A Novel Distribution for Representation of 6D Pose Uncertainty

The 6D Pose estimation is a crux in many applications, such as visual perception, autonomous navigation, and spacecraft motion. For robotic grasping, the cluttered and self-occlusion scenarios bring new challenges to the this field. Currently, society uses CNNs to solve this problem. The CNN models will suffer high uncertainty caused by the environmental factors and the object itself. These models usually maintain a Gaussian distribution, which is not suitable for the underlying manifold structure of the pose. Many works decouple rotation from the translation and quantify rotational uncertainty. Only a few works pay attention to the uncertainty of the 6D pose. This work proposes a distribution that can capture the uncertainty of the 6D pose parameterized by the dual quaternions, meanwhile, the proposed distribution takes the periodic nature of the underlying structure into account. The presented results include the normalization constant computation and parameter estimation techniques of the distribution. This work shows the benefits of the proposed distribution, which provides a more realistic explanation for the uncertainty in the 6D pose and eliminates the drawback inherited from the planar rigid motion.

Fast and Versatile Chromatography Process Design and Operation Optimization with the Aid of Artificial Intelligence

Preparative and process chromatography is a versatile unit operation for the capture, purification, and polishing of a broad variety of molecules, especially very similar and complex compounds such as sugars, isomers, enantiomers, diastereomers, plant extracts, and metal ions such as rare earth elements. Another steadily growing field of application is biochromatography, with a diversity of complex compounds such as peptides, proteins, mAbs, fragments, VLPs, and even mRNA vaccines. Aside from molecular diversity, separation mechanisms range from selective affinity ligands, hydrophobic interaction, ion exchange, and mixed modes. Biochromatography is utilized on a scale of a few kilograms to 100,000 tons annually at about 20 to 250 cm in column diameter. Hence, a versatile and fast tool is needed for process design as well as operation optimization and process control. Existing process modeling approaches have the obstacle of sophisticated laboratory scale experimental setups for model parameter determination and model validation. For a broader application in daily project work, the approach has to be faster and require less effort for non-chromatography experts. Through the extensive advances in the field of artificial intelligence, new methods have emerged to address this need. This paper proposes an artificial neural network-based approach which enables the identification of competitive Langmuir-isotherm parameters of arbitrary three-component mixtures on a previously specified column. This is realized by training an ANN with simulated chromatograms varying in isotherm parameters. In contrast to traditional parameter estimation techniques, the estimation time is reduced to milliseconds, and the need for expert or prior knowledge to obtain feasible estimates is reduced.

Prediction oriented behavioral research and its relationship to classical decision research

This paper argues that two of the common methods used in behavioral and social sciences to reduce the chances that models overfit the available data, namely heavy reliance on benchmark models and rigorous parameter estimation techniques, can slow the advancement of these sciences. An examination of classical decision research highlights how applying these methods shaped the field but have also led to limited success. As an alternative, the paper proposes a prediction-oriented approach to the development of behavioral models. Evaluating and comparing models based on their predictive power inherently guards against overfitting and also facilitates accumulation of knowledge. The paper reviews research employing the prediction-oriented approach in behavioral decision research and demonstrates that, in contrast to a common misconception, the focus on predictions can also facilitate better understanding of the underlying processes.