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Local ionospheric density anomalies have been reported in the days prior to major earthquakes. This global study statistically investigates whether consistent ionospheric anomalies occur in the 24 hours prior to earthquakes across different regions, magnitudes, temporal and spatial scales. We match earthquake data to Total Electron Content (TEC) data from 2000-2020 at a higher resolution and cadence than previous assessed. Globally, no significant, consistent anomaly is found. Regionally, statistically significant ionospheric anomalies arise in the 12 hours prior to earthquakes with $p \leq 0.01$ following Wilcoxon tests. For the Japanese region we find a median negative ionospheric anomaly of around 0.5 TECU between 3 and 8 hours before earthquakes. For the South American region, the median TEC is enhanced by up to ~ 2 TECU, between 7 and 10 hours before an event. We show that the results are robust to different definitions of the ''local'' region and earthquake magnitude. This demonstrates the promise of monitoring the ionosphere as part of a multimodal earthquake forecasting system., Comment: 12 pages, 4 figures. Presented at AGU fall meeting 2022 (https://agu.confex.com/agu/fm22/meetingapp.cgi/Paper/1142329)

Magnetic reconnection is a sporadic process responsible for energy release in space and laboratory plasmas. It is believed that the tearing mode instability may be responsible for the onset of reconnection in the magnetotail. However, due to its elusive nature, there is an absence of in-situ observations of the tearing instability prior to magnetic reconnection in our nearest natural plasma laboratory. Using neural network outlier detection methods in conjunction with Cluster spacecraft data, we find unique electron pitch angle distributions that are consistent with simulation predictions of the tearing instability and the subsequent evolution of plasma electrons and reconnection. We confirm that the events identified via our neural network outlier method are well above the tearing stability threshold based on the criterion detailed in this paper. We find signatures of magnetic reconnection minutes after the majority of tearing observations. Our analysis of the tearing instability provides new insights into the fundamental understanding of the mechanism responsible for reconnection, a process that is ubiquitous in different astrophysical plasma regimes across the universe and in laboratory experiments on Earth.

Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication between the robots and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station, alongside breadcrumbing of wireless nodes by our legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits, along with the current limitations and the lessons learned for the benefit of the community., Comment: 50 pages, 25 figures. Accepted at Field Robotics, 2021

The products of magnetic reconnection in Saturn's magnetotail are identified in magnetometer observations primarily through characteristic deviations in the north-south component of the magnetic field. These magnetic deflections are caused by travelling plasma structures created during reconnection rapidly passing over the observing spacecraft. Identification of these signatures have long been performed by eye, and more recently through semi-automated methods, however these methods are often limited through a required human verification step. Here, we present a fully automated, supervised learning, feed forward neural network model to identify evidence of reconnection in the Kronian magnetosphere with the three magnetic field components observed by the Cassini spacecraft in Kronocentric radial-theta-phi (KRTP) coordinates as input. This model is constructed from a catalogue of reconnection events which covers three years of observations with a total of 2093 classified events, categorized into plasmoids, travelling compression regions and dipolarizations. This neural network model is capable of rapidly identifying reconnection events in large time-span Cassini datasets, tested against the full year 2010 with a high level of accuracy (87%), true skill score (0.76), and Heidke skill score (0.73). From this model, a full cataloguing and examination of magnetic reconnection events in the Kronian magnetosphere across Cassini's near Saturn lifetime is now possible., Comment: 21 pages, 9 figures

Collisionless space plasma environments are typically characterised by distinct particle populations. Although moments of their velocity distribution functions help in distinguishing different plasma regimes, the distribution functions themselves provide more comprehensive information about the plasma state, especially at times when the distribution function includes non-thermal effects. Unlike moments, however, distribution functions are not easily characterised by a small number of parameters, making their classification more difficult to achieve. In order to perform this classification, we propose to distinguish between the different plasma regions by applying dimensionality reduction and clustering methods to electron distributions in pitch angle and energy space. We utilise four separate algorithms to achieve our plasma classifications: autoencoders, principal component analysis, mean shift, and agglomerative clustering. We test our classification algorithms by applying our scheme to data from the Cluster-PEACE instrument measured in the Earth's magnetotail. Traditionally, it is thought that the Earth's magnetotail is split into three different regions (the plasma sheet, the plasma sheet boundary layer, and the lobes), that are primarily defined by their plasma characteristics. Starting with the ECLAT database with associated classifications based on the plasma parameters, we identify 8 distinct groups of distributions, that are dependent upon significantly more complex plasma and field dynamics. By comparing the average distributions as well as the plasma and magnetic field parameters for each region, we relate several of the groups to different plasma sheet populations, and the rest we attribute to the plasma sheet boundary layer and the lobes. We find clear distinctions between each of our classified regions and the ECLAT results., Comment: Published in Frontiers in Astronomy and Space Sciences, 20 pages, 7 figures