A deep Q-learning network based active object detection model with a novel training algorithm for service robots

This paper focuses on the problem of active object detection(AOD).AOD is important for service robots to complete tasks in the family environment,and leads robots to approach the target ob ject by taking appropriate moving actions.Most of the current AOD methods are based on reinforcement learning with low training efficiency and testing accuracy.Therefore,an AOD model based on a deep Q-learning network(DQN)with a novel training algorithm is proposed in this paper.The DQN model is designed to fit the Q-values of various actions,and includes state space,feature extraction,and a multilayer perceptron.In contrast to existing research,a novel training algorithm based on memory is designed for the proposed DQN model to improve training efficiency and testing accuracy.In addition,a method of generating the end state is presented to judge when to stop the AOD task during the training process.Sufficient comparison experiments and ablation studies are performed based on an AOD dataset,proving that the presented method has better performance than the comparable methods and that the proposed training algorithm is more effective than the raw training algorithm.

Comparison between TeV and non-TeV BL Lac Objects

BL Lacertae objects（BL Lacs） are the dominant population of Te V emitting blazars. In this work, we investigate whether there are any special observational properties associated with Te V sources.To do so, we will compare the observational properties of Te V detected BL Lacs（Te V BLs） with non-Te V detected BL Lac objects（non-Te V BLs）. From the 3rd Fermi/LAT source catalog（3FGL）, we can obtain662 BL Lacs, out of which 47 are Te V BLs and 615 are non-Te V BLs. Their multi-wavelength flux densities（FpR, FO, FX and Fγ）, photon spectral indexes（α^phXand α^phγ）, and effective spectral indexes（αRO and αOX）are compiled from the available literature. Then the luminosities（log ν LR, log ν LO, log ν LX, log ν Lγ）are calculated. From comparisons, we find that Te V BLs are different from low synchrotron peaked BLs and intermediate synchrotron peaked BLs, but Te V BLs show similar properties to high synchrotron peaked（HSP） BLs. Therefore, we concentrated on a comparison between Te V HSP BLs and non-Te V HSP BLs.Analysis results suggest that Te V HSP BLs and non-Te V HSP BLs exhibit some differences in their αRO and αphγ, but their other properties are quite similar.

On the Geometry of Broad-Line Regions in BL Lac Objects

The geometry of broad-line regions （BLRs） in active galactic nuclei （AGNs） is still controversial. We use a sample of BL Lac objects, of which the black hole masses Mbh are estimated from their host galaxy absolute magnitude at R-band, MR, by using the empirical relation between MR and black hole mass Mbh. The sizes of the broad-line regions for MglI are derived from the widths of MglI lines and the black hole masses. Compared with the empirical relation between BLR size RBLR and MgII line luminosity LMglI, it is found the BLR sizes in the BL Lac objects derived in this paper are 2-3 orders of magnitude higher. If the BLR geometry of these sources is disklike, then the viewing angle between the axis and the line of sight is in the range of - 2° - 15°, which is consistent with the unification scheme.

Properties of BL Lac Objects with Redshift ≤ 0.2

We present a large sample which includes 82 BL Lac objects with red- shifts below 0.2 from recent literature. We find strong correlations in both flux and luminosity between the radio (5 GHz) and optical bands (5500 A). The correlations in other bands are very weak. Five TeV BL Lacs and two suspect sources are found to have similar properties as high- frequency- peaked BL Lacs (HBLs). Our results suggest that both the radio and optical emissions are from the same radiation mech- anism in the SSC model. The TeV BL Lac candidates should be HBLs or HBL-like objects with small redshifts.

Neutron activation method in the analysis of environmental objects

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Is BZB J1450+5201 the most distant gamma-ray BL Lacertae object?

BL Lacertae （BL Lac） objects at high redshifts （z ≥ 2） are rarely detected. Through careful analysis of its Sloan Digital Sky Survey spectrum, BZB J1450＋5201 is confirmed to be a high-z BL Lac object with z ≥ 2.471 by identifying the Lyα 1216 and CIV 1548/1550 absorption lines. This indicates that BZB J1450＋5201 is the most distant BL Lac object discovered to date. Careful analysis of the five-year Fermi-LAT data of 2FGL J1451.0＋5159 shows that its γ-ray emission is robust with a confidence level of 6.2σ at 1-3 GeV and 6.7σ at 3-10 GeV. This analysis with the five-year data overcomes confusion with its bright neighbor, which is a problem when analyzing the two-year data. In addition, 2FGL J 1451.0＋5159 is confirmed to be associated with BZB J1450＋5201 using the five-year data. The analysis of multiwavelength data, from radio to γ-ray energies, indicates that BZB J1450＋5201 is an intermediate synchrotron peaked （ISP） source. Its multiwavelength properties are consistent with distributions of other ISP sources at lower redshifts in the second Fermi-LAT AGN catalog. The pure synchrotron self-Compton （SSC） model seems to be disfavored, but the scattering of weak external emission plus the SSC process can provide a satisfactory description of the broadband emission.

