ShantanuT01/DACTYL-Pretraining huggingface dataset:
Purpose: We describe a 3D multi-view perception system for the da Vinci surgical system to enable Operating room (OR) scene understanding and context awareness.   Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras rigidly attached to strategic locations on the daVinci Xi patient side cart (PSC). The cameras are registered to the robot's kinematic chain by performing a one-time calibration routine and therefore, information from all cameras can be fused and represented in one common coordinate frame. Based on this architecture, a multi-view 3D scene semantic segmentation algorithm is created to enable recognition of common and salient objects/equipment and surgical activities in a da Vinci OR. Our proposed 3D semantic segmentation method has been trained and validated on a novel densely annotated dataset that has been captured from clinical scenarios.   Results: The results show that our proposed architecture has acceptable registration error ($3.3\%\pm1.4\%$ of object-camera distance) and can robustly improve scene segmentation performance (mean Intersection Over Union - mIOU) for less frequently appearing classes ($\ge 0.013$) compared to a single-view method.   Conclusion: We present the first dynamic multi-view perception system with a novel segmentation architecture, which can be used as a building block technology for applications such as surgical workflow analysis, automation of surgical sub-tasks and advanced guidance systems.
We analyze the following version of the deterministic \hats game. We have a graph $G$, and a sage resides at each vertex of $G$. When the game starts, an adversary puts on the head of each sage a hat of a color arbitrarily chosen from a set of $k$ possible colors. Each sage can see the hat colors of his neighbors but not his own hat color. All of sages are asked to guess their own hat colors simultaneously, according to a predetermined guessing strategy and the hat colors they see, where no communication between them is allowed. The strategy is winning if it guarantees at least one correct individual guess for every assignment of colors. Given a graph $G$, its hat guessing number ${\text{HG}}(G)$ is the maximal number $k$ such that there exists a winning strategy.   We disprove the hypothesis that ${\text{HG}}(G) \le \Delta + 1$ and demonstrate that diameter of graph and ${\text{HG}}(G$) are independent.
We present a cylindrically symmetric solution, both charged and uncharged, which is known as a black string solution to the nonlinear ghost-free massive gravity found by de Rham, Gabadadze, and Tolley (dRGT). This "dRGT black string" can be thought of as a generalization of the black string solution found by Lemos \cite{1}. Moreover, the dRGT black string solution also include other classes of black string solution such as the monopole-black string ones since the graviton mass contributes to the global monopole term as well as the cosmological constant term. To investigate the solution, we compute mass, temperature, and entropy of the dRGT black string. We found that the existence of the graviton mass drastically affects the thermodynamics of the black string. Furthermore, the Hawking-Page phase transition is found to be possible for the dRGT black string as well as the charged dRGT black string. In terms of their stability, the dRGT black string solution is thermodynamically stable for $r>r_c$ with negative thermodynamical potential and positive heat capacity while it is unstable for $r<r_c$ where the potential is positive.
We present the color-magnitude diagrams and star formation histories (SFHs) of seven ultra-faint dwarf galaxies: Horologium 1, Hydra 2, Phoenix 2, Reticulum 2, Sagittarius 2, Triangulum 2, and Tucana 2, derived from high-precision Hubble Space Telescope photometry. We find that the SFH of each galaxy is consistent with them having created at least 80% of the stellar mass by $z\sim6$. For all galaxies, we find quenching times older than 11.5 Gyr ago, compatible with the scenario in which reionization suppresses the star formation of small dark matter halos. However, our analysis also reveals some differences in the SFHs of candidate Magellanic Cloud satellites, i.e., galaxies that are likely satellites of the Large Magellanic Cloud and that entered the Milky Way potential only recently. Indeed, Magellanic satellites show quenching times about 600 Myr more recent with respect to those of other Milky Way satellites, on average, even though the respective timings are still compatible within the errors. This finding is consistent with theoretical models that suggest that satellites' SFHs may depend on their host environment at early times, although we caution that within the error bars all galaxies in our sample are consistent with being quenched at a single epoch.
