Search

A series of longstanding questions in harmonic analysis ask if the intersection of all prime ``$p$-adic versions" of an object, such as a doubling measure, or a Muckenhoupt or reverse H\"older weight, recovers the full object. Investigation into these questions was reinvigorated in 2019 by work of Boylan-Mills-Ward, culminating in showing that this recovery fails for a finite intersection in work of Anderson-Bellah-Markman-Pollard-Zeitlin. Via generalizing a new number-theoretic construction therein, we answer these questions.

Superconducting qubits are considered as a promising platform for implementing a fault tolerant quantum computing. However, surface defects of superconductors and the substrate leading to qubit state decoherence and fluctuations in qubit parameters constitute a significant problem. The amount and type of defects depend both on the chip materials and fabrication procedure. In this work, transmons produced by two different methods of aluminum etching: wet etching in a solution of weak acids and dry etching using a chlorine-based plasma are experimentally studied. The relaxation and coherence times for dry-etched qubits are more than twice as long as those for wet-etched ones. Additionally, the analysis of time fluctuations of qubit frequencies and relaxation times, which is an effective method to identify the dominant dielectric loss mechanisms, indicates a significantly lower impact of two-level systems in the dry-etched qubits compared to the wet-etched ones., Comment: 7 pages, 6 figures

The task of this work was to design and later produce a low-power (single supply 5 - 30 V, dual supply +-2.5 V and +-15 V) rail-to-rail operational amplifier aRD820 with low voltage noise (<4 uV, p-p. 0.1 to 10 Hz), ultralow input bias current (< 15 pA), and low offset voltage (< 500 uV) characteristics. Similar characteristics are presented by Analog Devices chip AD820. Thus, the task of the design team was to adapt the prototype circuity of AD820 to our technological capabilities, modify the circuit, if necessary, to eliminate any deficiency of the prototype. The input stage module got source followers at the input of the operational amplifier. Second stage module was modified to be more symmetric. The output stage module obtained additional resistors and capacitors to achieve a frequency compensation. One FET transistor in the current reference module was substituted by other elements. Simplified electric schemes of these modules of AR820 and aRD820 are presented. The performance of modified electric schemes of modules was tested in Simulink software. Simulations of the full electric scheme for aRD820 were made and showed that it demonstrates similar characteristics as AD820 data tables. Later production of the aRD820 chip and measurements demonstrated that the planned characteristics of the operational amplifier were met.

The charge asymmetry in the process $e^+e^-\to \pi^+\pi^-\pi^0$ is studied taking into account a longitudinal polarization of electrons (positrons). The asymmetry arises due to interference of amplitudes corresponding to production of pions in C-odd and C-even states. It is a manifestation of $a_1(1260)$ meson in the intermediate state. Polarization leads to additional correlations in the differential cross section, which simplifies the experimental study of the process. It is shown that the charge asymmetry can reach several percent., Comment: 10 pages, 5 figures

Integrating multimodal foundation models has significantly enhanced autonomous agents' language comprehension, perception, and planning capabilities. However, while existing works adopt a \emph{task-centric} approach with minimal human interaction, applying these models to developing assistive \emph{user-centric} robots that can interact and cooperate with humans remains underexplored. This paper introduces ``Bident'', a framework designed to integrate robots seamlessly into shared spaces with humans. Bident enhances the interactive experience by incorporating multimodal inputs like speech and user gaze dynamics. Furthermore, Bident supports verbal utterances and physical actions like gestures, making it versatile for bidirectional human-robot interactions. Potential applications include personalized education, where robots can adapt to individual learning styles and paces, and healthcare, where robots can offer personalized support, companionship, and everyday assistance in the home and workplace environments., Comment: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Workshop: Large Language Models in the RoMan Age

Two-dimensional magnetic materials exhibit strong magneto-optic effects and high tunability by electrostatic gating, making them very attractive for new magneto-photonic devices. Here, we characterize the magneto-optic Kerr effect (MOKE) spectrum of thin Cr$_2$Ge$_2$Te$_6$ from 1.13 to 2.67 eV, and demonstrate electrostatic control over of its magnetic and magneto-optic properties. The MOKE spectrum exhibits a strong feature around 1.43 eV which we attribute to a magnetic exchange-split excitonic state in Cr$_2$Ge$_2$Te$_6$, in agreement with \textit{ab-initio} calculations. The gate dependence of the MOKE signals shows that the magneto-optical efficiency - rather than the saturation magnetization - is affected by electrostatic gating. We demonstrate a modulation of the magneto-optical strength by over 1 mdeg, with some wavelengths showing a modulation of 65% of the total magneto-optical signals, opening the door for efficient electrical control over light polarization through two-dimensional magnets. Our findings bring forward the fundamental understanding of magneto-optic processes in two-dimensional magnets and are highly relevant for the engineering of devices which exploit excitonic resonances for electrically-tunable magneto-photonic devices.

Molecular dynamics triggered by interaction with light often involve the excitation of several electronic, vibrational, and rotational states. Characterizing the resulting coupled electronic and nuclear wave packet motion represents a severe challenge, even for small polyatomic systems. In this Letter, we demonstrate how the interplay between vibrational, rotational, and electronic degrees of freedom governs the evolution of molecular wave packets in the low-lying states of strong-field-ionized sulfur dioxide. Using time-resolved Coulomb explosion imaging (CEI) in combination with quantum mechanical wave packet simulations, we directly map bending vibrations of the molecule, show how the vibrational wave packet is influenced by molecular alignment, and elucidate the role of the coupling between the two lowest electronic states of the cation. A conical intersection between these states couples the bending and asymmetric stretching coordinates, which is clearly reflected in the correlated fragment momenta. Our results suggest that multi-coincident CEI represents an efficient experimental tool for characterizing coupled electronic and nuclear motion in polyatomic molecules.

