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Scalar variables, e.g., the orientation of a shape in an image, are commonly predicted using a single output neuron in a neural network. In contrast, the mammalian cortex represents variables with a population of neurons. In this population code, each neuron is most active at its preferred value and shows partial activity for other values. Here, we investigate the benefit of using a population code for the output layer of a neural network. We compare population codes against single-neuron outputs and one-hot vectors. First, we show theoretically and in experiments with synthetic data that population codes improve robustness to input noise in networks of stacked linear layers. Second, we demonstrate the benefit of population codes to encode ambiguous outputs, as found for symmetric objects. Using the T-LESS dataset of feature-less real-world objects, we show that population codes improve the accuracy of predicting object orientation from RGB-image input.

The European Union's Artificial Intelligence Act (AI Act) introduces comprehensive guidelines for the development and oversight of Artificial Intelligence (AI) and Machine Learning (ML) systems, with significant implications for Graph Neural Networks (GNNs). This paper addresses the unique challenges posed by the AI Act for GNNs, which operate on complex graph-structured data. The legislation's requirements for data management, data governance, robustness, human oversight, and privacy necessitate tailored strategies for GNNs. Our study explores the impact of these requirements on GNN training and proposes methods to ensure compliance. We provide an in-depth analysis of bias, robustness, explainability, and privacy in the context of GNNs, highlighting the need for fair sampling strategies and effective interpretability techniques. Our contributions fill the research gap by offering specific guidance for GNNs under the new legislative framework and identifying open questions and future research directions.

Recent advancements in Large Language Models (LLMs) like ChatGPT and GPT-4 have shown remarkable abilities in a wide range of tasks such as summarizing texts and assisting in coding. Scientific research has demonstrated that these models can also play text-adventure games. This study aims to explore whether LLMs can autonomously create text-based games based on anthropological classics, evaluating also their effectiveness in communicating knowledge. To achieve this, the study engaged anthropologists in discussions to gather their expectations and design inputs for an anthropologically themed game. Through iterative processes following the established HCI principle of 'design thinking', the prompts and the conceptual framework for crafting these games were refined. Leveraging GPT3.5, the study created three prototypes of games centered around the seminal anthropological work of the social anthropologist's Bronislaw Malinowski's "Argonauts of the Western Pacific" (1922). Subsequently, evaluations were conducted by inviting senior anthropologists to playtest these games, and based on their inputs, the game designs were refined. The tests revealed promising outcomes but also highlighted key challenges: the models encountered difficulties in providing in-depth thematic understandings, showed suspectibility to misinformation, tended towards monotonic responses after an extended period of play, and struggled to offer detailed biographical information. Despite these limitations, the study's findings open up new research avenues at the crossroads of artificial intelligence, machine learning, LLMs, ethnography, anthropology and human-computer interaction., Comment: Accepted at KUI 2024

Automated fetal brain extraction from full-uterus MRI is a challenging task due to variable head sizes, orientations, complex anatomy, and prevalent artifacts. While deep-learning (DL) models trained on synthetic images have been successful in adult brain extraction, adapting these networks for fetal MRI is difficult due to the sparsity of labeled data, leading to increased false-positive predictions. To address this challenge, we propose a test-time strategy that reduces false positives in networks trained on sparse, synthetic labels. The approach uses a breadth-fine search (BFS) to identify a subvolume likely to contain the fetal brain, followed by a deep-focused sliding window (DFS) search to refine the extraction, pooling predictions to minimize false positives. We train models at different window sizes using synthetic images derived from a small number of fetal brain label maps, augmented with random geometric shapes. Each model is trained on diverse head positions and scales, including cases with partial or no brain tissue. Our framework matches state-of-the-art brain extraction methods on clinical HASTE scans of third-trimester fetuses and exceeds them by up to 5\% in terms of Dice in the second trimester as well as EPI scans across both trimesters. Our results demonstrate the utility of a sliding-window approach and combining predictions from several models trained on synthetic images, for improving brain-extraction accuracy by progressively refining regions of interest and minimizing the risk of missing brain mask slices or misidentifying other tissues as brain.

In recent astronomical discussions, attempts have been made to link the known dwarf nova Z Cam to historical celestial events, particularly the "guest star" phenomenon reported in China in 77 BCE. Despite other suggestions and the problems with regard to the location of the event in 77 BCE, its identification with Z Cam is used in the Variable Star IndeX (VSX) of the AAVSO and in several research papers that aim to derive knowledge on the evolution of cataclysmic variables. Through the reconstruction of the super-constellation of the Purple Palace in the Han Dynasty, we found that Z Cam is actually located outside this enclosure, contradicting the records of the 77 BCE guest star being "within the Purple Palace". With newly found text versions of the guest star in 77 BCE, we narrowed down the position given therein. Combined with a new analysis of accompanying divination text leads to the conclusion that this guest star was actually a comet. Finally, through meticulous examination and comparison, we conclude that the guest star of 369 CE appears the most plausible candidate for Z Cam's historical counterpart, aligning with both textual evidence and modern astronomical observations., Comment: 19 pages, 6 colour figures