We determine and list all possible configurations of singular fibres on rational elliptic surfaces in characteristic three. In total, we find that 267 distinct configurations exist. This result complements Miranda and Persson's classification in characteristic zero, and Lang's classification in characteristic two.
We introduce the list colouring extension of classical Ramsey numbers. We investigate when the two Ramsey numbers are equal, and in general, how far apart they can be from each other. We find graph sequences where the two are equal and where they are far apart. For $\ell$-uniform cliques we prove that the list Ramsey number is bounded by an exponential function, while it is well-known that the Ramsey number is super-exponential for uniformity at least $3$. This is in great contrast to the graph case where we cannot even decide the question of equality for cliques.
The realization of the Quantum anomalous Hall effect (QAHE) in two dimensional (2D) metal organic frameworks (MOFs), (MC$_4$S$_4$)$_3$ with M = Mn, Fe, Co, Ru and Rh, has been investigated based on a combination of first-principles calculations and tight binding models. Our results for the magnetic anisotropy energy (MAE) reveal that the out-of-plane (in-plane) magnetization is favored for M = Mn, Fe, and Ru (Co, and Rh). Given the structural symmetry of (MC$_4$S$_4$)$_3$, the QAHE takes place only for M = Mn, Fe and Ru. Such a quantum anomalous Hall phase has been confirmed through the calculation of the Chern number, and examining the formation of topologically protected (metallic) edge states. Further electron ($n$-type) doping of the MOFs has been done in order to place the Fermi level within the non-trivial energy gap; where we find that in (RuC$_4$S$_4$)$_3$, in addition to the up-shift of the Fermi level, the MAE energy increases by 40\%. Finally, we show that in MOF/graphene (vdW) interfaces, the Fermi level tunning can be done with an external electric field, which controls the charge transfer at the MOF/graphene interface, giving rise to switchable topologically protected edge currents in MOFs.
Multiwavelength variability data, combined with spectral-timing analysis techniques, provides information about the causal relationship between different physical components in accreting black holes. Using fast-timing data and long-term monitoring, we can probe the behaviour of the same components across the black hole mass scale. In this chapter we review the observational status of multiwavelength variability in accreting black holes, from black hole X-ray binaries to AGN, and consider the implications for models of accretion and ejection, primarily considering the evidence for accretion disc and jet variability in these systems. We end with a consideration of future prospects in this quickly-developing field.
The causal properties of the family of Kerr-de Sitter spacetimes are analyzed and compared to those of the Kerr family. At first we show that a Kerr-de Sitter spacetime can be viewed as an assembly of Carter's blocks i.e. four dimensional spacetime regions contained within Killing horizons or a Killing horizon and the asymptotic de Sitter region. From this perspective and leaving aside topological identifications, the causal properties of a Kerr de Sitter spacetime are determined by the causal properties of the individual Carter's blocks viewed as spacetimes in their own right. We show that any Carter's block is stably causal except for the blocks that contain the ring singularity. The latter are vicious sets: any two events within such block can be connected by a future (respectively past) directed timelike curve. This behavior is identical to the causal behavior of the Boyer-Lindquist blocks that contains the Kerr ring singularity which are also vicious sets. On the other hand, while for the case of a naked Kerr singularity the entire spacetime is a vicious set and thus closed timelike curves pass through any event including events lying in the asymptotic region, for the case of a Kerr-de Sitter spacetime the cosmological horizons imply that the asymptotic de Sitter region is causally well behaved. In that regard a positive cosmological constant appears to improve the causal behavior of the underlying spacetime.
We analyze the symmetry-breaking patterns of grand unified theories from the point of view of a recently-proposed criterion of renormalization-group naturalness. We perform the analysis on simple non-SUSY SU(5) and SO(10) and SUSY SU(5) GUTs. We find that the naturalness criterion can favor spontaneous-symmetry-breaking in the direction of the smallest of the maximal little groups. Some differences between theories with and without supersymmetry are also emphasized.