Coulomb explosion imaging (CEI) with x-ray free electron lasers has recently been shown to be a powerful method for obtaining detailed structural information of gas-phase planar ring molecules [R. Boll et al. Nat. Phys. 18, 423-428 (2022)]. In this Letter, we investigate the potential of CEI driven by a tabletop laser and extend this approach to differentiating three-dimensional (3D) structures. We study the static CEI patterns of planar and nonplanar organic molecules that resemble the structures of typical products formed in ring-opening reactions. Our results reveal that each molecule exhibits a well-localized and distinctive pattern in 3D fragment-ion momentum space. We find that these patterns yield direct information about the molecular structures and can be qualitatively reproduced using a classical Coulomb explosion simulation. Our findings suggest that laser-induced CEI can serve as a robust method for differentiating molecular structures of organic ring and chain molecules. As such, it holds great promise as a method for following ultrafast structural changes, e.g., during ring-opening reactions, by tracking the motion of individual atoms in pump-probe experiments.

We consider the problem of single link failure in an elastic optical network, (also known as flex-grid WDM network). The task is to reroute optical connections that go through the broken link using free capacity of other links of the network. Nowadays, dynamic restoration gains popularity, in which the possiblity of rerouting is only inspected after a link failure is detected. Since the problem of recovery is NP-hard, heuristic algorithms are used to either find such routes, or suggest that the routes do not exist. In order to understand the quality of these heuristics, often mixed integer linear programming is used to obtain exact positive and negative answers. We present a detailed such model that checks whether restoration is possible without the use of additional regenerators. This means, that the new light paths need to satisfy a length constraint. As preprossing we apply a trimming procedure that takes advantage of this length constraint, and significantly speeds up the evaluation of these models. Our model is more general, and besides solving the problem of link restoration, also solves the full problem of wavelength and spectrum assignment., Comment: Accepted for IEEE BlackSeaCom conference, 7 pages

The human gaze is an important cue to signal intention, attention, distraction, and the regions of interest in the immediate surroundings. Gaze tracking can transform how robots perceive, understand, and react to people, enabling new modes of robot control, interaction, and collaboration. In this paper, we use gaze tracking data from a rich dataset of human motion (TH\"OR-MAGNI) to investigate the coordination between gaze direction and head rotation of humans engaged in various indoor activities involving navigation, interaction with objects, and collaboration with a mobile robot. In particular, we study the spread and central bias of fixations in diverse activities and examine the correlation between gaze direction and head rotation. We introduce various human motion metrics to enhance the understanding of gaze behavior in dynamic interactions. Finally, we apply semantic object labeling to decompose the gaze distribution into activity-relevant regions., Comment: This is the final version of the accepted version of the manuscript that will be published in the 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN). Copyright 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses

The presence of spin-polarized charge carriers in metallic magnets provides a mechanism for spin-lattice interactions mediated by electron-phonon coupling. Here, we present a theory of this mechanism used to estimate its effect on the exchange interactions in 2D magnets. Starting from a square lattice model at half filling, we show that the presence of electron-phonon coupling with equilibrium phonon distribution leads to a notable suppression of exchange interactions with temperature. We then apply our approach to the prototypical 2D metallic ferromagnet, Fe$_3$GeTe$_2$, with moderate electron-phonon coupling. We find that the exchange interactions undergo a renormalization, leading to a softening of the magnon modes, and suppression of the Curie temperature by $\sim$10\%. We expect that this effect can be further enhanced in systems with strong electron-phonon coupling, as well as for non-equilibrium distribution of phonons induced by strong laser fields or charge currents., Comment: 6 pages, 3 figures

Molecular photoabsorption results in an electronic excitation/ionization which couples to the rearrangement of the nuclei. The resulting intertwined change of nuclear and electronic degrees of freedom determines the conversion of photoenergy into other molecular energy forms. Nucleobases are excellent candidates for studying such dynamics, and great effort has been taken in the past to observe the electronic changes induced by the initial excitation in a time-resolved manner using ultrafast electron spectroscopy. The linked geometrical changes during nucleobase photorelaxation have so far not been observed directly in time-resolved experiments. Here, we present a study on a thionucleobase, where we extract comprehensive information on the molecular rearrangement using Coulomb explosion imaging. Our measurement links the extracted deplanarization of the molecular geometry to the previously studied temporal evolution of the electronic properties of the system. In particular, the protons of the exploded molecule are well-suited messengers carrying rich information on the molecule's geometry at distinct times after the initial electronic excitation. The combination of ultrashort laser pulses to trigger molecular dynamics, intense X-ray free-electron laser pulses for the explosion of the molecule, and multi-particle coincidence detection opens new avenues for time-resolved studies of complex molecules in the gas phase., Comment: 19 pages, 8 figures

A permanently available molecular-beam injection setup for controlled molecules (COMO) was installed and commissioned at the small quantum systems (SQS) instrument at the European x-ray free-electron laser (EuXFEL). A $b$-type electrostatic deflector allows for pure state-, size-, and isomer-selected samples of polar molecules and clusters. The source provides a rotationally cold ($T\approx1$~K) and dense ($\rho\approx10^8$~cm$^{-3}$) molecular beam with pulse durations up to 100~\us generated by a new version of the Even-Lavie valve. Here, a performance overview of the COMO setup is presented along with characterization experiments performed both, with an optical laser at the Center for Free-Electron-Laser Science and with x-rays at EuXFEL under burst-mode operation. COMO was designed to be attached to different instruments at the EuXFEL, in particular at the small quantum systems (SQS) and single particles, clusters, and biomolecules (SPB) instruments. This advanced controlled-molecules injection setup enables XFEL studies using highly defined samples with soft and hard x-ray FEL radiation for applications ranging from atomic, molecular, and cluster physics to elementary processes in chemistry and biology.