Imaging atmospheric Cherenkov telescopes (IACTs) are used to observe very high-energy photons from the ground. Gamma rays are indirectly detected through the Cherenkov light emitted by the air showers they induce. The new generation of experiments, in particular the Cherenkov Telescope Array Observatory (CTAO), sets ambitious goals for discoveries of new gamma-ray sources and precise measurements of the already discovered ones. To achieve these goals, both hardware and data analysis must employ cutting-edge techniques. This also applies to the LST-1, the first IACT built for the CTAO, which is currently taking data on the Canary island of La Palma. This paper introduces a new event reconstruction technique for IACT data, aiming to improve the image reconstruction quality and the discrimination between the signal and the background from misidentified hadrons and electrons. The technique models the development of the extensive air shower signal, recorded as a waveform per pixel, seen by CTAO telescopes' cameras. Model parameters are subsequently passed to random forest regressors and classifiers to extract information on the primary particle. The new reconstruction was applied to simulated data and to data from observations of the Crab Nebula performed by the LST-1. The event reconstruction method presented here shows promising performance improvements. The angular and energy resolution, and the sensitivity, are improved by 10 to 20% over most of the energy range. At low energy, improvements reach up to 22%, 47%, and 50%, respectively. A future extension of the method to stereoscopic analysis for telescope arrays will be the next important step., Comment: Accepted in A&A

The objective is the design of a Cellular Automata rule that can form patterns with 'touching' loops. A loop is defined as a closed path of 1-cells in a 2D grid on a zero background and with a zero border. A path cell is connected with two of its adjacent neighbors. In touching loops a path cell is also allowed to touch another on a diagonal. A CA rule was designed that can evolve stable touching loop patterns. The rule tries to cover the 2D space by overlapping tiles. The rule uses so-called templates, 5 x 5 matching patterns which are systematically derived from the given set of 3 x 3 tiles. The rule checks the pattern being evolved against a list of templates. If the outer neighbors of a template match, then the cell's state is set to the template's center value. Noise is injected if there is no matching template, or the tiles are not properly assembled. Thereby the evolution is driven to the desired loop patterns.

Originally motivated by the morphogenesis of bacterial microcolonies, the aim of this article is to explore models through different scales for a spatial population of interacting, growing and dividing particles. We start from a microscopic stochastic model, write the corresponding stochastic differential equation satisfied by the empirical measure, and rigorously derive its mesoscopic (mean-field) limit. Under smoothness and symmetry assumptions for the interaction kernel, we then obtain entropy estimates, which provide us with a localization limit at the macroscopic level. Finally, we perform a thorough numerical study in order to compare the three modeling scales.

The evolving capabilities of large language models are accompanied by growing sizes and deployment costs, necessitating effective inference optimisation techniques. We propose a novel pruning method utilising centrality measures from graph theory, reducing both the computational requirements and the memory footprint of these models. Specifically, we devise a method for creating a weighted directed acyclical graph representation of multilayer perceptrons to which we apply a modified version of the weighted PageRank centrality measure to compute node importance scores. In combination with uniform pruning this leads to structured sparsity. We call this pruning method MLPRank. Furthermore we introduce an extension to decoder-only transformer models and call it LLMRank. For both variants we demonstrate a strong performance. With MLPRank on average leading to 6.09 % higher accuracy retention than three popular baselines and 13.42 % with LLMRank compared to two popular baselines.

The multiplicities of positive and negative pions, kaons and unidentified hadrons produced in deep-inelastic scattering are measured in bins of the Bjorken scaling variable $x$, the relative virtual-photon energy $y$ and the fraction of the virtual-photon energy transferred to the final-state hadron $z$. Data were obtained by the COMPASS Collaboration using a 160 GeV muon beam of both electric charges and a liquid hydrogen target. These measurements cover the kinematic domain with photon virtuality $Q^2 > 1$ (GeV/$c)^2$, $0.004 < x < 0.4$, $0.1 < y < 0.7$ and $0.2 < z < 0.85$, in accordance with the kinematic domain used in earlier published COMPASS multiplicity measurements with an isoscalar target. The calculation of radiative corrections was improved by using the Monte Carlo generator DJANGOH, which results in up to 12\% larger corrections in the low-$x$ region., Comment: 19 pages, 29 figures

Over recent years, deep learning based image registration has achieved impressive accuracy in many domains, including medical imaging and, specifically, human neuroimaging with magnetic resonance imaging (MRI). However, the uncertainty estimation associated with these methods has been largely limited to the application of generic techniques (e.g., Monte Carlo dropout) that do not exploit the peculiarities of the problem domain, particularly spatial modeling. Here, we propose a principled way to propagate uncertainties (epistemic or aleatoric) estimated at the level of spatial location by these methods, to the level of global transformation models, and further to downstream tasks. Specifically, we justify the choice of a Gaussian distribution for the local uncertainty modeling, and then propose a framework where uncertainties spread across hierarchical levels, depending on the choice of transformation model. Experiments on publicly available data sets show that Monte Carlo dropout correlates very poorly with the reference registration error, whereas our uncertainty estimates correlate much better. % with the reference registration error. Crucially, the results also show that uncertainty-aware fitting of transformations improves the registration accuracy of brain MRI scans. Finally, we illustrate how sampling from the posterior distribution of the transformations can be used to propagate uncertainties to downstream neuroimaging tasks. Code is available at: https://github.com/HuXiaoling/Regre4Regis., Comment: 15 pages, 6 figures

