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Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designed for individual motions and lack the features necessary to facilitate robot motion comparison. In this paper, we utilize a rigorous design framework to develop Motion Comparator, a web-based tool that facilitates the comprehension, comparison, and communication of robot motions. Our design process identified roboticists' needs, articulated design challenges, and provided corresponding strategies. Motion Comparator includes several key features such as multi-view coordination, quaternion visualization, time warping, and comparative designs. To demonstrate the applications of Motion Comparator, we discuss four case studies in which our tool is used for motion selection, troubleshooting, parameter tuning, and motion review., Comment: Accepted by IEEE Robotics and Automation Letters (RAL)

Ground level enhancements (GLEs) are extreme solar energetic particle (SEP) events that are of particular importance in space weather. In solar cycle 24, two GLEs were recorded on 2012 May 17 (GLE 71) and 2017 September 10 (GLE 72), respectively, by a range of advanced modern instruments. Here we conduct a comparative analysis of the two events by focusing on the effects of large-scale magnetic field configuration near active regions on particle acceleration and release. Although the active regions both located near the western limb, temporal variations of SEP intensities and energy spectra measured in-situ display different behaviors at early stages. By combining a potential field model, we find the CME in GLE 71 originated below the streamer belt, while in GLE 72 near the edge of the streamer belt. We reconstruct the CME shock fronts with an ellipsoid model based on nearly simultaneous coronagraph images from multi-viewpoints, and further derive the 3D shock geometry at the GLE onset. The highest-energy particles are primarily accelerated in the shock-streamer interaction regions, i.e., likely at the nose of the shock in GLE 71 and the eastern flank in GLE 72, due to quasi-perpendicular shock geometry and confinement of closed fields. Subsequently, they are released to the field lines connecting to near-Earth spacecraft when the shocks move through the streamer cusp region. This suggests that magnetic structures in the corona, especially shock-streamer interactions, may have played an important role in the acceleration and release of the highest-energy particles in the two events., Comment: Accepted for publication in ApJ

Image-to-image translation is a fundamental task in computer vision. It transforms images from one domain to images in another domain so that they have particular domain-specific characteristics. Most prior works train a generative model to learn the mapping from a source domain to a target domain. However, learning such mapping between domains is challenging because data from different domains can be highly unbalanced in terms of both quality and quantity. To address this problem, we propose a new approach to extract image features by learning the similarities and differences of samples within the same data distribution via a novel contrastive learning framework, which we call Auto-Contrastive-Encoder (ACE). ACE learns the content code as the similarity between samples with the same content information and different style perturbations. The design of ACE enables us to achieve zero-shot image-to-image translation with no training on image translation tasks for the first time. Moreover, our learning method can learn the style features of images on different domains effectively. Consequently, our model achieves competitive results on multimodal image translation tasks with zero-shot learning as well. Additionally, we demonstrate the potential of our method in transfer learning. With fine-tuning, the quality of translated images improves in unseen domains. Even though we use contrastive learning, all of our training can be performed on a single GPU with the batch size of 8.

The acceleration and transport of energetic electrons during solar flares is one of the outstanding topics in solar physics. Recent X-ray and radio imaging and spectroscopy observations have provided diagnostics of the distribution of nonthermal electrons and suggested that, in certain flare events, electrons are primarily accelerated in the loop-top and likely experience trapping and/or scattering effects. By combining the focused particle transport equation with magnetohydrodynamic (MHD) simulations of solar flares, we present a macroscopic particle model that naturally incorporates electron acceleration and transport. Our simulation results indicate that the physical processes such as turbulent pitch-angle scattering can have important impacts on both electron acceleration in the loop-top and transport in the flare loop, and their influences are highly energy dependent. A spatial-dependent turbulent scattering with enhancement in the loop-top can enable both efficient electron acceleration to high energies and transport of abundant electrons to the footpoints. We further generate spatially resolved synthetic hard X-ray (HXR) emission images and spectra, revealing both the loop-top and footpoint HXR sources. Similar to the observations, we show that the footpoint HXR sources are brighter and harder than the loop-top HXR source. We suggest that the macroscopic particle model provides new insights into understanding the connection between the observed loop-top and footpoint nonthermal emission sources by combining the particle model with dynamically evolving MHD simulations of solar flares., Comment: Accepted for publication in ApJL

Recent observations have shown that in many large solar energetic particle (SEP) events the event-integrated differential spectra resemble double power laws. We perform numerical modeling of particle acceleration at coronal shocks propagating through a streamer-like magnetic field by solving the Parker transport equation, including protons and heavier ions. We find that for all ion species the energy spectra integrated over the simulation domain can be described by a double power law, and the break energy depends on the ion charge-to-mass ratio as $E_B \sim (Q/A)^\alpha$, with $\alpha$ varying from 0.16 to 1.2 by considering different turbulence spectral indices. We suggest that the double power law distribution may emerge as a result of the superposition of energetic particles from different source regions where the acceleration rates differ significantly due to particle diffusion. The diffusion and mixing of energetic particles could also provide an explanation for the increase of Fe/O at high energies as observed in some SEP events. Although further mixing processes may occur, our simulations indicate that either power-law break or rollover can occur near the Sun and predict that the spectral forms vary significantly along the shock front, which may be examined by upcoming near-Sun SEP measurements from Parker Solar Probe and Solar Orbiter., Comment: Accepted for publication in The Astrophysical Journal Letters