Social robots, owing to their embodied physical presence in human spaces and the ability to directly interact with the users and their environment, have a great potential to support children in various activities in education, healthcare and daily life. Child-Robot Interaction (CRI), as any domain involving children, inevitably faces the major challenge of designing generalized strategies to work with unique, turbulent and very diverse individuals. Addressing this challenging endeavor requires to combine the standpoint of the robot-centered perspective, i.e. what robots technically can and are best positioned to do, with that of the child-centered perspective, i.e. what children may gain from the robot and how the robot should act to best support them in reaching the goals of the interaction. This article aims to help researchers bridge the two perspectives and proposes to address the development of CRI scenarios with insights from child psychology and child development theories. To that end, we review the outcomes of the CRI studies, outline common trends and challenges, and identify two key factors from child psychology that impact child-robot interactions, especially in a long-term perspective: developmental stage and individual characteristics. For both of them we discuss prospective experiment designs which support building naturally engaging and sustainable interactions., Comment: Pre-print submitted to the International Journal of Social Robotics, accepted March 2024

Long-term human motion prediction (LHMP) is essential for safely operating autonomous robots and vehicles in populated environments. It is fundamental for various applications, including motion planning, tracking, human-robot interaction and safety monitoring. However, accurate prediction of human trajectories is challenging due to complex factors, including, for example, social norms and environmental conditions. The influence of such factors can be captured through Maps of Dynamics (MoDs), which encode spatial motion patterns learned from (possibly scattered and partial) past observations of motion in the environment and which can be used for data-efficient, interpretable motion prediction (MoD-LHMP). To address the limitations of prior work, especially regarding accuracy and sensitivity to anomalies in long-term prediction, we propose the Laminar Component Enhanced LHMP approach (LaCE-LHMP). Our approach is inspired by data-driven airflow modelling, which estimates laminar and turbulent flow components and uses predominantly the laminar components to make flow predictions. Based on the hypothesis that human trajectory patterns also manifest laminar flow (that represents predictable motion) and turbulent flow components (that reflect more unpredictable and arbitrary motion), LaCE-LHMP extracts the laminar patterns in human dynamics and uses them for human motion prediction. We demonstrate the superior prediction performance of LaCE-LHMP through benchmark comparisons with state-of-the-art LHMP methods, offering an unconventional perspective and a more intuitive understanding of human movement patterns., Comment: Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA)

We present a new large dataset of indoor human and robot navigation and interaction, called TH\"OR-MAGNI, that is designed to facilitate research on social navigation: e.g., modelling and predicting human motion, analyzing goal-oriented interactions between humans and robots, and investigating visual attention in a social interaction context. TH\"OR-MAGNI was created to fill a gap in available datasets for human motion analysis and HRI. This gap is characterized by a lack of comprehensive inclusion of exogenous factors and essential target agent cues, which hinders the development of robust models capable of capturing the relationship between contextual cues and human behavior in different scenarios. Unlike existing datasets, TH\"OR-MAGNI includes a broader set of contextual features and offers multiple scenario variations to facilitate factor isolation. The dataset includes many social human-human and human-robot interaction scenarios, rich context annotations, and multi-modal data, such as walking trajectories, gaze tracking data, and lidar and camera streams recorded from a mobile robot. We also provide a set of tools for visualization and processing of the recorded data. TH\"OR-MAGNI is, to the best of our knowledge, unique in the amount and diversity of sensor data collected in a contextualized and socially dynamic environment, capturing natural human-robot interactions., Comment: Submitted to The International Journal of Robotics Research (IJRR) on 28 of February 2024

Among a huge variety of known two-dimensional materials, some of them have anisotropic crystal structures; examples include so different systems as a few-layer black phoshphorus (phosphorene), beryllium nitride BeN$_4$, van der Waals magnet CrSBr, rhenium dichalgogenides ReX$_2$. As a consequence, their optical and electronic properties turn out to be highly anisotropic as well. In some cases, the anisotropy results not just in a smooth renormalization of observable properties in comparison with the isotropic case but in the appearance of dramatically new physics. The examples are hyperbolic plasmons and excitons, strongly anisotropic ordering of adatoms at the surface of two-dimensional or van der Waals materials, essential change of transport and superconducting properties. Here, we present a systematic review of electronic structure, transport and optical properties of several representative groups of anisotropic two-dimensional materials including semiconductors, anisotropic Dirac and semi-Dirac materials, as well as superconductors., Comment: Review article, 30 pages, 10 figures. Final version

Pump-probe experiments with sub-femtosecond resolution are the key to understanding electronic dynamics in quantum systems. Here we demonstrate the generation and control of sub-femtosecond pulse pairs from a two-colour X-ray free-electron laser (XFEL). By measuring the delay between the two pulses with an angular streaking diagnostic, we characterise the group velocity of the XFEL and demonstrate control of the pulse delay down to 270 as. We demonstrate the application of this technique to a pump-probe measurement in core-excited para-aminophenol. These results demonstrate the ability to perform pump-probe experiments with sub-femtosecond resolution and atomic site specificity., Comment: 55 pages, main manuscript (5 figures) + supplementary materials (25 figures), 30 figures total. Submitted to Nature Photonics

We describe the results in the trigonometry of tetrahedra obtained by Joseph Wolstenholme in the last few years of his life. 'The late Professor Wolstenholme, M.A., Sc.D., shortly before his death, handed to me a scrap of paper, on which he had hastily scratched the following equation in tetrahedra, saying he had proved it ...' (Richardson, 1897).