We define discrete constant mean curvature (cmc) surfaces in the three-dimensional Euclidean and Lorentz spaces in terms of sphere packings with orthogonally intersecting circles. These discrete cmc surfaces can be constructed from orthogonal ring patterns in the two-sphere and the hyperbolic plane. We present a variational principle that allows us to solve boundary value problems and to construct discrete analogues of some classical cmc surfaces. The data used for the construction is purely combinatorial - the combinatorics of the curvature line pattern. In the limit of orthogonal circle patterns we recover the theory of discrete minimal surfaces associated to Koebe polyhedra all edges of which touch a sphere. These are generalized to two-sphere Koebe nets, i.e., nets with planar quadrilateral faces and edges that alternately touch two concentric spheres., Comment: 47 pages, 25 figures

Achieving parametric excitation in an oscillating physical system involves periodically adjusting one of its parameters to modulate the oscillator's natural frequency. This phenomenon has been observed in numerous systems within physics and engineering, profoundly transforming modern science and technology. Despite rapid progress, the parametric control of collective excitations, such as phonons, remains a challenge while promising to generate novel and intriguing effects in a largely unexplored field. Here, we investigate the terahertz (THz) field-induced dynamics of Raman-active phonons in LaAlO$_3$ (LAO), an archetypal quantum material for its electronic and structural properties. Utilizing intense THz pulses, we demonstrate a novel mechanism of parametric phonon excitation marked by substantial subharmonic components. Theoretical analysis can successfully capture the hallmarks of the observed phenomena in a physical scenario with the THz field inducing a parametric coupling between the Raman mode and pairs of acoustic phonon excitations., Comment: Main text: 12 pages, 3 figures. Supplementary Information: 3 figures

Representing the glaciation of mixed-phase clouds in terms of the Wegener-Bergeron-Findeisen process is a challenge for many weather and climate models, which tend to overestimate this process because cloud dynamics and microphysics are not accurately represented. As turbulence is essential for the transport of water vapour from evaporating liquid droplets to ice crystals, we developed a statistical model using established closures to assess the role of small-scale turbulence. The model successfully captures results of direct numerical simulations, and we use it to assess the role of small-scale turbulence. We find that small-scale turbulence broadens the droplet-size distribution somewhat, but it does not significantly affect the glaciation time on submetre scales. However, our analysis indicates that turbulence on larger spatial scales is likely to affect ice growth. While the model must be amended to describe larger scales, the present work facilitates a path forward to understanding the role of turbulence in the Wegener-Bergeron-Findeisen process., Comment: 25 pages, 5 figures, 5 tables

One of the most challenging problems in the computational study of localization in quantum manybody systems is to capture the effects of rare events, which requires sampling over exponentially many disorder realizations. We implement an efficient procedure on a quantum processor, leveraging quantum parallelism, to efficiently sample over all disorder realizations. We observe localization without disorder in quantum many-body dynamics in one and two dimensions: perturbations do not diffuse even though both the generator of evolution and the initial states are fully translationally invariant. The disorder strength as well as its density can be readily tuned using the initial state. Furthermore, we demonstrate the versatility of our platform by measuring Renyi entropies. Our method could also be extended to higher moments of the physical observables and disorder learning.

Considering turbulence is crucial to understanding clouds. However, covering all scales involved in the turbulent mixing of clouds with their environment is computationally challenging, urging the development of simpler models to represent some of the processes involved. By using full direct numerical simulations as a reference, this study compares several statistical approaches for representing small-scale turbulent mixing. All models use a comparable Lagrangian representation of cloud microphysics, and simulate the same cases of cloud-edge mixing, covering different ambient humidities and turbulence intensities. It is demonstrated that all statistical models represent the evolution of thermodynamics successfully, but not all models capture the changes in cloud microphysics (cloud droplet number concentration, droplet mean radius, and spectral width). Implications of these results for using the presented models as subgrid-scale schemes are discussed.

We propose a convex controller synthesis framework for a large class of constrained linear systems, including those described by (deterministic and stochastic) partial differential equations and integral equations, commonly used in fluid dynamics, thermo-mechanical systems, quantum control, or transportation networks. Most existing control techniques rely on a (finite-dimensional) discrete description of the system, via ordinary differential equations. Here, we work instead with more general (infinite-dimensional) Hilbert spaces. This enables the discretization to be applied after the optimization (optimize-then-discretize). Using output-feedback SLS, we formulate the controller synthesis as a convex optimization problem. Structural constraints like sensor and communication delays, and locality constraints, are incorporated while preserving convexity, allowing parallel implementation and extending key SLS properties to infinite dimensions. The proposed approach and its benefits are demonstrated on a linear Boltzmann equation.

Purpose. Proton Magnetic Resonance Spectroscopic Imaging (1H-MRSI) provides non-invasive spectral-spatial mapping of metabolism. However, long-standing problems in whole-brain 1H-MRSI are spectral overlap of metabolite peaks with large lipid signal from scalp, and overwhelming water signal that distorts spectra. Fast and effective methods are needed for high-resolution 1H-MRSI to accurately remove lipid and water signals while preserving the metabolite signal. The potential of supervised neural networks for this task remains unexplored, despite their success for other MRSI processing. Methods. We introduce a deep-learning method based on a modified Y-NET network for water and lipid removal in whole-brain 1H-MRSI. The WALINET (WAter and LIpid neural NETwork) was compared to conventional methods such as the state-of-the-art lipid L2 regularization and Hankel-Lanczos singular value decomposition (HLSVD) water suppression. Methods were evaluated on simulated and in-vivo whole-brain MRSI using NMRSE, SNR, CRLB, and FWHM metrics. Results. WALINET is significantly faster and needs 8s for high-resolution whole-brain MRSI, compared to 42 minutes for conventional HLSVD+L2. Quantitative analysis shows WALINET has better performance than HLSVD+L2: 1) more lipid removal with 41% lower NRMSE, 2) better metabolite signal preservation with 71% lower NRMSE in simulated data, 155% higher SNR and 50% lower CRLB in in-vivo data. Metabolic maps obtained by WALINET in healthy subjects and patients show better gray/white-matter contrast with more visible structural details. Conclusions. WALINET has superior performance for nuisance signal removal and metabolite quantification on whole-brain 1H-MRSI compared to conventional state-of-the-art techniques. This represents a new application of deep-learning for MRSI processing, with potential for automated high-throughput workflow.