Diffusive motion in an externally driven potential is considered. It is shown that the distribution of work required to drive the system from an initial equilibrium state to another is Gaussian for slow but finite driving. Our result is obtained by projection method techniques exploiting a small parameter defined as the switching rate between the two states of the system. The exact solution for a simple model system shows that such an expansion may fail in higher orders, since the mean and the variance following from the exact distribution show non-analytic behavior.
The possible origin of millisecond bursts from the giant elliptical galaxy M87 has been scrutinized since the earliest searches for extragalactic fast radio transients undertaken in the late 1970s. Motivated by rapid technological advancements in recent years, we conducted $\rm \simeq 10~hours$ of L-band ($\rm 1.15-1.75~GHz$) observations of the core of M87 with the Arecibo radio telescope in 2019. Adopting a matched filtering approach, we searched our data for single pulses using trial dispersion measures up to $\rm 5500~pc~cm^{-3}$ and burst durations between $\rm 0.3-123~ms$. We find no evidence of astrophysical bursts in our data above a 7$\sigma$ detection threshold. Our observations thus constrain the burst rate from M87 to $\rm \lesssim 0.1~bursts~hr^{-1}$ above $\rm 1.4~Jy~ms$, the most stringent upper limit obtained to date. Our non-detection of radio bursts is consistent with expectations of giant pulse emission from a Crab-like young neutron star population in M87. However, the dense, strongly magnetized interstellar medium surrounding the central $\sim 10^9 \ M_{\odot}$ supermassive black hole of M87 may potentially harbor magnetars that can emit detectable radio bursts during their flaring states.
Most cellular solids are random materials, while practically all theoretical results are for periodic models. To be able to generate theoretical results for random models, the finite element method (FEM) was used to study the elastic properties of solids with a closed-cell cellular structure. We have computed the density ($\rho$) and microstructure dependence of the Young's modulus ($E$) and Poisson's ratio (PR) for several different isotropic random models based on Voronoi tessellations and level-cut Gaussian random fields. The effect of partially open cells is also considered. The results, which are best described by a power law $E\propto\rho^n$ ($1 < n <2$), show the influence of randomness and isotropy on the properties of closed-cell cellular materials, and are found to be in good agreement with experimental data.
Based on an analysis of data obtained with the Wide Field Camera 3 (WFC3) on the Hubble Space Telescope (HST) we report the identification of two distinct stellar populations in the core of the giant HII region 30Doradus in the Large Magellanic Cloud. The most compact and richest component coincides with the center of R136 and is ~1 Myr younger than a second more diffuse clump, located ~5.4 pc toward the northeast. We note that published spectral types of massive stars in these two clumps lend support to the proposed age difference. The morphology and age difference between the two sub-clusters suggests that an ongoing merger may occurring within the core of 30Doradus. This finding is consistent with the predictions of models of hierarchical fragmentation of turbulent giant molecular clouds, according to which star clusters would be the final products of merging smaller sub-structures.
Recently, \citet{Nicholls12}, inspired by \emph{in situ} observations of solar system astrophysical plasmas, suggested that the electrons in \HII regions are characterised by a $\kappa$-distribution of electron energies rather than by a simple Maxwell-Boltzmann distribution. Here we have collected together the new atomic data within a modified photoionisation code to explore the effects of both the new atomic data and the $\kappa$-distribution on the strong-line techniques used to determine chemical abundances in \HII regions. By comparing the recombination temperatures ($T_{\rm rec}$) with the forbidden line temperatures ($T_{\rm FL}$) we conclude that $ \kappa \sim 20$. While representing only a mild deviation from equilibrium, this is sufficient to strongly influence abundances determined using methods which depend on measurements of the electron temperature from forbidden lines. We present a number of new emission line ratio diagnostics which cleanly separate the two parameters determining the optical spectrum of \HII regions - the ionisation parameter $q$ or $\cal{U}$ and the chemical abundance; 12+log(O/H). An automated code to extract these parameters is presented. Using the homogeneous dataset from \citet{vanZee98}, we find self-consistent results between all these different diagnostics. The systematic errors between different line ratio diagnostics are much smaller than was found in the earlier strong line work. Overall the effect of the $\kappa$-distribution on the strong line abundances derived solely on the basis of theoretical models is rather small.