Identifying multiple rival reaction products and transient species formed during ultrafast photochemical reactions and determining their time-evolving relative populations are key steps towards understanding and predicting photochemical outcomes. Yet, most contemporary ultrafast studies struggle with clearly identifying and quantifying competing molecular structures/species amongst the emerging reaction products. Here, we show that mega-electronvolt ultrafast electron diffraction in combination with ab initio molecular dynamics calculations offer a powerful route to determining time-resolved populations of the various isomeric products formed after UV (266 nm) excitation of the five-membered heterocyclic molecule 2(5H)-thiophenone. This strategy provides experimental validation of the predicted high (~50%) yield of an episulfide isomer containing a strained 3-membered ring within ~1 ps of photoexcitation and highlights the rapidity of interconversion between the rival highly vibrationally excited photoproducts in their ground electronic state.

Following the changes in molecular structure throughout the entirety of a chemical reaction with atomic resolution is a long-term goal in femtochemistry. Although the development of a plethora of ultrafast technique has enabled detailed investigations of the electronic and nuclear dynamics on femtosecond time scales, direct and unambiguous imaging of the nuclear motion during a reaction is still a major challenge. Here, we apply time-resolved Coulomb explosion imaging with femtosecond near-infrared pulses to visualize the ultraviolet-induced ultrafast molecular dynamics of gas-phase furan. Widely contradicting predictions and observations for this molecule have been reported in the literature. By combining the experimental Coulomb explosion imaging data with ab initio molecular dynamics and Coulomb explosion simulations, we reveal the presence of a strong ultrafast ring-opening pathway upon excitation at 198 nm that occurs within 100 fs., Comment: 18 pages, 4 figures

Topological semimetals with massless Dirac and Weyl fermions represent the forefront of quantum materials research. In two dimensions, a peculiar class of fermions that are massless in one direction and massive in the perpendicular direction was predicted fifteen years ago. These highly exotic quasiparticles - the semi-Dirac fermions - ignited intense theoretical interest but remain undetected. Using magneto-optical spectroscopy, we demonstrate the defining feature of semi-Dirac fermions - B^(2/3) scaling of Landau levels - in a prototypical nodal-line metal ZrSiS. In topological metals, including ZrSiS, nodal-lines extend the band degeneracies from isolated points to lines, loops or even chains in the momentum space. With ab initio calculations and theoretical modeling, we pinpoint the observed semi-Dirac spectrum to the crossing points of nodal-lines in ZrSiS. Crossing nodal-lines exhibit a continuum absorption spectrum but with singularities that scale as B^(2/3) at the crossing. Our work sheds light on the hidden quasiparticles emerging from the intricate topology of crossing nodal-lines.

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can, e.g., assess collision risks and plan ahead. In this paper, we propose to exploit maps of dynamics (MoDs, a class of general representations of place-dependent spatial motion patterns, learned from prior observations) for long-term human motion prediction (LHMP). We present a new MoD-informed human motion prediction approach, named CLiFF-LHMP, which is data efficient, explainable, and insensitive to errors from an upstream tracking system. Our approach uses CLiFF-map, a specific MoD trained with human motion data recorded in the same environment. We bias a constant velocity prediction with samples from the CLiFF-map to generate multi-modal trajectory predictions. In two public datasets we show that this algorithm outperforms the state of the art for predictions over very extended periods of time, achieving 45% more accurate prediction performance at 50s compared to the baseline., Comment: Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

C$_3$N$_4$ is a recently discovered phase of carbon nitrides with the tetragonal crystal structure [D.Laniel $\textit{et al.}$, Adv. Mater. 2023, 2308030] that is stable at ambient conditions. C$_3$N$_4$ is a semiconductor exhibiting flat-band anomalies in the valence band, suggesting the emergence of many-body instabilities upon hole doping. Here, using state-of-the-art first-principles calculations we show that hole-doped C$_3$N$_4$ reveals strong electron-phonon coupling, leading to the formation of a gapped superconducting state. The phase transition temperatures turn out to be strongly dependent on the hole concentration. We propose that holes could be injected into C$_3$N$_4$ via boron doping which induces, according to our results, a rigid shift of the Fermi energy without significant modification of the electronic structure. Based on the electron-phonon coupling and Coulomb pseudopotential calculated from first principles, we conclude that the boron concentration of 6 atoms per nm$^3$ would be required to reach the critical temperature of $\sim$36 K at ambient pressure., Comment: Calculation of the Coulomb pseudopotential revised, which lowered the predicted Tc. Final version: 10 pages incl. Supplemental Material, 10 figures, and 2 tables

The conversion of protons to positrons at the horizon of a black hole (BH) is considered. It is shown that the process may efficiently proceed for BHs with masses in the range $\sim 10^{18}$ -- $10^{21}$ g. It is argued that the electric charge of BH acquired by the proton accretion to BH could create electric field near BH horizon close to the critical Schwinger one. It leads to efficient electron-positron pair production, when electrons are back captured by the BH while positrons are emitted into outer space. Annihilation of these positrons with electrons in the interstellar medium may at least partially explain the origin of the observed 511 keV line., Comment: 15 pages, 3 figures