What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., the European ISO/TS 15066). The regime that allows collisions between the moving robot and the operator, called Power and Force Limiting (PFL), restricts the permissible contact forces. Using the same fixed contact thresholds on the entire robot surface results in significant and unnecessary productivity losses, as the robot needs to stop even when impact forces are within limits. Here we present a framework for setting the protective skin thresholds individually for different parts of the robot body and dynamically on the fly, based on the effective mass of each robot link and the link velocity. We perform experiments on a 6-axis collaborative robot arm (UR10e) completely covered with a sensitive skin (AIRSKIN) consisting of eleven individual pads. On a mock pick-and-place scenario with both transient and quasi-static collisions, we demonstrate how skin sensitivity influences the task performance and exerted force. We show an increase in productivity of almost 50% from the most conservative setting of collision thresholds to the most adaptive setting, while ensuring safety for human operators. The method is applicable to any robot for which the effective mass can be calculated., Comment: Submitted to ICRA 2025

This paper discusses the use case of energy saving and traffic steering in O-RAN, the mechanism of multi-vendor interoperability to make it work and depict its test methodology., Comment: 6 pages, 8 figures

The pepenaactivity is part of the informal sector, characterized by precariousness and social invisibility; however, it is a key element in the recycling production chain, providing an economic income for many people. In the city of Chihuahua, this activity is carried out on a significant scale. Therefore, this study analyzes and dignifies the recycling of urban solid waste from the perspective of scavengers, also explaining their relationship with other social actors at the city's final disposal site. The study starts from the premise that waste picking is, in the current era of global environmental crisis, an effective way to conserve resources and reduce environmental impacts. Methodologically, participatory action research was used as a strategy to raise awareness among scavengers about the importance of their work and to present their community organization as an example to other urban waste picking groups in different locations. Finally, we found issues in these groups such as informality, lack of legal support,specific health risks, and, more broadly, the absence of public policies to recognize this activity as valuable in addressing the global environmental crisis, Comment: in Spanish language

This paper introduces SurfaceAI, a pipeline designed to generate comprehensive georeferenced datasets on road surface type and quality from openly available street-level imagery. The motivation stems from the significant impact of road unevenness on the safety and comfort of traffic participants, especially vulnerable road users, emphasizing the need for detailed road surface data in infrastructure modeling and analysis. SurfaceAI addresses this gap by leveraging crowdsourced Mapillary data to train models that predict the type and quality of road surfaces visible in street-level images, which are then aggregated to provide cohesive information on entire road segment conditions., Comment: 4 pages, 2 figures; accepted at 2nd ACM SIGSPATIAL International Workshop on Advances in Urban-AI

Introduction: Altered neurometabolism is an important pathological mechanism in many neurological diseases and brain cancer, which can be mapped non-invasively by Magnetic Resonance Spectroscopic Imaging (MRSI). Advanced MRSI using non-cartesian compressed-sense acquisition enables fast high-resolution metabolic imaging but has lengthy reconstruction times that limits throughput and needs expert user interaction. Here, we present a robust and efficient Deep Learning reconstruction to obtain high-quality metabolic maps. Methods: Fast high-resolution whole-brain metabolic imaging was performed at 3.4 mm$^3$ isotropic resolution with acquisition times between 4:11-9:21 min:s using ECCENTRIC pulse sequence on a 7T MRI scanner. Data were acquired in a high-resolution phantom and 27 human participants, including 22 healthy volunteers and 5 glioma patients. A deep neural network using recurring interlaced convolutional layers with joint dual-space feature representation was developed for deep learning ECCENTRIC reconstruction (Deep-ER). 21 subjects were used for training and 6 subjects for testing. Deep-ER performance was compared to conventional iterative Total Generalized Variation reconstruction using image and spectral quality metrics. Results: Deep-ER demonstrated 600-fold faster reconstruction than conventional methods, providing improved spatial-spectral quality and metabolite quantification with 12%-45% (P<0.05) higher signal-to-noise and 8%-50% (P<0.05) smaller Cramer-Rao lower bounds. Metabolic images clearly visualize glioma tumor heterogeneity and boundary. Conclusion: Deep-ER provides efficient and robust reconstruction for sparse-sampled MRSI. The accelerated acquisition-reconstruction MRSI is compatible with high-throughput imaging workflow. It is expected that such improved performance will facilitate basic and clinical MRSI applications.

