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One of the most captivating properties of polaritons is their capacity to confine light at the nanoscale. This confinement is even more extreme in two-dimensional (2D) materials. 2D polaritons have been investigated by optical measurements using an external photodetector. However, their effective spectrally resolved electrical detection via far-field excitation remains unexplored. This fact hinders their potential exploitation in crucial applications such as sensing molecules and gases, hyperspectral imaging and optical spectrometry, banking on their potential for integration with silicon technologies. Herein, we present the first electrical spectroscopy of polaritonic nanoresonators based on a high-quality 2D-material heterostructure, which serves at the same time as the photodetector and the polaritonic platform. We employ metallic nanorods to create hybrid nanoresonators within the hybrid plasmon-phonon polaritonic medium in the mid and long-wave infrared ranges. Subsequently, we electrically detect these resonators by near-field coupling to a graphene pn-junction. The nanoresonators simultaneously present a record of lateral confinement and high-quality factors of up to 200, exhibiting prominent peaks in the photocurrent spectrum, particularly at the underexplored lower reststrahlen band of hBN. We exploit the geometrical and gate tunability of these nanoresonators to investigate their impact on the photocurrent spectrum and the polaritonic's waveguided modes. This work opens a venue for studying this highly tunable and complex hybrid system, as well as for using it in compact platforms for sensing and photodetection applications., Comment: 34 pages, 4 main figures and 22 supplementary figures

We propose a theoretical model for a colloidal heat engine driven by a feedback protocol that is able to fully convert the net heat absorbed by the hot bath into extracted work. The feedback protocol, inspired by gambling strategies, executes a sudden quench at zero work cost when the particle position satisfies a specific first-passage condition. As a result, the engine enhances both power and efficiency with respect to a standard Carnot cycle, surpassing Carnot's efficiency at maximum power. Using first-passage and martingale theory, we derive analytical expressions for the power and efficiency far beyond the quasistatic limit and provide scaling arguments for their dependency with the cycle duration. Numerical simulations are in perfect agreement with our theoretical findings, and illustrate the impact of the data acquisition rate on the engine's performance., Comment: 20 pages (including supplemental material), 8 figures (including supplemental figures)

Constructing prediction sets with coverage guarantees for unobserved outcomes is a core problem in modern statistics. Methods for predictive inference have been developed for a wide range of settings, but usually only consider test data points one at a time. Here we study the problem of distribution-free predictive inference for a batch of multiple test points, aiming to construct prediction sets for functions -- such as the mean or median -- of any number of unobserved test datapoints. This setting includes constructing simultaneous prediction sets with a high probability of coverage, and selecting datapoints satisfying a specified condition while controlling the number of false claims. For the general task of predictive inference on a function of a batch of test points, we introduce a methodology called batch predictive inference (batch PI), and provide a distribution-free coverage guarantee under exchangeability of the calibration and test data. Batch PI requires the quantiles of a rank ordering function defined on certain subsets of ranks. While computing these quantiles is NP-hard in general, we show that it can be done efficiently in many cases of interest, most notably for batch score functions with a compositional structure -- which includes examples of interest such as the mean -- via a dynamic programming algorithm that we develop. Batch PI has advantages over naive approaches (such as partitioning the calibration data or directly extending conformal prediction) in many settings, as it can deliver informative prediction sets even using small calibration sample sizes. We illustrate that our procedures provide informative inference across the use cases mentioned above, through experiments on both simulated data and a drug-target interaction dataset.

This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces with imperfectly modeled surfaces and unknown friction. The proposed approach, Kinodynamic Replanning over Approximate Models with Feedback Tracking (KRAFT), integrates: (i) replanning via an asymptotically optimal sampling-based kinodynamic tree planner, with (ii) trajectory following via feedback control, and (iii) a safety mechanism to reduce collision due to second-order dynamics. The planning and control components use a rough dynamics model expressed analytically via differential equations, which is tuned via system identification (SysId) in a training environment but not the deployed one. This allows the process to be fast and achieve long-horizon reasoning during each replanning cycle. At the same time, the model still includes gaps with reality, even after SysID, in new environments. Experiments demonstrate the limitations of kinematic path planning and path tracking approaches, highlighting the importance of: (a) closing the feedback-loop also at the planning level; and (b) long-horizon reasoning, for safe and efficient trajectory execution given inaccurate models.