The Einstein Equivalence Principle (EEP) is a cornerstone of general relativity and predicts the existence of gravitational redshift. We report on new results of measuring this shift with RadioAstron (RA), a space VLBI spacecraft launched into an evolving high eccentricity orbit around Earth with geocentric distances reaching 353,000 km. The spacecraft and ground tracking stations at Pushchino, Russia, and Green Bank, USA, were each equipped with a hydrogen maser frequency standard allowing a possible violation of the predicted gravitational redshift, in the form of a violation parameter $\varepsilon$, to be measured. By alternating between RadioAstron's frequency referencing modes during dedicated sessions between 2015 and 2017, the recorded downlink frequencies can essentially be corrected for the non-relativistic Doppler shift. We report on an analysis using the Doppler-tracking frequency measurements made during these sessions and find $\varepsilon = (2.1 \pm 3.3)\times10^{-4}$. We also discuss prospects for measuring $\varepsilon$ with a significantly smaller uncertainty using instead the time-domain recordings of the spacecraft signals and envision how $10^{-7}$ might be possible for a future space VLBI mission., Comment: Nelson V Nunes et al 2023 Class. Quantum Grav. in press https://doi.org/10.1088/1361-6382/ace609

Ultrathin CrSBr flakes are exfoliated \emph{in situ} on Au(111) and Ag(111) and their electronic structure is studied by angle-resolved photoemission spectroscopy. The thin flakes' electronic properties are drastically different from those of the bulk material and also substrate-dependent. For both substrates, a strong charge transfer to the flakes is observed, partly populating the conduction band and giving rise to a highly anisotropic Fermi contour with an Ohmic contact to the substrate. The fundamental CrSBr band gap is strongly renormalized compared to the bulk. The charge transfer to the CrSBr flake is substantially larger for Ag(111) than for Au(111), but a rigid energy shift of the chemical potential is insufficient to describe the observed band structure modifications. In particular, the Fermi contour shows a Lifshitz transition, the fundamental band gap undergoes a transition from direct on Au(111) to indirect on Ag(111) and a doping-induced symmetry breaking between the intra-layer Cr magnetic moments further modifies the band structure. Electronic structure calculations can account for non-rigid Lifshitz-type band structure changes in thin CrSBr as a function of doping and strain. In contrast to undoped bulk band structure calculations that require self-consistent $GW$ theory, the doped thin film properties are well-approximated by density functional theory if local Coulomb interactions are taken into account on the mean-field level and the charge transfer is considered.

Robots are increasingly used in shared environments with humans, making effective communication a necessity for successful human-robot interaction. In our work, we study a crucial component: active communication of robot intent. Here, we present an anthropomorphic solution where a humanoid robot communicates the intent of its host robot acting as an "Anthropomorphic Robotic Mock Driver" (ARMoD). We evaluate this approach in two experiments in which participants work alongside a mobile robot on various tasks, while the ARMoD communicates a need for human attention, when required, or gives instructions to collaborate on a joint task. The experiments feature two interaction styles of the ARMoD: a verbal-only mode using only speech and a multimodal mode, additionally including robotic gaze and pointing gestures to support communication and register intent in space. Our results show that the multimodal interaction style, including head movements and eye gaze as well as pointing gestures, leads to more natural fixation behavior. Participants naturally identified and fixated longer on the areas relevant for intent communication, and reacted faster to instructions in collaborative tasks. Our research further indicates that the ARMoD intent communication improves engagement and social interaction with mobile robots in workplace settings., Comment: This paper has been accepted to the 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), which will be held in Busan, South Korea on August 28-31, 2023. For more information, please visit: https://ro-man2023.org/main

We formulate a multi-physics model to describe the nonlinear propagation of a femtosecond, near-infrared, tightly focused laser pulse in a transparent dielectric. The application of our model to the case of bulk sapphire shows that even under extreme excitation conditions, ionization is universally clamped at about one tenth of the electron density in the upper valence band. The earlier estimate of ~10 TPa pressure that could be attainable through the internal excitation of transparent dielectrics by tightly focused ultrafast laser beams is shown to be off by two orders of magnitude.

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to represent motion dynamics in complex semantically-rich spaces. This requirement may complicate deployment of physical systems in new environments, especially when the data is being collected online from onboard sensors. In this paper we explore a data-efficient alternative using maps of dynamics (MoD) to represent place-dependent multi-modal spatial motion patterns, learned from prior observations. Our approach can perform efficient human motion prediction in the long-term perspective of up to 60 seconds. We quantitatively evaluate its accuracy with limited amount of training data in comparison to an LSTM-based baseline, and qualitatively show that the predicted trajectories reflect the natural semantic properties of the environment, e.g. the locations of short- and long-term goals, navigation in narrow passages, around obstacles, etc., Comment: in 5th LHMP Workshop held in conjunction with 40th IEEE International Conference on Robotics and Automation (ICRA), 29/05 - 02/06 2023, London

Fe$_3$GeTe$_2$ attracts significant attention due to technological perspectives of realizing room temperature ferromagnetism in two-dimensional materials. Here we show that due to structural peculiarities of the Fe$_3$GeTe$_2$ monolayer, short distance between the neighboring iron atoms induces a strong exchange coupling. This strong coupling allows us to consider them as an effective cluster with a magnetic moment $\sim$5 $\mu_B$, giving rise to a simplified spin model on a bipartite honeycomb lattice with the reduced number of long-range interactions. The simplified model perfectly reproduces the results of the conventional spin model, but allows for a more tractable description of the magnetic properties of Fe$_3$GeTe$_2$, which is important, e.g., for large-scale simulations. Also, we discuss the role of biaxial strain in the stabilization of ferromagnetic ordering in Fe$_3$GeTe$_2$., Comment: 7 pages, 7 figures

