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Tracktable is a toolkit for analysis and visualization of the trajectories of moving objects. Its main focus is on air and sea traffic. It can also work with more abstract trajectories such as eye tracking data. We supply a set of core data structures, input/output routines, math and machine learning algorithms that operate on those data structures, and visualization algorithms to produce movies and still images of the results.
This work introduces a multi-camera tracking dataset consisting of 234 hours of video data recorded concurrently from 234 overlapping HD cameras covering a 4.2 mile stretch of 8-10 lane interstate highway near Nashville, TN. Video is recorded in cooperation with Tennessee State Department of Transportation and its policies. The video is recorded during a period of high traffic density with 500+ objects typically visible within the scene and typical object longevities of 3-15 minutes. GPS trajectories from 270 vehicle passes through the scene are manually corrected in the video data to provide a set of ground-truth trajectories for recall-oriented tracking metrics, and object detections are provided for each camera in the scene (159 million total before cross-camera fusion). Initial benchmarking of tracking-by-detection algorithms is performed against the GPS trajectories, and a best HOTA of only 9.5% is obtained (best recall 75.9% at IOU 0.1, 47.9 average IDs per ground truth object), indicating the benchmarked trackers do not perform sufficiently well at the long temporal and spatial durations required for traffic scene understanding. Video data, scene information, and vehicle trajectories are made publicly available at i24motion.org.
Standard MCNP particle tracking takes place along straight-line trajectories from interaction point to interaction point. There is a feature within MCNP that is planned for deprecation that provides surface boundary conditions for approximating gravity for planetary cases, but this feature is not applicable to a cold neutron beam. A new extension has been developed to track particles along parabolic trajectories with a constant acceleration. MCNP contains 1st and 2nd-order surfaces as well as a special case of 4th-order surfaces for simple tori, and the intersection of parabolic trajectories with these surfaces becomes 2nd, 4th, and 8th-order equations in time, respectively. Solving these equations utilizes a fast algorithm for finding the roots of polynomials. Finally, the theory, MCNP input card, and examples of using this new feature will be discussed.
Demand flexibility is increasingly important for power grids. Careful coordination of thermostatically controlled loads (TCLs) can modulate energy demand, decrease operating costs, and increase grid resiliency. We propose a novel distributed control framework for the Coordination Of HeterOgeneous Residential Thermostatically controlled loads (COHORT). COHORT is a practical, scalable, and versatile solution that coordinates a population of TCLs to jointly optimize a grid-level objective, while satisfying each TCL’s end-use requirements and operational constraints. To achieve that, we decompose the grid-scale problem into subproblems and coordi- nate their solutions to find the global optimum using the alternating direction method of multipliers (ADMM). The TCLs’ local problems are distributed to and computed in parallel at each TCL, making COHORT highly scalable and privacy-preserving. While each TCL poses combinatorial and non-convex constraints, we characterize these constraints as a convex set through relaxation, thereby making COHORT computationally viable over long planning horizons. After coordination, each TCL is responsible for its own control and tracks the agreed-upon power trajectory with its preferred strategy. In this work, we translate continuous power back to discrete on/off actuation, using pulse width modulation. COHORT is generalizable to a wide range of grid objectives, which we demonstrate through three distinct use cases: generation following, minimizing ramping, and peak load curtailment. In a notable experiment, we validated our approach through a hardware-in-the-loop simulation, including a real-world air conditioner (AC) controlled via a smart thermostat, and simulated instances of ACs modeled after real-world data traces. During the 15-day experimental period, COHORT reduced daily peak loads by an average of 12.5% and maintained comfortable temperatures.