When employing deep neural networks (DNNs) for semantic segmentation in safety-critical applications like automotive perception or medical imaging, it is important to estimate their performance at runtime, e.g. via uncertainty estimates or prediction quality estimates. Previous works mostly performed uncertainty estimation on pixel-level. In a line of research, a connected-component-wise (segment-wise) perspective was taken, approaching uncertainty estimation on an object-level by performing so-called meta classification and regression to estimate uncertainty and prediction quality, respectively. In those works, each predicted segment is considered individually to estimate its uncertainty or prediction quality. However, the neighboring segments may provide additional hints on whether a given predicted segment is of high quality, which we study in the present work. On the basis of uncertainty indicating metrics on segment-level, we use graph neural networks (GNNs) to model the relationship of a given segment's quality as a function of the given segment's metrics as well as those of its neighboring segments. We compare different GNN architectures and achieve a notable performance improvement., Comment: 11 pages, 3 figures, submitted to BMVC "Workshop on Robust Recognition in the Open World" (https://rrow2024.github.io/call-for-papers)

Inter-area oscillations have been extensively studied in conventional power systems dominated by synchronous machines, as well as methods to mitigate them. Several publications have addressed Power Oscillation Damping (POD) controllers in grid-following voltage source converters (GFOL). However, the performance of POD controllers for Grid-Forming voltage source converters (GFOR) in modern power systems with increased penetration of power electronics requires further investigation. This paper investigates the performance of GFORs and supplementary POD controllers in the damping of electromechanical oscillations in modern power systems. This paper proposes POD controllers in GFORs by supplementary modulation of active- and reactive-power injections of the converter and both simultaneously (POD- P, POD-Q and POD-PQ, respectively). The proposed POD controllers use the frequency imposed by the GFOR as the input signal, which has a simple implementation and it eliminates the need for additional measurements. Eigenvalue-sensitivity methods using a synthetic test system are applied to the design of POD controllers in GFORs, which is useful when limited information of the power system is available. This paper demonstrates the effectiveness of POD controllers in GFOR converters to damp electromechanical oscillations, by small-signal stability analysis and non-linear time-domain simulations in a small test system and in a large-scale power system., Comment: 11 pages, 15 figures

A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting the spring stiffness and preload that guarantees effort or energy reduction for an arbitrary set of tasks is a design challenge. This work formulates a convex optimization problem to guarantee that a parallel spring reduces the root-mean-square source effort or energy consumption for multiple tasks. Specifically, we guarantee the benefits across multiple tasks by enforcing a set of convex quadratic constraints in our optimization variables -- the parallel spring stiffness and preload. These quadratic constraints are equivalent to ellipses in the stiffness and preload plane, any combination of stiffness and preload inside the ellipse represents a parallel spring that minimizes effort source or energy consumption with respect to an actuator without a spring. This geometric interpretation intuitively guides the stiffness and preload selection process. We analytically and experimentally prove the convex quadratic function of the spring stiffness and preload. As applications, we analyze the stiffness and preload selection of a parallel spring for a knee exoskeleton using human muscle as the effort source and a prosthetic ankle powered by electric motors. To promote adoption, the optimization and geometric methods are available as supplemental open-source software that can be executed in a web browser., Comment: 10 pages

Geophysical and astrophysical fluid flows are typically buoyantly driven and are strongly constrained by planetary rotation at large scales. Rapidly rotating Rayleigh-B\'enard convection (RRRBC) provides a paradigm for direct numerical simulations (DNS) and laboratory studies of such flows, but the accessible parameter space remains restricted to moderately fast rotation (Ekman numbers $\rm Ek \gtrsim 10^{-8}$), while realistic $\rm Ek$ for astro-/geophysical applications are significantly smaller. Reduced equations of motion, the non-hydrostatic quasi-geostrophic equations describing the leading-order behavior in the limit of rapid rotation ($\rm Ek \to 0$) cannot capture finite rotation effects, leaving the physically most relevant part of parameter space with small but finite $\rm Ek$ currently inaccessible. Here, we introduce the rescaled incompressible Navier-Stokes equations (RiNSE), a reformulation of the Navier-Stokes-Boussinesq equations informed by the scalings valid for $\rm Ek\to 0$. We provide the first full DNS of RRRBC at unprecedented rotation strengths down to $\rm Ek=10^{-15}$ and below and show that the RiNSE converge to the asymptotically reduced equations.