We explore the electronic structure of paramagnetic CrSBr by comparative first principles calculations and angle-resolved photoemission spectroscopy. We theoretically approximate the paramagnetic phase using a supercell hosting spin configurations with broken long-range order and applying quasiparticle self-consistent $GW$ theory, without and with the inclusion of excitonic vertex corrections to the screened Coulomb interaction (QS$GW$ and QS$G\hat{W}$, respectively). Comparing the quasi-particle band structure calculations to angle-resolved photoemission data collected at 200 K results in excellent agreement. This allows us to qualitatively explain the significant broadening of some bands as arising from the broken magnetic long-range order and/or electronic dispersion perpendicular to the quasi two-dimensional layers of the crystal structure. The experimental band gap at 200 K is found to be at least 1.51 eV at 200 K. At lower temperature, no photoemission data can be collected as a result of charging effects, pointing towards a significantly larger gap, which is consistent with the calculated band gap of $\approx$ 2.1 eV., Comment: 11 pages, 12 figures

Monolayer CrSBr is a recently discovered semiconducting spin-3/2 ferromagnet with a Curie temperature around 146 K. Unlike many other known two-dimensional (2D) magnets, CrSBr has an orthorhombic lattice, giving rise, for instance, to spatial anisotropy of the magnetic excitations within the 2D plane. Theoretical description of CrSBr within a spin Hamiltonian approach turns out to be nontrivial due to the triaxial magnetic anisotropy as well as due to magnetic dipolar interactions, comparable to spin-orbit effects in CrSBr. Here, we employ a Green's function formalism combined with first-principles calculations to systematically study the magnetic properties of monolayer CrSBr in different regimes of surrounding dielectric screening. We find that the magnetic anisotropy and thermodynamical properties of CrSBr depend significantly on the Coulomb interaction and its external screening. In the free-standing limit, the system turns out to be close to an easy-plane magnet, whose long-range ordering is partially suppressed. On the contrary, in the regime of large external screening, monolayer CrSBr behaves like an easy-axis ferromagnet with more stable magnetic ordering. Despite being relatively large, the magnetic dipolar interactions have only little effect on the magnetic properties. Our findings suggests that 2D CrSBr is suitable platform for studying the effects of substrate screening on magnetic ordering in low dimensions., Comment: 11 pages, 8 figures

We study intrinsic charge-carrier scattering mechanisms and determine their contribution to the transport properties of the two-dimensional ferromagnet Fe$_3$GeTe$_2$. We use state-of-the-art first-principles calculations combined with the model approaches to elucidate the role of the electron-phonon and electron-magnon interactions in the electronic transport. Our findings show that the charge carrier scattering in Fe$_3$GeTe$_2$ is dominated by the electron-phonon interaction, while the role of magnetic excitations is marginal. At the same time, the magnetic ordering is shown to effect essentially on the electron-phonon coupling and its temperature dependence. This leads to a sublinear temperature dependence of the electrical resistivity near the Curie temperature, which is in line with experimental observations. The room temperature resistivity is estimated to be $\sim$35 $\mu \Omega \cdot$cm which may be considered as an intrinsic limit for monolayer Fe$_3$GeTe$_2$., Comment: 10 pages, 8 figures

The problem of the event horizon in relativistic gravity is discussed. Singular solutions in general relativity are well known. The Schwarschild metric of a spherical mass is singular at zero ($r = 0$) and at the event horizon ($r = r_g$). Both features reflect the existence of the phenomenon of collapse in general relativity for compact masses exceeding $3M_{\odot }$. A material particle crossing the event horizon falls into a central singularity according to the classical theory of general relativity. In the quantum theory of gravity, there may be no central singularity. The physics of the event horizon is currently being refined. A promising technique is the study of gravitational waves (GW) accompanying the merger of binary black holes at the ringdown stage. GW observations of quasi-normal modes of the newly formed super dense remnant will help clarify the physics of the event horizon., Comment: This is lecture notes for summer school III Summer International Youth School "Gravity, Cosmology and Astrophysics" at Bauman Moscow State Technical University (2022)

We prove the surjectivity part of Goncharov's depth conjecture. We also show that the depth conjecture implies that multiple polylogarithms of depth $d$ and weight $n$ can be expressed via a single function $\mathrm{Li}_{n-d+1,1,\dots,1}(a_1,a_2,\dots,a_d)$, and we prove this latter statement for $d=2$., Comment: 4 pages, added Corollary 6, title modified to emphasise result on Depth Conjecture

The problem of joint data processing from ground-based gravitational and neutrino detectors is considered in order to increase the detection efficiency of collapsing objects in the Galaxy. The development of the "neutrino - gravitational correlation" algorithm is carried out within the framework of the theory of optimal filtration as applied to the well-known OGRAN and BUST facilities located at the BNO INR RAS. The experience of analyzing neutrino and gravitational data obtained during the outburst of supernova SN1987A is used. Sequential steps of the algorithm are presented, formulas for estimating the statistical efficiency of a two-channel recorder are obtained.