Structure in the Universe is believed to have evolved out of quantum fluctuations seeded by inflation in the early Universe. These fluctuations lead to density perturbations that grow via gravitational instability into large cosmological structures. In the linear regime, the growth of structure is directly coupled to the velocity field since perturbations are amplified by attracting (and accelerating) matter. Surveys of galaxy redshifts and distances allow one to infer the underlying density and velocity fields. Here, assuming the LCDM standard model of cosmology and applying a Hamiltonian Monte-Carlo algorithm to the grouped Cosmicflows-4 (CF4) compilation of 38,000 groups of galaxies, the large scale structure of the Universe is reconstructed out to a redshift corresponding to about 30, 000 km/s. Our method provides a probabilistic assessment of the domains of gravitational potential minima: basins of attraction (BoA). Earlier Cosmicflows catalogs suggested the Milky Way Galaxy was associated with a BoA called Laniakea. Now with the newer CF4 data, there is a slight probabilistic preference for Laniakea to be part of the much larger Shapley BoA. The largest BoA recovered from the CF4 data is associated with the Sloan Great Wall with a volume within the sample of 15.5 10^6(Mpc/h)^3, which is more than twice the size of the second largest Shapley BoA., Comment: 16 pages, 6 Figures, contact the authors for a nature formatted version accessible via SharedIt

The writing energy for reversing the magnetization of the free layer in a magnetic tunnel junction (MTJ) is a key figure of merit for comparing the performances of magnetic random access memories with competing technologies. Magnetization switching of MTJs induced by spin torques typically relies on square voltage pulses. Here, we focus on the switching of perpendicular MTJs driven by spin-orbit torque (SOT), for which the magnetization reversal process consists of sequential domain nucleation and domain wall propagation. By performing a systematic study of the switching efficiency and speed as a function of pulse shape, we show that shaped pulses achieve up to 50% reduction of writing energy compared to square pulses without compromising the switching probability and speed. Time-resolved measurements of the tunneling magnetoresistance reveal how the switching times are strongly impacted by the pulse shape and temperature rise during the pulse. The optimal pulse shape consists of a preheating phase, a maximum amplitude to induce domain nucleation, and a lower amplitude phase to complete the reversal. Our experimental results, corroborated by micromagnetic simulations, provide diverse options to reduce the energy footprint of SOT devices in magnetic memory applications., Comment: 10 pages, 7 figures

In this paper, a definition of the gain and added noise of impedance matching networks for scanning microwave microscopy is given. This definition can be used to compare different impedance matching techniques independently of the instrument used to measure the S-parameter. As a demonstration, impedance matching devices consisting of a Beatty line, a tuner, and interferometric setups with and without amplifiers have been investigated. Measurement frequencies up to 28 GHz are used, and the maximal resulting gain found was 9504.7 per Siemens., Comment: IEEE Transactions on Instrumentation and Measurement (2024)

We present a novel probabilistic approach for generating multi-fidelity data while accounting for errors inherent in both low- and high-fidelity data. In this approach a graph Laplacian constructed from the low-fidelity data is used to define a multivariate Gaussian prior density for the coordinates of the true data points. In addition, few high-fidelity data points are used to construct a conjugate likelihood term. Thereafter, Bayes rule is applied to derive an explicit expression for the posterior density which is also multivariate Gaussian. The maximum \textit{a posteriori} (MAP) estimate of this density is selected to be the optimal multi-fidelity estimate. It is shown that the MAP estimate and the covariance of the posterior density can be determined through the solution of linear systems of equations. Thereafter, two methods, one based on spectral truncation and another based on a low-rank approximation, are developed to solve these equations efficiently. The multi-fidelity approach is tested on a variety of problems in solid and fluid mechanics with data that represents vectors of quantities of interest and discretized spatial fields in one and two dimensions. The results demonstrate that by utilizing a small fraction of high-fidelity data, the multi-fidelity approach can significantly improve the accuracy of a large collection of low-fidelity data points.

We exhibit a winning strategy for Synchronizer in the synchronization game on every synchronizing automaton in whose transition monoid the regular D-classes form subsemigroups, Comment: In Proceedings NCMA 2024, arXiv:2409.06120

Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during contacts with the human body. These characteristics of the collision depend on the speed of the colliding robot link but also on its effective mass. Thus, to warrant contacts complying with the Power and Force Limiting (PFL) collaborative regime but at the same time maximizing productivity, protective skin thresholds should be set individually for different parts of the robot bodies and dynamically on the run. Here we present and empirically evaluate four scenarios: (a) static and uniform - fixed thresholds for the whole skin, (b) static but different settings for robot body parts, (c) dynamically set based on every link velocity, (d) dynamically set based on effective mass of every robot link. We perform experiments in simulation and on a real 6-axis collaborative robot arm (UR10e) completely covered with sensitive skin (AIRSKIN) comprising eleven individual pads. On a mock pick-and-place scenario with transient collisions with the robot body parts and two collision reactions (stop and avoid), we demonstrate the boost in productivity in going from the most conservative setting of the skin thresholds (a) to the most adaptive setting (d). The threshold settings for every skin pad are adapted with a frequency of 25 Hz. This work can be easily extended for platforms with more degrees of freedom and larger skin coverage (humanoids) and to social human-robot interaction scenarios where contacts with the robot will be used for communication.