Residential buildings, the “last mile” sector in the global decarbonization, have become the most significant uncertain factor hindering carbon neutrality with increasing household energy demand. To track the operational carbon in buildings, this study investigates the carbon Kuznets curve (CKC) and the corresponding decoupling status of residential building operations at four emission scales by using the data of 30 countries from 2000 to 2019. The results show that (1) the CKC model can fit more than half of the samples. Most curves have an inverted U-shape, with 76% of emission per household and 82% of total emissions. (2) In the presence of the CKC, over four-fifths of global residential buildings peak regardless of any emission scale. The analysis denotes that the carbon emissions of developed countries reach their peaks earlier. In the total emissions, the samples’ peaking proportion is 20% and 25% with income per capita < 20,000 United States dollars (USD) and 20,000–40,000 USD, respectively. (3) The Tapio decoupling analysis and the threshold regression effectively verify the robustness and the heterogeneity of CKCs, respectively. Strong decoupling effects of CKCs in most countries are demonstrated at the scales of emission per floor space and the total emissions, and the heterogeneity proves the classic inverted U-shaped relationship between economy and emissions doesn’t exist in all emitters. Overall, this study tracks the historical carbon emission trajectories of residential building operations at a global scale, providing reference for different economies to simulate the dynamic of building carbon emissions along with the economic booming.
Ion irradiation of semiconductors has emerged as a promising approach for fabricating self-organized nanosystems with high atomic precision, despite often being accompanied by undesirable phenomena. Exploring the mechanisms underlying structural transformations is crucial for assessing nanostructure array types under complex irradiation environments. By quantitatively calculating the thermodynamically driven processes and analyzing the impact of intrinsic structural parameters, distinct structural transformations in response to intense electronic excitation are systematically investigated in gallium antimonide (GaSb) and gallium arsenide (GaAs) systems. In high-energy regimes, the nanofibers layer of GaSb exhibits intriguing structural discrepancy, characterized by partial nanofibers with coherent boundaries, interspersed nanopores accompanied by antisite defects and Ga precipitates, distinguishing to a series of discontinuous latent tracks that emerged within cylindrical trajectories in GaAs. Furthermore, significant diffusion behaviors of the nanohillocks are discovered in GaAs, with higher average roughness than GaSb, driven by the gradient stress distribution influenced by the free-surface effects. The deposition energy for melting phase formation, Gibbs free energy, and Ga diffusion coefficients contribute to the distinctive structural features, evidencing relatively stable morphological configurations and higher irradiation resistance in GaAs. Consequently, special optoelectronic properties associated with structural discrepancies facilitate the design and optimization of material functionalities by irradiation technologies.
High-energy large-scale particle colliders produce data at high speed in the order of 1 terabytes per second in nuclear physics and petabytes per second in high energy physics. Developing real-time data compression algorithms to reduce such data at high throughput to fit permanent storage has drawn increasing attention. Specifically, at the newly constructed sPHENIX experiment at the Relativistic Heavy Ion Collider (RHIC), a time projection chamber is used as the main tracking detector, which records particle trajectories in a volume of three-dimensional (3D) cylinder. The resulting data are usually very sparse with occupancy around 10.8%. Such sparsity presents a challenge to conventional learning-free lossy compression algorithms, such as SZ, ZFP, and MGARD. The 3D convolutional neural network (CNN)-based approach, Bicephalous Convolutional Autoencoder (BCAE), outperforms traditional methods both in compression rate and reconstruction accuracy. BCAE can also utilize the computation power of graphical processing units suitable for deployment in a modern heterogeneous highperformance computing environment. This work introduces two BCAE variants: BCAE++ and BCAE-2D. BCAE++ achieves a 15% better compression ratio and a 77% better reconstruction accuracy measured in mean absolute error compared with BCAE. BCAE-2D treats the radial direction as the channel dimension of an image, resulting in a 3× speedup in compression throughput. In addition, we demonstrate an unbalanced autoencoder with a larger decoder can improve reconstruction accuracy without significantly sacrificing throughput. Lastly, we observe both the BCAE++ and BCAE-2D can benefit more from using half-precision mode in throughput (76 - 79% increase) without loss in reconstruction accuracy. The source code and links to data and pretrained models can be found at https://github.com/BNL-DAQ-LDRD/NeuralCompression_v2
This work presents a methodology for extracting vehicle trajectories from six partially-overlapping roadside radars through a signalized corridor. The methodology incorporates radar calibration, transformation to the Frenet space, Kalman filtering, short-term prediction, lane-classification, trajectory association, and a covariance intersection-based approach to track fusion. The resulting dataset contains 79,000 fused radar trajectories over a 26-h period, capturing diverse driving scenarios including signalized intersections, merging behavior, and a wide range of speeds. Compared to popular trajectory datasets such as NGSIM and highD, this dataset offers extended temporal coverage, a large number of vehicles, and varied driving conditions. The filtered leader–follower pairs from the dataset provide a substantial number of trajectories suitable for car-following model calibration. The framework and dataset presented in this work has the potential to be leveraged broadly in the study of advanced traffic management systems, autonomous vehicle decision-making, and traffic research.