The use of in-situ digital sensors for water quality monitoring is becoming increasingly common worldwide. While these sensors provide near real-time data for science, the data are prone to technical anomalies that can undermine the trustworthiness of the data and the accuracy of statistical inferences, particularly in spatial and temporal analyses. Here we propose a framework for detecting anomalies in sensor data recorded in stream networks, which takes advantage of spatial and temporal autocorrelation to improve detection rates. The proposed framework involves the implementation of effective data imputation to handle missing data, alignment of time-series to address temporal disparities, and the identification of water quality events. We explore the effectiveness of a suite of state-of-the-art statistical methods including posterior predictive distributions, finite mixtures, and Hidden Markov Models (HMM). We showcase the practical implementation of automated anomaly detection in near-real time by employing a Bayesian recursive approach. This demonstration is conducted through a comprehensive simulation study and a practical application to a substantive case study situated in the Herbert River, located in Queensland, Australia, which flows into the Great Barrier Reef. We found that methods such as posterior predictive distributions and HMM produce the best performance in detecting multiple types of anomalies. Utilizing data from multiple sensors deployed relatively near one another enhances the ability to distinguish between water quality events and technical anomalies, thereby significantly improving the accuracy of anomaly detection. Thus, uncertainty and biases in water quality reporting, interpretation, and modelling are reduced, and the effectiveness of subsequent management actions improved.

We study the thermodynamics of Einstein gravity with vanishing cosmological constant subjected to conformal boundary conditions. Our focus is on comparing the series of subextensive terms to predictions from thermal effective field theory, with which we find agreement for the boundary theory on a spatial sphere, hyperbolic space, and flat space. We calculate the leading Wilson coefficients and observe that the first subextensive correction to the free energy is negative. This violates a conjectured bound on this coefficient in quantum field theory, which we interpret as a signal that gravity does not fully decouple in the putative boundary dual., Comment: 31 pages + appendices and references, 1 figure

Information retrieval (IR) is the task of finding relevant documents in response to a user query. Although Spanish is the second most spoken native language, current IR benchmarks lack Spanish data, hindering the development of information access tools for Spanish speakers. We introduce MessIRve, a large-scale Spanish IR dataset with around 730 thousand queries from Google's autocomplete API and relevant documents sourced from Wikipedia. MessIRve's queries reflect diverse Spanish-speaking regions, unlike other datasets that are translated from English or do not consider dialectal variations. The large size of the dataset allows it to cover a wide variety of topics, unlike smaller datasets. We provide a comprehensive description of the dataset, comparisons with existing datasets, and baseline evaluations of prominent IR models. Our contributions aim to advance Spanish IR research and improve information access for Spanish speakers.

The Gemini South telescope is now equipped with a new high-resolution spectrograph called GHOST (the Gemini High-resolution Optical SpecTrograph). This instrument provides high-efficiency, high-resolution spectra covering 347-1060 nm in a single exposure of either one or two targets simultaneously, along with precision radial velocity spectroscopy utilizing an internal calibration source. It can operate at a spectral element resolving power of either 76000 or 56000, and can reach a SNR$\sim$5 in a 1hr exposure on a V$\sim$20.8 mag target in median site seeing, and dark skies (per resolution element). GHOST was installed on-site in June 2022, and we report performance after full integration to queue operations in November 2023, in addition to scientific results enabled by the integration observing runs. These results demonstrate the ability to observe a wide variety of bright and faint targets with high efficiency and precision. With GHOST, new avenues to explore high-resolution spectroscopy have opened up to the astronomical community. These are described, along with the planned and potential upgrades to the instrument., Comment: Accepted in the Astronomical Journal; 26 pages, 24 figures and 4 tables

Many estimators of the variance of the well-known unbiased and uniform most powerful estimator $\htheta$ of the Mann-Whitney effect, $\theta = P(X < Y) + \nfrac12 P(X=Y)$, are considered in the literature. Some of these estimators are only valid in case of no ties or are biased in case of small sample sizes where the amount of the bias is not discussed. Here we derive an unbiased estimator that is based on different rankings, the so-called 'placements' (Orban and Wolfe, 1980), and is therefore easy to compute. This estimator does not require the assumption of continuous \dfs\ and is also valid in the case of ties. Moreover, it is shown that this estimator is non-negative and has a sharp upper bound which may be considered an empirical version of the well-known Birnbaum-Klose inequality. The derivation of this estimator provides an option to compute the biases of some commonly used estimators in the literature. Simulations demonstrate that, for small sample sizes, the biases of these estimators depend on the underlying \dfs\ and thus are not under control. This means that in the case of a biased estimator, simulation results for the type-I error of a test or the coverage probability of a \ci\ do not only depend on the quality of the approximation of $\htheta$ by a normal \db\ but also an additional unknown bias caused by the variance estimator. Finally, it is shown that this estimator is $L_2$-consistent.