Spin-polarized antiferromagnets have recently gained significant interest because they combine the advantages of both ferromagnets (spin polarization) and antiferromagnets (absence of net magnetization) for spintronics applications. In particular, spin-polarized antiferromagnetic metals can be useful as active spintronics materials because of their high electrical and thermal conductivities and their ability to host strong interactions between charge transport and magnetic spin textures. We review spin and charge transport phenomena in spin-polarized antiferromagnetic metals, in which the interplay of metallic conductivity and spin-split bands offers novel practical applications and new fundamental insights into antiferromagnetism. We focus on three types of antiferromagnets: canted antiferromagnets, noncollinear antiferromagnets, and collinear altermagnets. We also discuss how the investigation of spin-polarized antiferromagnetic metals can open doors to future research directions., Comment: 15 pages, 4 figures, to be published in Annual Review of Condensed Matter Physics, Vol.16

We study the impact of forbidding short cycles to the edge density of $k$-planar graphs; a $k$-planar graph is one that can be drawn in the plane with at most $k$ crossings per edge. Specifically, we consider three settings, according to which the forbidden substructures are $3$-cycles, $4$-cycles or both of them (i.e., girth $\ge 5$). For all three settings and all $k\in\{1,2,3\}$, we present lower and upper bounds on the maximum number of edges in any $k$-planar graph on $n$ vertices. Our bounds are of the form $c\,n$, for some explicit constant $c$ that depends on $k$ and on the setting. For general $k \geq 4$ our bounds are of the form $c\sqrt{k}n$, for some explicit constant $c$. These results are obtained by leveraging different techniques, such as the discharging method, the recently introduced density formula for non-planar graphs, and new upper bounds for the crossing number of $2$-- and $3$-planar graphs in combination with corresponding lower bounds based on the Crossing Lemma., Comment: Appears in the Proceedings of the 32nd International Symposium on Graph Drawing and Network Visualization (GD 2024)

We show that every planar graph has a monotone topological 2-page book embedding where at most (4n-10)/5 (of potentially 3n-6) edges cross the spine, and every edge crosses the spine at most once; such an edge is called a biarc. We can also guarantee that all edges that cross the spine cross it in the same direction (e.g., from bottom to top). For planar 3-trees we can further improve the bound to (3n-9)/4, and for so-called Kleetopes we obtain a bound of at most (n-8)/3 edges that cross the spine. The bound for Kleetopes is tight, even if the drawing is not required to be monotone. A Kleetope is a plane triangulation that is derived from another plane triangulation T by inserting a new vertex v_f into each face f of T and then connecting v_f to the three vertices of f., Comment: Appears in the Proceedings of the 32nd International Symposium on Graph Drawing and Network Visualization (GD 2024)

Entropic Optimal Transport (EOT), also referred to as the Schr\"odinger problem, seeks to find a random processes with prescribed initial/final marginals and with minimal relative entropy with respect to a reference measure. The relative entropy forces the two measures to share the same support and only the drift of the controlled process can be adjusted, the diffusion being imposed by the reference measure. Therefore, at first sight, Semi-Martingale Optimal Transport (SMOT) problems (see [1]) seem out of the scope of applications of Entropic regularization techniques, which are otherwise very attractive from a computational point of view. However, when the process is observed only at discrete times, and become therefore a Markov chain, its relative entropy can remain finite even with variable diffusion coefficients, and discrete semi-martingales can be obtained as solutions of (multi-marginal) EOT problems.Given a (smooth) semi-martingale, the limit of the relative entropy of its time discretizations, scaled by the time step converges to the so-called ``specific relative entropy'', a convex functional of its variance process, similar to those used in SMOT.In this paper we use this observation to build an entropic time discretization of continuous SMOT problems. This allows to compute discrete approximations of solutions to continuous SMOT problems by a multi-marginal Sinkhorn algorithm, without the need of solving the non-linear Hamilton-Jacobi-Bellman pde's associated to the dual problem, as done for example in [1, 2]. We prove a convergence result of the time discrete entropic problem to the continuous time problem, we propose an implementation and provide numerical experiments supporting the theoretical convergence.

New vapor-liquid equilibrium (VLE) data are continuously being measured and new parameter values, e.g., for the nonrandom two-liquid (NRTL) model are estimated and published. The parameter $\alpha$, the nonrandomness parameter of NRTL, is often heuristically fixed to a value in the range of 0.1 to 0.47. This can be seen as a manual application of a (subset selection) regularization method. In this work, the identifiability of the NRTL model for describing the VLE is analyzed. It is shown that fixing $\alpha$ is not always a good decision and sometimes leads to worse prediction properties of the final parameter estimates. Popular regularization techniques are compared and Generalized Orthogonalization is proposed as an alternative to this heuristic. In addition, the sequential Optimal Experimental Design and Parameter Estimation (sOED-PE) method is applied to study the influence of the regularization methods on the performance of the sOED-PE loop., Comment: 51 pages, 6 figures

In perovskite oxide heterostructures, bulk functional properties coexist with emergent physical phenomena at epitaxial interfaces. Notably, charge transfer at the interface between two insulating oxide layers can lead to the formation of a two-dimensional electron gas (2DEG) with possible applications in, e.g., high-electronmobility transistors and ferroelectric field-effect transistors. So far, the realization of oxide 2DEGs is, however, largely limited to the interface between the single-crystal substrate and epitaxial film, preventing their deliberate placement inside a larger device architecture. Additionally, the substrate-limited quality of perovskite oxide interfaces hampers room-temperature 2DEG performance due to notoriously low electron mobility. In this work, we demonstrate the controlled creation of an interfacial 2DEG at the epitaxial interface between perovskite oxides BaSnO$_3$ and LaInO$_3$ with enhanced room-temperature electron mobilities up to 119 cm$^2$/Vs - the highest room-temperature value reported so far for a perovskite oxide 2DEG. Using a combination of state-of-the-art deposition modes during oxide molecular beam epitaxy, our approach opens up another degree of freedom in optimization and $in$-$situ$ control of the interface between two epitaxial oxide layers away from the substrate interface. We thus expect our approach to apply to the general class of perovskite oxide 2DEG systems and to enable their improved compatibility with novel device concepts and integration across materials platforms., Comment: article including supplementary information