Rapid development of social robots stimulates active research in human motion modeling, interpretation and prediction, proactive collision avoidance, human-robot interaction and co-habitation in shared spaces. Modern approaches to this end require high quality datasets for training and evaluation. However, the majority of available datasets suffers from either inaccurate tracking data or unnatural, scripted behavior of the tracked people. This paper attempts to fill this gap by providing high quality tracking information from motion capture, eye-gaze trackers and on-board robot sensors in a semantically-rich environment. To induce natural behavior of the recorded participants, we utilise loosely scripted task assignment, which induces the participants navigate through the dynamic laboratory environment in a natural and purposeful way. The motion dataset, presented in this paper, sets a high quality standard, as the realistic and accurate data is enhanced with semantic information, enabling development of new algorithms which rely not only on the tracking information but also on contextual cues of the moving agents, static and dynamic environment., Comment: in SIRRW Workshop held in conjunction with 31st IEEE International Conference on Robot & Human Interactive Communication, 29/08 - 02/09 2022, Naples (Italy)

Robots are increasingly deployed in spaces shared with humans, including home settings and industrial environments. In these environments, the interaction between humans and robots (HRI) is crucial for safety, legibility, and efficiency. A key factor in HRI is trust, which modulates the acceptance of the system. Anthropomorphism has been shown to modulate trust development in a robot, but robots in industrial environments are not usually anthropomorphic. We designed a simple interaction in an industrial environment in which an anthropomorphic mock driver (ARMoD) robot simulates to drive an autonomous guided vehicle (AGV). The task consisted of a human crossing paths with the AGV, with or without the ARMoD mounted on the top, in a narrow corridor. The human and the system needed to negotiate trajectories when crossing paths, meaning that the human had to attend to the trajectory of the robot to avoid a collision with it. There was a significant increment in the reported trust scores in the condition where the ARMoD was present, showing that the presence of an anthropomorphic robot is enough to modulate the trust, even in limited interactions as the one we present here., Comment: in SCRITA Workshop Proceedings (arXiv:2208.11090) held in conjunction with 31st IEEE International Conference on Robot & Human Interactive Communication, 29/08 - 02/09 2022, Naples (Italy)

We suggest a definition of cluster polylogarithms on an arbitrary cluster variety and classify them in type $A$. We find functional equations for multiple polylogarithms which generalize equations discovered by Abel, Kummer, and Goncharov to an arbitrary weight. As an application, we prove a part of the Goncharov depth conjecture in weight six.

Human motion trajectory prediction, an essential task for autonomous systems in many domains, has been on the rise in recent years. With a multitude of new methods proposed by different communities, the lack of standardized benchmarks and objective comparisons is increasingly becoming a major limitation to assess progress and guide further research. Existing benchmarks are limited in their scope and flexibility to conduct relevant experiments and to account for contextual cues of agents and environments. In this paper we present Atlas, a benchmark to systematically evaluate human motion trajectory prediction algorithms in a unified framework. Atlas offers data preprocessing functions, hyperparameter optimization, comes with popular datasets and has the flexibility to setup and conduct underexplored yet relevant experiments to analyze a method's accuracy and robustness. In an example application of Atlas, we compare five popular model- and learning-based predictors and find that, when properly applied, early physics-based approaches are still remarkably competitive. Such results confirm the necessity of benchmarks like Atlas., Comment: Accepted to and will be presented at the IEEE RO-MAN 2022 conference

The problem of constrained Markov decision process is considered. An agent aims to maximize the expected accumulated discounted reward subject to multiple constraints on its costs (the number of constraints is relatively small). A new dual approach is proposed with the integration of two ingredients: entropy regularized policy optimizer and Vaidya's dual optimizer, both of which are critical to achieve faster convergence. The finite-time error bound of the proposed approach is provided. Despite the challenge of the nonconcave objective subject to nonconcave constraints, the proposed approach is shown to converge (with linear rate) to the global optimum. The complexity expressed in terms of the optimality gap and the constraint violation significantly improves upon the existing primal-dual approaches., Comment: 27 pages, 2 figures, 3 tables. Improved presentation of the material, added a table with results, stated contributions more clearly, changed article template

Bistable valency in individual atoms presents a new approach toward single-atom memory, as well as a building block to create tunable and stochastic multi-well energy landscapes. Yet, this concept of orbital memory has thus far only been observed for cobalt atoms on the surface of black phosphorus, which are switched using tip-induced ionization. Here, we show that individual iron atoms on the surface of black phosphorus exhibit orbital memory using a combination of scanning tunneling microscopy and spectroscopy with ab initio calculations based on density functional theory. Unlike cobalt, the iron orbital memory can be switched in its non-ionized ground state. Based on calculations, we confirm that each iron valency has a distinct magnetic moment that is characterized by a distinguishable charge distribution due to the different orbital population. By studying the stochastic switching of the valency with varying tunneling conditions, we propose that the switching mechanism is based on a two-electron tunneling process.

Crystalline black nitrogen (BN) is an allotrope of nitrogen with the black phosphorus (BP) structure recently synthesized at high pressure by two independent research groups [Ji et al., Sci. Adv. 6, eaba9206 (2020); Laniel et al., Phys. Rev. Lett. 124, 216001 (2020)]. Here, we present a systematic study of the electronic and optical properties of BN focusing on its comparison with BP. To this end, we use the state-of-the-art quasiparticle self-consistent $GW$ approach with vertex corrections in both the electronic and optical channels. Despite many similarities, the properties of BN are found to be considerably different. Unlike BP, BN exhibits a larger optical gap (2.5 vs 0.26 eV), making BN transparent in the visible spectral region with a highly anisotropic optical response. This difference can be primarily attributed to a considerably reduced dielectric screening in BN, leading to enhancement of the effective Coulomb interaction. Despite relatively strong Coulomb interaction, exciton formation is largely suppressed in both materials. Our analysis of the elastic properties shows exceptionally high stiffness of BN, comparable to that of diamond., Comment: Final version; 10 pages, 9 figures, 6 tables

The particle production through the scalaron decays are considered for several different channels. The central part of the work is dedicated to a study of the decay probability into two complex minimally coupled massless scalars. The calculations are performed by two different independent methods. In addition we calculated the decay probability into real minimally coupled massless scalars, conformally coupled massive scalars, massive fermions, and gauge bosons. The results are compared with the published papers which in some cases disagree with each other., Comment: 19 pages; final version published in Phys. Atom. Nucl