The pool boiling process can be observed in several energy conversion processes including commercial and industrial refrigeration, industrial air-cooling operations, and power generation. The process becomes more involved when pool boiling in a tube bundle is considered. In the current study, a numerical model is developed to predict the key performance parameters of a flooded evaporator while considering a range of working fluids. A kettle reboiler configuration was considered, and a performance model was developed to account for boiling on individual tubes, merging of vapor bubbles, and movement under gravity. A volume of fluid (VOF) model was used to deal with the different phases in the simulation. Various fluids were considered in this study including HFE-7000, HFE-7300, and water. The trajectories of the bubbles were tracked, and the resulting information has been summarized in physical measurable quantities.
Many current hypersonic vehicles involve a main vehicle from which components separate during flight and presents simulation challenges such as shock-shock interactions, highly nonlinear interactions, and shock wave boundary layer interactions. These aerodynamic phenomena influence the attitude and trajectory of each object, which needs to be understood before large-scale experiments can be run. To gain a generic understanding of the process, high-fidelity Reynolds-averaged Navier-Stokes solutions are performed on a conical vehicle geometry passing through an oblique shock wave that is representative of different configurations and scenarios. Trajectory and applied forces are tracked and show the vehicle’s dynamics are predominantly the result of differential flow incidence angles causing a strong shock; this leads to a large pressure increase over a fraction of the vehicle, which influences pitch. The vehicle appears to follow conventional stability theory with detached eddy simulation and small disturbances in initial attitude shown to have minimal influence on the scenario.
The determination of charged particle trajectories in collisions at the CERN Large Hadron Collider (LHC) is an important but challenging problem, especially in the high interaction density conditions expected during the future high-luminosity phase of the LHC (HL-LHC). Graph neural networks (GNNs) are a type of geometric deep learning algorithm that has successfully been applied to this task by embedding tracker data as a graph—nodes represent hits, while edges represent possible track segments—and classifying the edges as true or fake track segments. However, their study in hardware- or software-based trigger applications has been limited due to their large computational cost. In this paper, we introduce an automated translation workflow, integrated into a broader tool called hls4ml , for converting GNNs into firmware for field-programmable gate arrays (FPGAs). We use this translation tool to implement GNNs for charged particle tracking, trained using the TrackML challenge dataset, on FPGAs with designs targeting different graph sizes, task complexites, and latency/throughput requirements. This work could enable the inclusion of charged particle tracking GNNs at the trigger level for HL-LHC experiments.
The ICARUS experiment is part of the Short-Baseline Neutrino (SBN) program at Fermilab. The main goal of the experiment is to investigate the possibility of sterile neutrinos in the O(1 eV) mass region and provide clarification of the anomaly detected from the Liquid Scintillator Neutrino Detector (LSND) and MiniBooNE experiments. The ICARUS-T600 detector is a Liquid Argon Time Projection Chamber (LAr-TPC), that can provide excellent 3D imaging and calorimetric reconstruction of any ionizing particles. This detection technique allows a detailed study of neutrino interactions, spanning a wide energy spectrum (from a few keV to several hundreds of GeV). The detector consists of two identical adjacent modules, filled with a total of 760 tons of ultra-pure liquid argon. Each module houses two LAr-TPCs separated by a common cathode with a maximum drift distance of 1.5 m, equivalent to about 1 ms drift time for the nominal $500$ V/m electric drift field. The anode is made of three parallel wire planes positioned 3 mm apart, where the stainless-steel wires are oriented on each plane at a different angle with respect to the horizontal direction ($+60^\degree$,$-60^\degree$,$0^\degree$). The first two planes (Induction 1 and Induction 2) provide a non-destructive charge measurement, whereas the ionization charge is fully collected by the last collection plane. In total, 53248 wires with a 3 mm pitch and length up to 9 m are installed in the detector. In the first stage of the reconstruction, segments of waveforms corresponding to physical signals (hits) are searched for in the deconvolved wire waveform with a threshold-based hit-finding algorithm. Each hit is then fitted with a Gaussian, whose area is proportional to the number of drift electrons generating the signal. In the second stage of the reconstruction, hits