Photometric measurements allow the determination of an asteroid's absolute magnitude, which often represents the sole means to infer its size. Photometric observations can be obtained in a variety of filters that can be unique to a specific observatory. Those observations are then calibrated into specific bands with respect to reference star catalogs. In order to combine all the different measurements for evaluation, photometric observations need to be converted to a common band, typically V-band. Current band-correction schemes in use by IAU's Minor Planet Center, JPL's Center for Near Earth Object Studies and ESA's NEO Coordination Centre use average correction values for the apparent magnitude derived from photometry of asteroids as the corrections are dependent on the typically unknown spectrum of the object to be corrected. By statistically analyzing the photometric residuals of asteroids, we develop a new photometric correction scheme that does not only consider the band, but also accounts for reference catalog and observatory. We describe a new statistical photometry correction scheme for asteroid observations with debiased corrections. Testing this scheme on a reference group of asteroids, we see a 36% reduction in the photometric residuals. Moreover, the new scheme leads to a more accurate and debiased determination of the H-G magnitude system and, in turn, to more reliable inferred sizes. We discuss the significant shift in the corrections with this "DePhOCUS" debiasing system, its limitations, and the impact for photometric and physical properties of all asteroids, especially Near-Earth Objects.

In many automated planning applications, action costs can be hard to specify. An example is the time needed to travel through a certain road segment, which depends on many factors, such as the current weather conditions. A natural way to address this issue is to learn to predict these parameters based on input features (e.g., weather forecasts) and use the predicted action costs in automated planning afterward. Decision-Focused Learning (DFL) has been successful in learning to predict the parameters of combinatorial optimization problems in a way that optimizes solution quality rather than prediction quality. This approach yields better results than treating prediction and optimization as separate tasks. In this paper, we investigate for the first time the challenges of implementing DFL for automated planning in order to learn to predict the action costs. There are two main challenges to overcome: (1) planning systems are called during gradient descent learning, to solve planning problems with negative action costs, which are not supported in planning. We propose novel methods for gradient computation to avoid this issue. (2) DFL requires repeated planner calls during training, which can limit the scalability of the method. We experiment with different methods approximating the optimal plan as well as an easy-to-implement caching mechanism to speed up the learning process. As the first work that addresses DFL for automated planning, we demonstrate that the proposed gradient computation consistently yields significantly better plans than predictions aimed at minimizing prediction error; and that caching can temper the computation requirements.

Fast radio bursts (FRBs) are transient radio signals of extragalactic origins that are subjected to propagation effects such as dispersion and scattering. It follows then that these signals hold information regarding the medium they have traversed and are hence useful as cosmological probes of the Universe. Recently, FRBs were used to make an independent measure of the Hubble Constant $H_0$, promising to resolve the Hubble tension given a sufficient number of detected FRBs. Such cosmological studies are dependent on FRB population statistics, cosmological parameters and detection biases, and thus it is important to accurately characterise each of these. In this work, we empirically characterise the sensitivity of the Fast Real-time Engine for Dedispersing Amplitudes (FREDDA) which is the current detection system for the Australian Square Kilometer Array Pathfinder (ASKAP). We coherently redisperse high-time resolution data of 13 ASKAP-detected FRBs and inject them into FREDDA to determine the recovered signal-to-noise ratios as a function of dispersion measure (DM). We find that for 11 of the 13 FRBs, these results are consistent with injecting idealised pulses. Approximating this sensitivity function with theoretical predictions results in a systematic error of 0.3$\,$km$\,$s$^{-1}\,$Mpc$^{-1}$ on $H_0$ when it is the only free parameter. Allowing additional parameters to vary could increase this systematic by up to $\sim1\,$km$\,$s$^{-1}\,$Mpc$^{-1}$. We estimate that this systematic will not be relevant until $\sim$400 localised FRBs have been detected, but will likely be significant in resolving the Hubble tension., Comment: 8 pages, 6 figures, Published in MNRAS

Driving coherent lattice motion with THz pulses has emerged as a novel pathway for achieving dynamic stabilization of exotic phases that are inaccessible in equilibrium quantum materials. In this work, we present a previously unexplored mechanism for THz excitation of Raman-active phonons in semimetals. We show that intense THz pulses centered at 1 THz can excite the Raman-active $A_{1g}$ phonon mode at 2.9 THz in a bismuth film. We rule out the possibilities of the phonon being excited through conventional anharmonic coupling to other modes or via a THz sum frequency process. Instead, we demonstrate that the THz-driven tunnel ionization provides a plausible means of creating a displacive driving force to initiate the phonon oscillations. Our work highlights a new mechanism for exciting coherent phonons, offering potential for dynamic control over the electronic and structural properties of semimetals and narrow-band semiconductors on ultrafast timescales., Comment: main text + SI, 12 pages, 10 figures