Gauge/gravity dualities are investigated from the worldsheet point of view. In [arXiv:0706.1163] and [arXiv:0708.2463], a duality between 4d SYM and supergravity on AdS_5xS^5 has been partly explained by using an anisotropic scale invariance of worldsheet theory. In this paper, we refine the argument and generalize it to lower dimensional cases. We show the correspondence between the Wilson loops in (p+1)-d SYM and the minimal surface in the black p-brane background. Although the scale invariance does not exist in these cases, the generalized scale transformation can be utilized. We also find that the energy density of open strings can be related to the ADM mass of the p-brane without relying on this symmetry.
In this paper we show that Dirichlet heat kernel estimates for a class of (not necessarily symmetric) Markov processes are stable under non-local Feynman-Kac perturbations. This class of processes includes, among others, (reflected) symmetric stable-like processes on closed $d$-sets in $\bR^d$, killed symmetric stable processes, censored stable processes in $C^{1, 1}$ open sets as well as stable processes with drifts in bounded $C^{1, 1}$ open sets.
The pseudo-binary thiospinel system Cu$_{1-x}$Cd$_{x}$Ir$_{2}$S$_{4}$ was investigated by the x-ray diffraction, electrical resistivity, magnetic susceptibility and specific heat measurements. It was shown that the system exhibits a miscibility-gap behavior for the Cd substitution, however, nearly monophasic samples was obtained by quenching at 1373 K, except for $0.4< x \leqslant 0.6$. With increasing the Cd concentration, the room-temperature electrical conductivity and Pauli susceptibility decrease monotonically, consistent with the hole-filling picture. The first-order metal-insulator transition at about 230 K in the parent compound CuIr$_{2}$S$_{4}$ is changed into a second-order transition around 185 K when $x\sim$ 0.25, whereafter the second-order transition disappears at $x\sim 0.8$. No superconductivity was observed down to 1.8 K. The end-member compound CdIr$_{2}$S$_{4}$ is shown as an insulator with a band-gap of 0.3 eV. Analysis for the data of magnetic susceptibility and electrical resistivity suggests the formation of bipolarons below 185 K for $0.25 <x<$ 0.8, which accounts for the absence of superconductivity in terms of the transition from the BCS Cooper pairs to small bipolarons.
A common statistical task lies in showing asymptotic normality of certain statistics. In many of these situations, classical textbook results on weak convergence theory suffice for the problem at hand. However, there are quite some scenarios where stronger results are needed in order to establish an asymptotic normal approximation uniformly over a family of probability measures. In this note we collect some results in this direction. We restrict ourselves to weak convergence in $\mathbb R^d$ with continuous limit measures.
A Penrose diagram is constructed for a spatially coherent black hole that accretes at stepwise steady rates as measured by a distant observer from an initial state described by a metric of Minkowski form. Coordinate lines are computationally derived, and radial light-like trajectories verify the viability of the diagram. Coordinate dependencies of significant features, such as the horizon and radial mass scale, are clearly demonstrated on the diagram. The onset of a singularity at the origin is shown to open a new region in space-time that contains the interior of the black hole.
The two-dimensional one-component plasma, i.e. the system of point-like charged particles embedded in a homogeneous neutralizing background, is studied on the surface of a cylinder of finite circumference, or equivalently in a semiperiodic strip of finite width. The model has been solved exactly by Choquard et al. at the free-fermion coupling $\Gamma=2$: in the thermodynamic limit of an infinitely long strip, the particle density turns out to be a nonconstant periodic function in space and the system exhibits long-range order of the Wigner-crystal type. The aim of this paper is to describe, qualitatively as well as quantitatively, the crystalline state for a larger set of couplings $\Gamma=2\gamma$ ($\gamma=1,2,...$ a positive integer) when the plasma is mappable onto a one-dimensional fermionic theory. The fermionic formalism, supplemented by some periodicity assumptions, reveals that the density profile results from a hierarchy of Gaussians with a uniform variance but with different amplitudes. The number and spatial positions of these Gaussians within an elementary cell depend on the particular value of $\gamma$. Analytic results are supported by the exact solution at $\gamma=1$ ($\Gamma=2$) and by exact finite-size calculations at $\gamma=2,3$.
