Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to jointly train a geometric NeRF multilayer perceptron (MLP) and a color NeRF MLP to model a scene using an occupancy grid map, camera data of the scene from a camera, and lidar data of the scene from a lidar; supervise the geometric NeRF MLP with the lidar data during the joint training; and supervise the color NeRF MLP with the camera data during the joint training. The geometric NeRF MLP is a neural radiance field modeling a geometry of the scene, and the color NeRF MLP is a neural radiance field modeling colors of the scene.

Abstract: A system includes a plurality of movable members and an electromagnetic wave probe disposed within at least one movable member among the plurality of movable members. The actuation system is coupled to the plurality of movable members. The actuation system is configured to actuate and removably position the plurality of movable members to form a wave guide around at least a portion of an outer peripheral surface of the pipe assembly and position the electromagnetic wave probe proximate to the portion of the outer peripheral surface of the pipe assembly.

Abstract: A system includes a plurality of movable members and an electromagnetic wave probe disposed within at least one movable member among the plurality of movable members. The actuation system is coupled to the plurality of movable members. The actuation system is configured to actuate and removably position the plurality of movable members to form a wave guide around at least a portion of an outer peripheral surface of the pipe assembly and position the electromagnetic wave probe proximate to the portion of the outer peripheral surface of the pipe assembly.