Fast radio burst (FRB) science primarily revolves around two facets: the origin of these bursts and their use in cosmological studies. This work follows from previous redshift-dispersion measure ($z$-DM) analyses in which we model instrumental biases and simultaneously fit population parameters and cosmological parameters to the observed population of FRBs. This sheds light on both the progenitors of FRBs and cosmological questions. Previously, we have completed similar analyses with data from the Australian Square Kilometer Array Pathfinder (ASKAP) and the Murriyang (Parkes) Multibeam system. With this manuscript, we additionally incorporate data from the Deep Synoptic Array (DSA) and the Five-hundred-meter Aperture Spherical Telescope (FAST), invoke a Markov chain Monte Carlo (MCMC) sampler and implement uncertainty in the Galactic DM contributions. The latter leads to larger uncertainties in derived model parameters than previous estimates despite the additional data. We provide refined constraints on FRB population parameters and derive a new constraint on the minimum FRB energy of log$\,E_{\mathrm{min}}$(erg)=39.49$^{+0.39}_{-1.48}$ which is significantly higher than bursts detected from strong repeaters. This result may indicate a low-energy turnover in the luminosity function or may suggest that strong repeaters have a different luminosity function to single bursts. We also predict that FAST will detect 25-41% of their FRBs at $z \gtrsim 2$ and DSA will detect 2-12% of their FRBs at $z \gtrsim 1$., Comment: 17 pages, 7 figures, submitted to PASA

Road unevenness significantly impacts the safety and comfort of traffic participants, especially vulnerable groups such as cyclists and wheelchair users. To train models for comprehensive road surface assessments, we introduce StreetSurfaceVis, a novel dataset comprising 9,122 street-level images mostly from Germany collected from a crowdsourcing platform and manually annotated by road surface type and quality. By crafting a heterogeneous dataset, we aim to enable robust models that maintain high accuracy across diverse image sources. As the frequency distribution of road surface types and qualities is highly imbalanced, we propose a sampling strategy incorporating various external label prediction resources to ensure sufficient images per class while reducing manual annotation. More precisely, we estimate the impact of (1) enriching the image data with OpenStreetMap tags, (2) iterative training and application of a custom surface type classification model, (3) amplifying underrepresented classes through prompt-based classification with GPT-4o and (4) similarity search using image embeddings. Combining these strategies effectively reduces manual annotation workload while ensuring sufficient class representation., Comment: 12 pages, 2 figures

Applications with irregular data structures, data-dependent control flows and fine-grained data transfers (e.g., real-world graph computations) perform poorly on cache-based systems. We propose the UpDown accelerator that supports fine-grained execution with novel architecture mechanisms - lightweight threading, event-driven scheduling, efficient ultra-short threads, and split-transaction DRAM access with software-controlled synchronization. These hardware primitives support software programmable events, enabling high performance on diverse data structures and algorithms. UpDown also supports scalable performance; hardware replication enables programs to scale up performance. Evaluation results show UpDown's flexibility and scalability enable it to outperform CPUs on graph mining and analytics computations by up to 116-195x geomean speedup and more than 4x speedup over prior accelerators. We show that UpDown generates high memory parallelism (~4.6x over CPU) required for memory intensive graph computations. We present measurements that attribute the performance of UpDown (23x architectural advantage) to its individual architectural mechanisms. Finally, we also analyze the area and power cost of UpDown's mechanisms for software programmability., Comment: 14 pages, 23 figures

Summarizing web graphs is challenging due to the heterogeneity of the modeled information and its changes over time. We investigate the use of neural networks for lifelong graph summarization. Assuming we observe the web graph at a certain time, we train the networks to summarize graph vertices. We apply this trained network to summarize the vertices of the changed graph at the next point in time. Subsequently, we continue training and evaluating the network to perform lifelong graph summarization. We use the GNNs Graph-MLP and GraphSAINT, as well as an MLP baseline, to summarize the temporal graphs. We compare $1$-hop and $2$-hop summaries. We investigate the impact of reusing parameters from a previous snapshot by measuring the backward and forward transfer and the forgetting rate of the neural networks. Our extensive experiments on ten weekly snapshots of a web graph with over $100$M edges, sampled in 2012 and 2022, show that all networks predominantly use $1$-hop information to determine the summary, even when performing $2$-hop summarization. Due to the heterogeneity of web graphs, in some snapshots, the $2$-hop summary produces over ten times more vertex summaries than the $1$-hop summary. When using the network trained on the last snapshot from 2012 and applying it to the first snapshot of 2022, we observe a strong drop in accuracy. We attribute this drop over the ten-year time warp to the strongly increased heterogeneity of the web graph in 2022.

Materials combining topologically non-trivial behavior and superconductivity offer a potential route for quantum computation. However, the set of available materials intrinsically realizing these properties are scarce. Recently, surface superconductivity has been reported in PtBi$_2$ in its trigonal phase and an inherent Weyl semimetal phase has been predicted. Here, based on scanning tunneling microscopy experiments, we reveal the signature of topological Fermi arcs in the normal state patterns of the quasiparticle interference. We show that the scattering between Fermi arcs dominates the interference spectra, providing conclusive evidence for the relevance of Weyl fermiology for the surface electronic properties of trigonal PtBi$_2$.

The Motsch-Tadmor (MT) model is a variant of the Cucker-Smale model with a normalized communication weight function. The normalization poses technical challenges in analyzing the collective behavior due to the absence of conservation of momentum. We study three quantitative estimates for the discrete-time MT model considering the first-order Euler discretization. First, we provide a sufficient framework leading to the asymptotic mono-cluster flocking. The proposed framework is given in terms of coupling strength, communication weight function, and initial data. Second, we show that the continuous transition from the discrete MT model to the continuous MT model can be made uniformly in time using the finite-time convergence result and asymptotic flocking estimate. Third, we present uniform-in-time stability estimates for the discrete MT model. We also provide several numerical examples and compare them with analytical results.