对空信息通信台站供配电数据采集系统设计

供配电系统工况稳定是对空信息通信台站保持稳定高效运行的基础和前提条件。对空信息通信台站服务区域广阔、分布离散、数量庞大,亟需设计一种集中式的供配电数据采集系统对下属的对空信息通信台站供配电系统工况进行实时监控和管理。基于声卡模数转换单元获取供配电系统工况,综合应用云存储、Active Data Object接口、TCP/IP协议Socket程序、服务端多线程等技术,设计了一种数据采集系统,实现对各个站点供配电数据的采集、存储、查询和分析。相较于现有技术具有精度高、信息粒度小的优势,可支撑配电系统工况大数据挖掘分析应用。

Database-Based Web Page

Database based web page which uses IIS4.0 + ASP + ADO + SQL7.0 is briefly introduced. It has been successfully used in E commerce, bulletin board system and chat room, and so on in the web site of Computer Center Hudong Campus, Tongji University.

Spectral energy distributions for TeV blazars

In this work, we collected a sample of 69 TeV blazars from TeVCat, obtained their multi-wavelength observations, and fitted their spectral energy distributions by using a second degree poly-nomial function. The structure parameters of synchrotron bumps for 68 blazars and those of inverse- Compton bumps for 56 blazars were derived. Then, we conducted statistical analysis on the parame-ters （curvature, peak frequency, peak luminosity, bolometric luminosity and X/γ-ray spectral indexes）. From our analysis and discussions, we can conclude the following： （1） There is a clear positive correla-tion between the synchrotron peak frequency, log （Vp）^s, and the inverse-Compton peak frequency, log （Vp）^IC, and between the synchrotron peak luminosity, log （Vp）^sL（Vp）^s, and the inverse-Compton peak luminosity,log（Vp）^IC L（Vp）^IC. （2） The correlation between the peak frequency and the curvature of synchrotron bump is clearly different from that of the inverse-Compton bump, which further indicates that there are differ-ent emission mechanisms between them. （3） There is a correlation between log （Vp）^IC and γ-ray spectral index, αγ, for the TeV blazars： log （Vp）^IC = -（4.59 ± 0.30）αγ ＋ （32.67 ±0.59）, which is consistent with previous work. （4） An ＂L-shape＂ relation is found between log（Vp）^s Up and αx for both TeV blazars and Fermi blazars. A significant correlation between log（Vp）^s and X-ray photon index （αx） is found for the TeV blazars with high synchrotron peak frequency： log（Vp）^s = -（3.20 ± 0.34）αx ＋ （24.33 ± 0.79）, while the correlation is positive for low synchrotron peaked TeV sources. （5） In the αx -αγ diagram, there is also an ＂L-shape.＂ The anti-correlation is consistent with results available in the literature, and we also find a positive correlation between them. （6） Inverse-Compton dominant sources have luminous bolometric luminosities.

A Possible 456-Day Optical Period of OQ 530

The post-1994 observations of the blazar OQ 530 in optical BVRI bands, and radio observations at 22 GHz and 37 GHz were collected. The date compensated discrete Fourier transform （DCDFr） and CLEANest methods were used to search for possible periodicities. Two possible periods of 456±100 days and 258±29 days were found in the optical bands. The existence of possible correlations between the optical and radio emissions was investigated by means of discrete correlation function （DCF） analysis, and no significant correlation was found. Some possible mechanisms for the periodic variability are discussed.

The intrinsic γ-ray emissions of Fermi blazars

The beaming effect is important for understanding the observational properties of blazars.In this work, we collect 91 Fermi blazars with available radio Doppler factors. γ-ray Doppler factors are estimated and compared with radio Doppler factors for some sources. The intrinsic（de-beamed）γ-ray flux density（fγin）, intrinsic γ-ray luminosity（Lγin） and intrinsic synchrotron peak frequency（VPin）are calculated. Then we study the correlations between finγand redshift and find that they follow the theoretical relation： log f =-2.0 log z ＋ const. When the subclasses are considered, we find that stationary jets are perhaps dominant in low synchrotron peaked blazars. Sixty-three Fermi blazars with both available short variability time scales（？T） and Doppler factors are also collected. We find that the intrinsic relationship between Lγin and ？Tinobeys the Elliot ＆ Shapiro and Abramowicz ＆ Nobili relations. Strong positive correlation between fγinand VPinis found, suggesting that synchrotron emissions are highly correlated with γ-ray emissions.

The gamma-ray Doppler factor determinations for a Fermi blazar sample

Observations suggest that γ-ray loud blazars are strongly beamed. The Fermi mission has detected many of blazars, which provide us with a good opportunity to investigate the emission mechanism and the beaming effect in the γ-ray region. We compiled the X-ray observations for 138 Fermi blazars （54 flat spectrum radio quasars, 36 low-peaked BL Lacertae objects, and 48 high-peaked BL Lacertae objects） and calculated their Doppler factors, δγ. It is interesting that the calculated Doppler factors, δγ, are strongly correlated with the γ-ray luminosity.

