, NKFIH (NN128072), and by the ÚNKP-19-4- DE-65 New National Excellence Program of the Ministry of Human Capacities of Hungary. G. K. acknowledges support from the János Bolyai research fellowship of the Hungarian Academy of Sciences. K. W. acknowledges the support from the Spanish Ministerio de Economía y Competitividad RYC-2017-22007.

C.M. Shand et al. -- 6 pags., 3 figs., tab. --Open Access funded by Creative Commons Atribution Licence 4.0, We report on the measurement of new low-lying states in the neutron-rich Zn nuclei via in-beam γ-ray spectroscopy. These include the 4 →2 transition in Zn, the 2 →0 and 4 →2 transitions in Zn, and low-lying states in Zn were observed for the first time. The reduced E(2 ) energies and increased E(4 )/E(2 ) ratios at N=52, 54 compared to those in Zn attest that the magicity is confined to the neutron number N=50 only. The deduced level schemes are compared to three state-of-the-art shell model calculations and a good agreement is observed with all three calculations. The newly observed 2 and 4 levels in Zn suggest the onset of deformation towards heavier Zn isotopes, which has been incorporated by taking into account the upper sdg orbitals in the Ni78-II and the PFSDG-U models., All UK authors are supported by the Science and Technology Facilities Council (STFC). The development of MINOS and the core MINOS team have been supported by the European Research Council through the ERC Grant No. MINOS-258567. A. Jungclaus was supported by the Spanish Ministerio de Economía y Competitividad under contract FPA2014-57196-C5-4-P. Authors from Cologne were supported by German BMBF Grant No. 05P15PKFNA. Authors from TU Darmstadt were supported by German BMBF Grant No. 05P12RDFN8 and 05P15RDFN1. L.X. Chung and B.D. Linh would like to acknowledge Vietnam Ministry of Science and Technology for the support, and Radioactive Isotope Physics Laboratory of the RIKEN Nishina Center for supporting their stay during the experiments.

Moving object detection is a critical task for autonomous vehicles. As dynamic objects represent higher collision risk than static ones, our own ego-trajectories have to be planned attending to the future states of the moving elements of the scene. Motion can be perceived using temporal information such as optical flow. Conventional optical flow computation is based on camera sensors only, which makes it prone to failure in conditions with low illumination. On the other hand, LiDAR sensors are independent of illumination, as they measure the time-of-flight of their own emitted lasers. In this work, we propose a robust and real-time CNN architecture for Moving Object Detection (MOD) under low-light conditions by capturing motion information from both camera and LiDAR sensors. We demonstrate the impact of our algorithm on KITTI dataset where we simulate a low-light environment creating a novel dataset "Dark KITTI". We obtain a 10.1% relative improvement on Dark-KITTI, and a 4.25% improvement on standard KITTI relative to our baselines. The proposed algorithm runs at 18 fps on a standard desktop GPU using $256\times1224$ resolution images., Accepted for Oral presentation at ICCV 2019 Workshop on Autonomous Driving. https://sites.google.com/view/fusemodnet

Exclusive cross sections and momentum distributions have been measured for quasifree one-neutron knockout reactions from a ^{54}Ca beam striking on a liquid hydrogen target at ∼200 MeV/u. A significantly larger cross section to the p_{3/2} state compared to the f_{5/2} state observed in the excitation of ^{53}Ca provides direct evidence for the nature of the N=34 shell closure. This finding corroborates the arising of a new shell closure in neutron-rich calcium isotopes. The distorted-wave impulse approximation reaction formalism with shell model calculations using the effective GXPF1Bs interaction and ab initio calculations concur our experimental findings. Obtained transverse and parallel momentum distributions demonstrate the sensitivity of quasifree one-neutron knockout in inverse kinematics on a thick liquid hydrogen target with the reaction vertex reconstructed to final state spin-parity assignments.

Fifty-five inclusive single nucleon removal cross sections from medium mass neutron-rich nuclei impinging on a hydrogen target at � 250 MeV/nucleon were measured at the RIKEN Radioactive Isotope Beam Factory. Systematically higher cross sections are found for proton removal from nuclei with an even number of protons compared to odd-proton number projectiles for a given neutron separation energy. Neutron removal cross sections display no even-odd splitting contrary to nuclear cascade model predictions. Both effects are understood through simple considerations of neutron separation energies and bound state level densities originating in pairing correlations in the daughter nuclei. These conclusions are supported by comparison with semi-microscopic model predictions,highlighting the enhanced role of low-lying level densities in nucleon removal cross sections from loosely-bound nuclei.