We consider an information dissemination problem where the root of an undirected graph constantly updates its information. The goal is to keep every other node in the graph about the root as freshly informed as possible. Our synchronous information spreading model uses telephone calls at each time step, in which any node can call at most one neighbor, thus forming a matching over which information is transmitted at each step. We introduce two problems in minimizing two natural objectives (Maximum and Average) of the latency of the root's information at all nodes in the network. After deriving a simple reduction from the maximum rooted latency problem to the well-studied minimum broadcast time problem, we focus on the average rooted latency version. We introduce a natural problem of finding a finite schedule that minimizes the average broadcast time from a root. We show that any average rooted latency induces a solution to this average broadcast problem within a constant factor and conversely, this average broadcast time is within a logarithmic factor of the average rooted latency. Then, by approximating the average broadcast time problem via rounding a time-indexed linear programming relaxation, we obtain a logarithmic approximation to the average latency problem. Surprisingly, we show that using the average broadcast time for average rooted latency introduces this necessary logarithmic factor overhead even in trees. We overcome this hurdle and give a 40-approximation for trees. For this, we design an algorithm to find near-optimal locally-periodic schedules in trees where each vertex receives information from its parent in regular intervals. On the other side, we show how such well-behaved schedules approximate the optimal schedule within a constant factor.

An upgraded version of the OGRAN -- combined optical-acoustic gravitational wave detector -- has been investigated in a long-term operation mode. This installation, located at the Baksan Neutrino Observatory (BNO) INR RAS, is designed to work under the program for detecting collapsing stars in parallel with the neutrino detector: Baksan Underground Scintillation Telescope (BUST). Such joint search corresponds to the modern trend for a development of "multi-messenger astronomy". In this work the effects of thermal relaxation OGRAN are experimentally investigated using passive and active thermal stabilization systems in the underground laboratory BNO PK-14.

Excitons with large binding energies $\sim$2-3 eV in CrX$_{3}$ are historically characterized as being localized (Frenkel) excitons that emerge from the atomic $d{-}d$ transitions between the Cr-3$d$-$t_{2g}$ and $e_{g}$ orbitals. The argument has gathered strength in recent years as the excitons in recently made monolayers are found at almost the same energies as the bulk. The Laporte rule, which restricts such parity forbidden atomic transitions, can relax if, at least, one element is present: spin-orbit coupling, odd-parity phonons or Jahn-Teller distortion. While what can be classified as a purely Frenkel exciton is a matter of definition, we show using an advanced first principles parameter-free approach that these excitons in CrX$_{3}$, in both its bulk and monolayer variants, have band-origin and do not require the relaxation of Laporte rule as a fundamental principle. We show that, the character of these excitons is mostly determined by the Cr-$d$ orbital manifold, nevertheless, they appear only as a consequence of X-p states hybridizing with the Cr-$d$. The hybridization enhances as the halogen atom becomes heavier, bringing the X-$p$ states closer to the Cr-$d$ states in the sequence Cl{\textrightarrow}Br{\textrightarrow}I, with an attendant increase in exciton intensity and decrease in binding energy. By applying a range of different kinds of perturbations, we show that, moderate changes to the two-particle Hamiltonian that essentially modifies the Cr-$d$-X-$p$ hybridization, can alter both the intensities and positions of the exciton peaks. A detailed analysis of several deep lying excitons, with and without strain, reveals that the exciton is most Frenkel like in CrCl$_{3}$ and acquires mixed Frenkel-Wannier character in CrI$_{3}$., Comment: 17 pages, 12 figures

We present an improved model for the antenna phase center motion effect for high-gain mechanically steerable ground-based and spacecraft-mounted antennas that takes into account non-perfect antenna pointing. Using tracking data of the RadioAstron spacecraft we show that our model can result in a correction of the computed value of the effect of up to $2\times10^{-14}$ in terms of the fractional frequency shift, which is significant for high-accuracy spacecraft tracking experiments. The total fractional frequency shift due to the phase center motion effect can exceed $1\times10^{-11}$ both for the ground and space antennas depending on the spacecraft orbit and antenna parameters. We also analyze the error in the computed value of the effect and find that it can be as large as $4\times10^{-14}$ due to uncertainties in the spacecraft antenna axis position, ground antenna axis offset and misalignment, and others. Finally, we present a way to reduce both the ground and space antenna phase center motion effects by several orders of magnitude, e.g. for RadioAstron to below $1\times10^{-16}$, by tracking the spacecraft simultaneously in the one-way downlink and two-way phase-locked loop modes, i.e. using the Gravity Probe A configuration of the communications links., Comment: 19 pages, 15 figures, to appear in Advances in Space Research

The free expansion of a planar plasma surface is a fundamental non-equilibrium process relevant for various fields but as-yet experimentally still difficult to capture. The significance of the associated spatiotemporal plasma motion ranges from astrophysics and controlled fusion to laser machining, surface high-harmonic generation, plasma mirrors, and laser-particle acceleration. Here, we show that x-ray coherent diffractive imaging can surpass existing approaches and enables the quantitative real-time analysis of the sudden free expansion of nanoplasmas. For laser-ionized SiO$_2$ nanospheres, we resolve the formation of the emerging nearly self-similar plasma profile evolution and expose the so far inaccessible shell-wise expansion dynamics including the associated startup delay and rarefaction front velocity. Our results establish time-resolved diffractive imaging as an accurate quantitative diagnostic platform for tracing and characterizing plasma expansion and indicate the possibility to resolve various laser-driven processes including shock formation and wave-breaking phenomena with unprecedented resolution.