Brightness temperature for 166 radio sources

Using the database of the University of Michigan Radio Astronomy Observatory （UMRAO） at three radio frequencies （4.8, 8 and 14.5 GHz）, we determined the short-term variability timescales for 166 radio sources. The timescales are 0.15d （2007＋777） to 176.17 d （0528-250） with an average timescale of Atobs = 17.1 4- 16.5 d for the whole sample. The timescales are used to calculate the brightness temperatures, TB. The value of log TB is in the range of log TB = 10.47 to 19.06 K. In addition, we also estimated the boosting factor for the sources. The correlation between the polarization and the Doppler factor is also discussed.

The broadband spectral energy distributions of SDSS blazars

We compiled the radio, optical and X-ray data of blazars from the Sloan Digital Sky Survey database, and presented the distribution of luminosities and broadband spectral indices. The distribution of luminosities shows that the averaged luminosity of flat spectrum radio quasars（FSRQs） is larger than that of BL Lacertae（BL Lac） objects. On the other hand, the broadband spectral energy distribution reveals that FSRQs and low energy peaked BL Lac objects have similar spectral properties,but high energy peaked BL Lac objects have a distinct spectral property. This may be due to the fact that different subclasses of blazars have different intrinsic environments and are at different cooling levels. Even so, a unified scheme is also revealed from the color-color diagram, which hints that there are similar physical processes operating in all objects under a range of intrinsic physical conditions or beaming parameters.

Evolution of optical spectral index and variability properties of S5 0716+714

We analyze the spectral variability and spectral evolution in the optical en- ergy region by using multiband （BVRI） optical observations of S5 0716＋714 spanning 1994 to 2005. The spectrum hardens when the source becomes brighter, which is con- sistent with general BL Lac objects. The spectral evolution parameter implies that the spectral variability is small in optical bands over 10 years. A simple model represent- ing the variability of a synchrotron component can explain the spectral changes. In addition, we employ the z-transformed discrete correlation function （ZDCF） to ana- lyze the optical multiband flux correlation. The long-term light curve behavior reveals that the variability time scales are 3.5 yr in the B-band, 3.3 yr in the V-band, 3.4 yr in the R-band and 3.5 yr in the/-band. The time lags between any two optical bands were not found when considering statistical errors.

R-band host galaxy contamination of TeV γ-ray blazar Mrk 501： effects of aperture size and seeing

We simulated the R-band contribution of the host galaxy of TeV γ-ray BL Lac object Mrk 501 in different aperture sizes and seeing conditions. An intensive set of observations was acquired with the 1.02m optical telescope, managed by Yunnan Observatories, from 2010 May 15 to 18. Based on the host subtraction data usually used in the literature, the subtraction of host galaxy contamination results in significant seeing-brightness correlations. These correlations would lead to illusive large amplitude variations at short timescales, which will mask the intrinsic microvariability, thus giving rise to difficulty in detecting the intrinsic microvariability. Both aperture size and seeing condition influence the flux measurements, but the aperture size impacts the result more significantly. Based on the parameters of an elliptical galaxy provided in the literature, we simulated the host contributions of Mrk 501 in different aperture sizes and seeing conditions. Our simulation data of the host galaxy obviously weaken these significant seeing-brightness correlations for the host-subtracted brightness of Mrk 501, and can help us discover the intrinsic short timescale microvariability. The pure nuclear flux is -8.0 mJy in the R band, i.e., the AGN has a magnitude of R - 13.96 mag.

Habitual sedentary time and stationary time are inversely related to aerobic fitness

A one metabolic-equivalent-of-task increase in peak aerobic fitness(peak MET)is associated with a clinically relevant improvement in survival risk and all-cause mortality.The co-dependent impact of free-living physical behaviours on aerobic fitness are poorly understood.The purpose of this study was to investigate the impact of theoretically re-allocating time spent in physical behaviours on aerobic fitness.We hypothesized that substituting sedentary time with any physical activity(at any intensity)would be associated with a predicted improvement in aerobic fitness.Peak volume rate of oxygen uptake(VO_(2)peak)was assessed via indirect calorimetry during a progressive,maximal cycle ergometer protocol in 103 adults(52 females;[38±21]years;[25.0±3.8]kg/m^(2);VO_(2)peak:[35.4±11.5]ml⋅kg^(-1)⋅min^(-1)).Habitual sedentary time,standing time,light-(LPA),moderate-(MPA),and vigorous-physical activity(VPA)were assessed 24-h/day via thigh-worn inclinometry for up to one week(average:[6.3±0.9]days).Isotemporal substitution modelling examined the impact of replacing one physical behaviour with another.Sedentary time(β=0.8,95%CI:[-1.3,-0.2])and standing time(β=0.9,95%CI:[-1.6,-0.2])were negatively associated with VO_(2)peak,whereas VPA was positively associated with relative VO_(2)peak(β=9.2,95%CI:[0.9,17.6]).Substituting 30-min/day of VPA with any other behaviour was associated with a 2.4–3.4 higher peak MET.Higher standing time was associated with a lower aerobic fitness.As little as 10-min/day of VPA predicted a clinically relevant 0.8–1.1 peak MET increase.Theoretically,replacing any time with relatively small amounts of VPA is associated with improvements in aerobic fitness.