A dedicated spectroscopic study of the β decay of 127Cd was conducted at the IGISOL facility at the University of Jyvaskyla. Following high-resolution mass separation in a Penning trap, β-γ-γ coincidences were used to considerably extend the decay scheme of 127In. The β-decaying 3/2+ and 11/2- states in 127Cd have been identified with the 127Cd ground state and the 283-keV isomer. Their respective half-lives have been measured to 0.45(+12-8)s and 0.36(4) s. The experimentally observed β feeding to excited states of 127In and the decay scheme of 127In are discussed in conjunction with large-scale shell-model calculations.

The reduced transition probability B(E2;01+→21+) to the first excited 2+ state of the neutron-rich nucleus Te136, with two protons and two neutrons outside the doubly magic Sn132 core, was measured via Coulomb excitation at relativistic energies at the RIKEN Radioactive Isotope Beam Factory. A value of B(E2)=0.191(26) e2b2 was extracted from the measured inelastic scattering cross section on an Au target taking into account the contributions from both Coulomb and nuclear excitations. In addition, an upper limit for the transition strength to a 2+ state of mixed-symmetry character in the excitation energy range of 1.5-2.2 MeV was determined and compared to the predictions of various theoretical calculations. Because of the high statistics gathered in the present experiment the error of the deduced B(E2) value is dominated by the systematic uncertainties involved in the analysis of Coulomb excitation experiments at beam energies around 150 MeV/u. Therefore, the latter are for the first time assessed in detail in the present work.

The first γ-ray spectroscopy of ^{52}Ar, with the neutron number N=34, was measured using the ^{53}K(p,2p) one-proton removal reaction at ∼210 MeV/u at the RIBF facility. The 2_{1}^{+} excitation energy is found at 1656(18) keV, the highest among the Ar isotopes with N>20. This result is the first experimental signature of the persistence of the N=34 subshell closure beyond ^{54}Ca, i.e., below the magic proton number Z=20. Shell-model calculations with phenomenological and chiral-effective-field-theory interactions both reproduce the measured 2_{1}^{+} systematics of neutron-rich Ar isotopes, and support a N=34 subshell closure in ^{52}Ar.

Trabajo presentado en el IEEE Intelligent Transportation Systems Conference (ITSC), celebrado en Auckland (Nueva Zelanda), del 27 al 30 de octubre de 2019, Localization and Mapping is an essential compo-nent to enable Autonomous Vehicles navigation, and requiresan accuracy exceeding that of commercial GPS-based systems.Current odometry and mapping algorithms are able to providethis accurate information. However, the lack of robustness ofthese algorithms against dynamic obstacles and environmentalchanges, even for short time periods, forces the generationof new maps on every session without taking advantage ofpreviously obtained ones. In this paper we propose the useof a deep learning architecture to segmentmovableobjectsfrom 3D LiDAR point clouds in order to obtain longer-lasting3D maps. This will in turn allow for better, faster and moreaccurate re-localization and trajectoy estimation on subsequentdays. We show the effectiveness of our approach in a verydynamic and cluttered scenario, a supermarket parking lot.For that, we record several sequences on different days andcompare localization errors with and without ourmovableobjects segmentation method. Results show that we are able toaccurately re-locate over a filtered map, consistently reducingtrajectory errors between an average of35.1% with respectto a non-filtered map version and of47.9% with respect to astandalone map created on the current session.

7 pags., 7 figs. -- XXIII International School on Nuclear Physics, Neutron Physics and Applications 22-28 September 2019, Varna, Bulgaria, Within the SEASTAR III campaign at the Radioactive Isotope Beam Factory, at the RIKEN Nishina Center, neutron-rich isotopes in the vicinity of 53K were produced from the fragmentation of the primary 70Zn beam on a 9Be target. After nucleon knockout reactions on the secondary liquid hydrogen MINOS target the known γ rays of the neutron-rich 55Sc isotope were observed (shown in this proceedings) and γ rays from 57,59Sc isotopes have been identified for the first time. The evolution of the occupied nucleon orbitals of these nuclei in the ground and excited state is investigated under the prism of the tensor force., We are grateful to the RIKEN Nishina Center accelerator staff for their work in the primary beam delivery and the BigRIPS team for preparing the secondary beams. This work was supported by the cooperation between TU Darmstadt and the GSI Helmholtz Center for Heavy Ion Research, by the Helmholtz Graduate School for Hadron and Ion Research for FAIR and its abroad program and the BMBF under grant No. 05P19RDFN1. D.S. was supported by projects No. GINOP2.3.3-15-2016-00034 and No. K128947.