are passed as input to Pandora, a framework software composed of different pattern recognition algorithms, that performs a 3D reconstruction of the full image recorded in the collected event, including the identification of interaction vertices and tracks and showers inside the TPC. These are organized into a hierarchical structure (called slice) of particles generated starting from a primary interaction vertex. In some cases, related to the inefficiencies in the hit detection or excessive deflection of the particle trajectory, Pandora breaks the particle's track into two or more smaller pieces and considers each piece as an independent track. We studied this phenomenon focusing on primary muons from ν_μ CC interactions contained in a single module with a track at least 20 cm long, to exclude delta rays. The study determined that about $7-8\%$ of the muon tracks are broken. Approximately $80\%$ of the times, Pandora assigns all segments of the track to the same slice (intra-slice track split), while in the remaining $20\%$ of the cases, one of the segments is associated with another slice (extra-slice track split). To mitigate this phenomenon, we designed an algorithm that detects and stitches the tracks broken by Pandora for the intra-slice split. In Monte Carlo simulations, the algorithm showed an efficiency exceeding $80\%$ and a purity exceeding $93\%$.
We derive purely gravitational constraints on dark matter and cosmic neutrino profiles in the solar system using asteroid (101955) Bennu. We focus on Bennu because of its extensive tracking data and high-fidelity trajectory modeling resulting from the OSIRIS-REx mission. We find that the local density of dark matter is bound by $ρ_{DM}$ ≲ 3.3 × 10 -15 kg/m 3 ≃ 6 × 10 6 $\bar{ρ_{DM}}$, in the vicinity of ~ 1.1 au (where $\bar{ρ_{DM}}$ ≃ 0.3 GeV/cm 3 ). We show that high-precision tracking data of solar system objects can constrain cosmic neutrino overdensities relative to the Standard Model prediction n̅ν, at the level of η ≡ nν/n̅ν ≲ 1.7 × 10 11 (0.1 eV/m ν ) (Saturn), comparable to the existing bounds from KATRIN and other previous laboratory experiments (with m ν the neutrino mass). These local bounds have interesting implications for existing and future direct-detection experiments. Our constraints apply to all dark matter candidates but are particularly meaningful for scenarios including solar halos, stellar basins, and axion miniclusters, which predict overdensities in the solar system. Furthermore, introducing a DM-SM long-range fifth force with a strength tilde alphaDtimes stronger than gravity, Bennu can set a constraint on ρDM ≲ $\bar{ρ_{DM}}$(6 × 10 6 /$_{\tilde{αD}}$). These constraints can be improved in the future as the accuracy of tracking data improves, observational arcs increase, and more missions visit asteroids.
This report focuses on the two primary goals set forth in Sandia’s TAFI effort, referred to here under the name Kebab. The first goal is to overlay a trajectory onto a large database of historical trajectories, all with very different sampling rates than the original track. We demonstrate a fast method to accomplish this, even for databases that hold over a million tracks. The second goal is to then demonstrate that these matched historical trajectories can be used to make predictions about unknown qualities associated with the original trajectory. As part of this work, we also examine the problem of defining the qualities of a trajectory in a reproducible way.
The analysis of plasma wakefield acceleration experimental measurements, particularly in the characterization of photons emitted through the betatron radiation mechanism, requires the development of accurate numerical models. These computational models are crucial for supporting modern instrumentation designed to measure the single-shot, double-differential angular-energy radiation spectra resulting from interactions between beams and plasmas. Motivated by the needs of such applications, this paper presents detailed numerical models of betatron radiation generated in beam-plasma acceleration experiments. These models are based on the integration of the Liénard-Wiechert (LW) potentials, applied to computed particle trajectories. The particle trajectories are generated using three distinct methods: first, by tracking particles through idealized fields in the blowout regime of PWFA; second, by obtaining trajectories using the fast quasistatic particle-in-cell (PIC) code quickpic; and third, obtaining trajectories from the fully self-consistent PIC code osiris. To ensure the accuracy and reliability of these models, the paper includes various benchmark tests using analytical expressions, as well as employing the PIC code epoch, which takes an alternative approach by using a Monte Carlo quantum electrodynamics (QED)-based radiation model. Additionally, the paper presents simulations of the expected experimental betatron radiation spectra, taking into account parameters relevant to PWFA and plasma photocathode experiments at the SLAC FACET-II facility.