We introduce a continuum percolation model defined on the points of a d-dimensional homogeneous Poisson process. Each Poisson point is connected to all points within its connection range, which depends on the distances to the other Poisson points. We show that the new model exhibits a phase transition, and obtain results about the critical values in low and high dimensions.
We compute the distribution of velocities of the particles ejected by the impact of the projectile released from NASA Deep Impact spacecraft on the nucleus of comet 9P/Tempel 1 on the successive 20 hours following the collision. This is performed by the development and use of an ill-conditioned inverse problem approach, whose main ingredients are a set of observations taken by the Narrow Angle Camera (NAC) of OSIRIS onboard the Rosetta spacecraft, and a set of simple models of the expansion of the dust ejecta plume for different velocities. Terminal velocities are derived using a maximum likelihood estimator.   We compare our results with published estimates of the expansion velocity of the dust cloud. Our approach and models reproduce well the velocity distribution of the ejected particles. We consider these successful comparisons of the velocities as an evidence for the appropriateness of the approach. This analysis provides a more thorough understanding of the properties of the Deep Impact dust cloud.
The space-like elastic form factors of baryons containing a heavy quark are investigated within a light-front constituent quark model in the limit of infinite heavy-quark mass, adopting a gaussian-like ansatz for the three-quark wave function. The results obtained for the Isgur-Wise form factors corresponding both to a spin-0 and a spin-1 light spectator pair are presented. It is found that the Isgur-Wise functions depend strongly on the baryon structure, being sharply different in case of diquark-like or collinear-type configurations in the three-quark system. It is also shown that the relativistic effects lead to a saturation property of the form factors as a function of the baryon size. Our results are compared with those of different models as well as with recent predictions from QCD sum rules and lattice QCD simulations; the latter ones seem to suggest the dominance of collinear-type configurations, in which the heavy-quark is sitting close to the center-of-mass of the light quark pair.
We consider first-passage percolation with positive, stationary-ergodic weights on the square lattice $\mathbb{Z}^d$. Let $T(x)$ be the first-passage time from the origin to a point $x$ in $\mathbb{Z}^d$. The convergence of the scaled first-passage time $T([nx])/n$ to the time-constant as $n$ tends to infinity can be viewed as a problem of homogenization for a discrete Hamilton-Jacobi-Bellman (HJB) equation. By borrowing several tools from the continuum theory of stochastic homogenization for HJB equations, we derive an exact variational formula for the time-constant. We then construct an explicit iteration that produces the minimizer of the variational formula (under a symmetry assumption), thereby computing the time-constant. The variational formula may also be seen as a duality principle, and we discuss some aspects of this duality.
Pulsar radio emission is modelled as a sum of two completely polarized non-orthogonal modes with the randomly varying Stokes parameters and intensity ratio. The modes are the result of polarization evolution of the original natural waves in the hot magnetized weakly inhomogeneous plasma of pulsar magnetosphere. In the course of wave mode coupling, the linearly polarized natural waves acquire purely orthogonal elliptical polarizations. Further on, as the waves pass through the cyclotron resonance, they become non-orthogonal. The pulse-to-pulse fluctuations of the final polarization characteristics and the intensity ratio of the modes are attributed to the temporal fluctuations in the plasma flow.   The model suggested allows to reproduce the basic features of the one-dimensional distributions of the individual-pulse polarization characteristics. Besides that, propagation origin of pulsar polarization implies a certain correlation between the mode ellipticity and position angle. On a qualitative level, for different sets of parameters, the expected correlations appear compatible with the observed ones. Further theoretical studies are necessary to establish the quantitative correspondence of the model to the observational results and to develop a technique of diagnostics of pulsar plasma on this basis.