We report on the first γ-ray spectroscopy of 51,53K produced via the 52,54Ca(p,2p) reactions at ∼250 MeV/nucleon. Unambiguous final-state angular-momentum assignments were achieved for beam intensities down to few particles per second by using a new technique based on reaction vertex tracking combined with a thick liquid-hydrogen target. Through γ-ray spectroscopy and exclusive parallel momentum distribution analysis, 3/2+ ground states and 1/2+ first excited states in 51,53K were established quantifying the natural ordering of the 1 d 3 / 2 and 2 s 1 / 2 proton-hole states that are restored at N = 32 and 34. State-of-the-art ab initio calculations and shell-model calculations with improved phenomenological effective interactions reproduce the present data and predict consistently the increase of the E(1/2 1 + ) - E(3/2 1 + ) energy differences towards N = 40.

Trabajo presentado en la IEEE International Conference on Robotics and Automation (ICRA), celebrado en Brisbane (Australia), del 21 al 25 de mayo de 2018, Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the data of other sensors typically mounted on autonomous cars (e.g. lidars or radars) are not explored much. In this paper we propose a novel solution to understand the dynamics of moving vehicles of the scene from only lidar information. The main challenge of this problem stems from the fact that we need to disambiguate the proprio-motion of the “observer” vehicle from that of the external “observed” vehicles. For this purpose, we devise a CNN architecture which at testing time is fed with pairs of consecutive lidar scans. However, in order to properly learn the parameters of this network, during training we introduce a series of so-called pretext tasks which also leverage on image data. These tasks include semantic information about vehicleness and a novel lidar-flow feature which combines standard image-based optical flow with lidar scans. We obtain very promising results and show that including distilled image information only during training, allows improving the inference results of the network at test time, even when image data is no longer used., This work has been supported by the Spanish Ministry of Economy and Competitiveness projects HuMoUR (TIN2017-90086-R) and COLROBTRANSP (DPI2016-78957-R) and the Spanish State Research Agency through the Mar´ıa de Maeztu Seal of Excellence to IRI (MDM-2016-0656). The authors also thank Nvidia for hardware donation under the GPU grant program.

7 pags., 4 figs. -- XXII International School on Nuclear Physics, Neutron Physics and Applications. -- Open Access funded by Creative Commons Atribution Licence 3.0, Low-spin states of neutron-rich Ge-84,Ge-86,Ge-88 were measured by in-flight gamma-ray spectroscopy at 270 MeV/u at the RIKEN-RIBF facility. The exotic beams have been produced by primary U-238 in-flight fission reactions and impinged on the MINOS device. MINOS combines a 10-cm long LH2 target with a Time Projection Chamber (TPC) to reconstruct the reaction vertices. The reactions were selected by the BigRIPS and the ZeroDegree spectrometers for the incoming and outgoing channels, respectively. Emitted gamma radiation was detected by the NaI-array DALI2. De-excitations from the 6(1)(+), 4(1,2)(+), and 2(1,2)(+) states of Ge-84,Ge- 86 and 4(1)(+) and 26 states of Ge-88 were observed. The data are compared to state-of-the-art shell model and beyond-mean-field calculations. Furthermore, a candidate for a 3(1)(+) state of Ge-86 was identified. This state plays a key role in the discussion of ground-state triaxiality of Ge-86, along with other features of the low-energy level scheme., We acknowledge support from the German BMBF Grant Nos. 05P12RDFN1, 05P12RDFN8 and 05P15PKFNA, the ERC Grant No. MINOS258567, the Spanish Ministerio de Economıa y Competitividad under contracts FPA2014-57196-C5-4-P and FIS−2014−53434, the Vietnam Ministry of Science and Technology, as well as from the Science and Technology Facilities Council (STFC). We further thank GSI for providing computing facilities

ray transitions between low-spin states of the neutron-rich 84;86;88Ge were measured by means of in-flight -ray spectroscopy at 270 MeV/u. Excited 6+ 1 , 4+ 1;2 and 2+ 1;2 states of 84;86Ge and 4+ 1 and 2+ 1;2 states of 88Ge were observed. Furthermore a candidate for a 3+ 1 state of 86Ge was identified. This state plays a key role in the discussion of ground-state triaxiality of 86Ge, along with other features of its low-energy level scheme. A new region of triaxially deformed nuclei is proposed in the Ge isotopic chain.