Biological processes such as processive enzyme turnover and intracellular cargo tracking involve the dynamic motion of a small "article" along a curvilinear biopolymer track. To understand these processes that occur across multiple length and time scales, one must acquire both the trajectory of the particle and the position of the track along which it moves, possibly by combining high-resolution single-particle tracking with conventional microscopy. Yet, usually there is a significant resolution mismatch between these modalities: while the tracked particle is localized with a precision of 10 nm, the image of the surroundings is limited by optical difraction, with 200 nm lateral and 500 nm axial resolutions. Compared to the particle's trajectory, the surrounding curvilinear structure appears as a blurred and noisy image. This disparity in the spatial resolutions of the particle trajectory and the surrounding curvilinear structure image makes data reconstruction, as well as interpretation, particularly challenging. Analysis is further complicated when the curvilinear structures are oriented arbitrarily in 3D space. Here, we present a prior-apprised unsupervised learning (PAUL) approach to extract information from 3D images where the underlying features resemble a curved line such as a filament or microtubule. This three-stage framework starts with a Hessian-based feature enhancement, which is followed by feature registration, where local line segments are detected on repetitively sampled subimage tiles. In the final stage, statistical learning, segments are clustered based on their geometric relationships. Principal curves are then approximated from each segment group via statistical tools including principal component analysis, bootstrap and kernel transformation. This procedure is characterized on simulated images, where sub-voxel medium deviations from true curves have been achieved. The 3D PAUL approach has also been implemented for successful line localization in experimental 3D images of gold nanowires obtained using a multifocal microscope. Lastly, this work not only bridges the resolution gap between two microscopy modalities, but also allows us to conduct 3D super line-localization imaging experiments, without using super-resolution techniques.
An approach to drive Lagrangian large eddy simulation (LES) of boundary layer clouds with reanalysis data is presented and evaluated using satellite (Spinning Enhanced Visible and Infrared Imager, SEVIRI) and aircraft (Cloud-Aerosol-Radiation Interactions and Forcing, CLARIFY) measurements. The simulations follow trajectories of the boundary layer flow. They track the formation and evolution of a pocket of open cells (POC) underneath a biomass burning aerosol layer in the free troposphere. The simulations reproduce the evolution of observed stratocumulus cloud morphology, cloud optical depth, and cloud drop effective radius, and capture the timing of the cloud state transition from closed to open cells seen in the satellite imagery on the three considered trajectories. They reproduce a biomass burning aerosol layer identified by the in-situ aircraft measurements above the inversion of the POC. Entrainment of aerosol from the biomass burning layer into the POC is limited to the extent of having no impact on cloud- or boundary layer properties, in agreement with the CLARIFY observations. The two-moment bin microphysics scheme used in the simulations reproduces the in-situ cloud microphysical properties reasonably well. A two-moment bulk microphysics scheme reproduces the satellite observations in the non-precipitating closed-cell state, but overestimates liquid water path and cloud optical depth in the precipitating open-cell state due to insufficient surface precipitation. A boundary layer cold and dry bias occurring in LES can be counteracted by reducing the grid aspect ratio and by tightening the large scale wind speed nudging towards the surface.
This paper presents a search for hypothetical massive, charged, long-lived particles with the ATLAS detector at the LHC using an integrated luminosity of 139 fb –1 of proton–proton collisions at √s =13 TeV. These particles are expected to move significantly slower than the speed of light and should be identifiable by their high transverse momenta and anomalously large specific ionisation losses, dE/dx. Trajectories reconstructed solely by the inner tracking system and a dE/dx measurement in the pixel detector layers provide sensitivity to particles with lifetimes down to O(1) ns with a mass, measured using the Bethe–Bloch relation, ranging from 100 GeV to 3 TeV. Interpretations for pair-production of R-hadrons, charginos and staus in scenarios of supersymmetry compatible with these particles being long-lived are presented, with mass limits extending considerably beyond those from previous searches in broad ranges of lifetime.