We report on the first γ-ray spectroscopy of low-lying states in neutron-rich 98,100Kr isotopes obtained from 99,101Rb(p,2p) reactions at ∼ 220 MeV/nucleon. A reduction of the 2+ 1 state energies beyond N = 60 demonstrates a significant increase of deformation, shifted in neutron number compared to the sharper transition observed in strontium and zirconium isotopes. State-of-theart beyond-mean-field calculations using the Gogny D1S interaction predict level energies in good agreement with experimental results. The identification of a low-lying (0+ 2 , 2+ 2 ) state in 98Kr provides the first experimental evidence of a competing configuration at low energy in neutron-rich krypton isotopes consistent with the oblate-prolate shape coexistence picture suggested by theory

Excited states in the nucleus 133Sn, with one neutron outside the doubly-magic 132Sn core, were populated following one-neutron knockout from a 134Sn beam on a carbon target at relativistic energies at the Radioactive Isotope Beam Factory at RIKEN. Besides the rays emitted in the decay of the known neutron single-particle states in 133Sn additional strength in the energy range 3.5-5.5 MeV was observed for the fi rst time. Since the neutron-separation energy of 133Sn is low, Sn=2.402(4) MeV, this observation provides direct evidence for the radiative decay of neutron- unbound states in this nucleus. The ability of electromagnetic decay to compete successfully with neutron emission at energies as high as 3 MeV above threshold is attributed to a mismatch between the wave functions of the initial and final states in the latter case. These fi ndings suggest that in the region south-east of 132Sn nuclear structure effects may play a signifi cant role in the neutron vs. competition in the decay of unbound states. As a consequence, the common neglect of such effects in the evaluation of the neutron-emission probabilities in calculations of global b -decay properties for astrophysical simulations may have to be reconsidered.

Trabajo presentado a la Third Iberian Robotics Conference, celebrada en Sevilla del 22 al 24 de noviembre de 2017., Vehicle detection and tracking in real scenarios are key com- ponents to develop assisted and autonomous driving systems. Lidar sen- sors are specially suitable for this task, as they bring robustness to harsh weather conditions while providing accurate spatial information. How- ever, the resolution provided by point cloud data is very scarce in com- parison to camera images. In this work we explore the possibilities of Deep Learning (DL) methodologies applied to low resolution 3D lidar sensors such as the Velodyne VLP-16 (PUCK), in the context of vehicle detection and tracking. For this purpose we developed a lidar-based sys- tem that uses a Convolutional Neural Network (CNN), to perform point- wise vehicle detection using PUCK data, and Multi-Hypothesis Extended Kalman Filters (MH-EKF), to estimate the actual position and veloci- ties of the detected vehicles. Comparative studies between the proposed lower resolution (VLP-16) tracking system and a high-end system, using Velodyne HDL-64, were carried out on the Kitti Tracking Benchmark dataset. Moreover, to analyze the influence of the CNN-based vehicle detection approach, comparisons were also performed with respect to the geometric-only detector. The results demonstrate that the proposed low resolution Deep Learning architecture is able to successfully accom- plish the vehicle detection task, outperforming the geometric baseline approach. Moreover, it has been observed that our system achieves a similar tracking performance to the high-end HDL-64 sensor at close range. On the other hand, at long range, detection is limited to half the distance of the higher-end sensor., This work has been supported by the Spanish Ministry of Economy and Competitiveness projects ROBINSTRUCT (TIN2014-58178-R) and COLROBTRANSP (DPI2016-78957-R), by the Spanish Ministry of Education FPU grant (FPU15/04446), the Spanish State Research Agency through the María de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and by the EU H2020 project LOGIMATIC (H2020-Galileo-2015-1-687534).

Trabajo presentado a la IEEE International Conference on Image Processing (ICIP), celebrada en Beijing (China) del 17 al 20 de septiembre de 2017., We propose a novel representation for dense pixel-wise estimation tasks using CNNs that boosts accuracy and reduces training time, by explicitly exploiting joint coarse-and-fine reasoning. The coarse reasoning is performed over a discrete classification space to obtain a general rough solution, while the fine details of the solution are obtained over a continuous regression space. In our approach both components are jointly estimated, which proved to be beneficial for improving estimation accuracy. Additionally, we propose a new network architecture, which combines coarse and fine components by treating the fine estimation as a refinement built on top of the coarse solution, and therefore adding details to the general prediction. We apply our approach to the challenging problem of optical flow estimation and empirically validate it against state-of-the-art CNN-based solutions trained from scratch and tested on large optical flow datasets., This work was partially supported by European AEROARMS project (H2020-ICT-2014-1-644271) and CICYT projects ColRobTransp (DPI2016-78957-R), ROBINSTRUCT (TIN2014-58178-R).

Trabajo presentado a la European Conference on Mobile Robots (ECMR), celebrada en Paris (Francia) del 6 al 8 de septiembre de 2017., Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However, DL research has not yet advanced much towards processing 3D point clouds from lidar range-finders. These sensors are very common in autonomous vehicles since, despite not providing as semantically rich information as images, their performance is more robust under harsh weather conditions than vision sensors. In this paper we present a full vehicle detection and tracking system that works with 3D lidar information only. Our detection step uses a Convolutional Neural Network (CNN) that receives as input a featured representation of the 3D information provided by a Velodyne HDL-64 sensor and returns a per-point classification of whether it belongs to a vehicle or not. The classified point cloud is then geometrically processed to generate observations for a multi-object tracking system implemented via a number of Multi-Hypothesis Extended Kalman Filters (MH-EKF) that estimate the position and velocity of the surrounding vehicles. The system is thoroughly evaluated on the KITTI tracking dataset, and we show the performance boost provided by our CNN-based vehicle detector over a standard geometric approach. Our lidar-based approach uses about a 4% of the data needed for an image-based detector with similarly competitive results., This work has been supported by the Spanish Ministry of Economy and Competitiveness projects ROBINSTRUCT (TIN2014-58178-R) and COLROBTRANSP (DPI2016-78957-R), by the Spanish Ministry of Education FPU grant (FPU15/04446), the Spanish State Research Agency through the María de Maeztu Seal of Excellence to IRI MDM-2016-0656) and by the EU H2020 project LOGIMATIC (H2020-Galileo-015-1-687534).

Trabajo presentado a la 2nd Iberian Robotics Conference (ROBOT-2015)., The presented paper addresses the problem of detecting and tracking moving objects for autonomous cargo handling in port terminals using a perception system which input data is a single layer laser scanner. A computationally low cost and robust Detection and Tracking Moving Objects (DATMO) algorithm is presented to be used in autonomous guided vehicles and autonomous trucks for efficient transportation of cargo in ports. The method first detects moving objects and then tracks them, taking into account that in port terminals the structure of the environment is formed by containers and that the moving objects can be trucks, AGV, cars, straddle carriers and people among others. Two approaches of the DATMO system have been tested, the first one is oriented to detect moving obstacles and focused on tracking and filtering those detections; and the second one is focused on keepking targets when no detections are provided. The system has been evaluated with real data obtained in the CTT port terminal in Hengelo, the Netherlands. Both methods have been tested in the dataset with good results in tracking moving objects., This work has been partially funded by the EU project CargoANTs FP7-SST-2013-605598 and the Spanish CICYT project DPI2013-42458-P.

Trabajo presentado a la 2nd Iberian Robotics Conference (ROBOT-2015)., This paper presents a robust and real-time method for people detection in urban and crowed environments. Unlike other conventional methods which either focus on single features or compute multiple and independent classifiers specialized in a particular feature space, the proposed approach creates a synergic combination of appearance and depth cues in a unique classifier. The core of our method is a Boosted Random Ferns classifier that selects automatically the most discriminative local binary features for both the appearance and depth image spaces. Based on this classifier, a fast and robust people detector which maintains high detection rates in spite of environmental changes is created. The proposed method has been validated in a challenging RGB-D database of people in urban scenarios and has shown that outperforms state-of-the-art approaches in spite of the difficult environment conditions. As a result, this method is of special interest for real-time robotic applications where people detection is a key matter, such as human-robot interaction or safe navigation of mobile robots for example., This work has been partially funded by the EU project CargoANTs FP7-SST-2013-605598 and the Spanish CICYT project DPI2013-42458-P.

Trabajo presentado en la 24th International Conference on Pattern Recognition (ICPR), celebrada en Beijing (China), del 20 al 24 de agosto de 2018, In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system when images are not reliable due to e.g. adverse weather conditions or at night. In order to infer high resolution 2D flows from discrete range data we devise a three-block architecture of multiscale filters that combines multiple intermediate objectives, both in the lidar and image domain. To train this network we introduce a dataset with approximately 20K lidar samples of the Kitti dataset which we have augmented with a pseudo ground-truth image-based optical flow computed using FlowNet2. We demonstrate the effectiveness of our approach on Kitti, and show that despite using the low-resolution and sparse measurements of the lidar, we can regress dense optical flow maps which are at par with those estimated with image-based methods., This work has been supported by the Spanish Ministry of Economy, Industry and Competitiveness projects COLROBTRANSP (DPI2016-78957-R), HuMoUR (TIN2017-90086-R), the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence (MDM-2016- 0656), and the EU project LOGIMATIC (H2020-Galileo2015-1-687534). We also thank Nvidia for hardware donation under the GPU Grant Program.