We study transits of several ``hot Jupiter'' systems - including WASP-12 b, WASP-43 b, WASP-103 b, HAT-P-23 b, KELT-16 b, WD 1856+534 b, and WTS-2 b - with the goal of detecting tidal orbital decay and extending the baselines of transit times. We find no evidence of orbital decay in any of the observed systems except for that of the extensively studied WASP-12 b. Although the orbit of WASP-12 b is unequivocally decaying, we find no evidence for acceleration of said orbital decay, with measured $\ddot{P} = (-7 \pm 8) \times 10^{-14} \rm ~s^{-1}$, against the expected acceleration decay of $\ddot{P} \approx -10^{-23} \rm ~s^{-1}$. In the case of WD 1856+534 b, there is a tentative detection of orbital growth with $\dot{P} = (5.0 \pm 1.5) \times 10^{-10}$. While statistically significant, we err on the side of caution and wait for longer follow-up observations to consider the measured $\dot{P}$ real. For most systems, we provide a 95\%-confidence lower limit on the tidal quality factor, $Q_\star'$. The possibility of detecting orbital decay in hot Jupiters via long-term radial velocity (RV) measurements is also explored. We find that $\sim 1 \rm ~m~s^{-1}$ precision in RVs will be required to detect orbital decay of WASP-12 b with only 3 yr of observations. Currently available RV measurements and precision are unable to detect orbital decay in any of the systems studied here., Comment: 14 pages, 11 figures; Accepted in MNRAS on 2024 August 30. Received 2024 August 29; in original form 2024 February 13

This paper focuses on defining an analog of differential-graded triangular matrix algebra in the context of differential-graded categories. Given two dg-categories $\mathcal{U}$ and $\mathcal{T}$ and $M \in \text{DgMod}(\mathcal{U} \otimes \mathcal{T}^{\text{op}})$, we construct the differential graded triangular matrix category $\Lambda := \left( \begin{smallmatrix} \mathcal{T} & 0 \\ M & \mathcal{U} \end{smallmatrix} \right)$. Our main result is that there is an equivalence of dg-categories between the dg-comma category $(\text{DgMod}(\mathcal{T}),\text{GDgMod}(\mathcal{U}))$ and the category $\text{DgMod}\left( \left( \begin{smallmatrix} \mathcal{T} & 0 \\ M & \mathcal{U} \end{smallmatrix} \right)\right)$. This result is an extension of a well-known result for Artin algebras (see, for example, [2,III.2]., Comment: 28 pages

Process curves are multi-variate finite time series data coming from manufacturing processes. This paper studies machine learning methods for drifts of process curves. A theoretic framework to synthetically generate process curves in a controlled way is introduced in order to benchmark machine learning algorithms for process drift detection. A evaluation score, called the temporal area under the curve, is introduced, which allows to quantify how well machine learning models unveil curves belonging to drift segments. Finally, a benchmark study comparing popular machine learning approaches on synthetic data generated with the introduced framework shown.

Grain boundaries are dominant imperfections in nanocrystalline materials that form a complex 3-dimensional (3D) network. Solute segregation to grain boundaries is strongly coupled to the grain boundary character, which governs the stability and macroscopic properties of nanostructured materials. Here, we develop a 3-dimensional transmission electron microscopy and atom probe tomography correlation framework to retrieve the grain boundary character and composition at the highest spatial resolution and chemical sensitivity by correlating four-dimensional scanning precession electron diffraction tomography (4D-SPED) and atom probe tomography (APT) on the same sample. We obtain the 3D grain boundary habit plane network and explore the preferential segregation of Cu and Si in a nanocrystalline Ni-W alloy. The correlation of structural and compositional information reveals that Cu segregates predominantly along high angle grain boundaries and incoherent twin boundaries, whereas Si segregation to low angle and incommensurate grain boundaries is observed. The novel full 3D correlative approach employed in this work opens up new possibilities to explore the 3D crystallographic and compositional nature of nanomaterials. This lays the foundation for both probing the true 3D structure-chemistry at the sub-nanometer scale and, consequentially, tailoring the macroscopic properties of advanced nanomaterials.

This onomasiological study uses diachronic word embeddings to explore how different words represented the same concepts over time, using historical word data from 1800 to 2000. We identify shifts in energy, transport, entertainment, and computing domains, revealing connections between language and societal changes. Our approach consisted in using diachronic word embeddings trained using word2vec with skipgram and aligning them using orthogonal Procrustes. We discuss possible difficulties linked to the relationships the method identifies. Moreover, we look at the ethical aspects of interpreting results, highlighting the need for expert insights to understand the method's significance., Comment: 7 pages, 1 figure

Van-der-Waals materials have been shown to support numerous exotic polaritonic phenomena originating from their layered structures and associated vibrational and electronic properties. This includes emergent polaritonic phenomena, including hyperbolicity and exciton-polariton formation. However, many van-der-Waals materials' unique properties are most prominent at cryogenic temperatures. This presents a particular challenge for polaritonics research, as reliable optical constant data is required for understanding light-matter coupling. For infrared polaritonics (3-100um), the small size of exfoliated flakes makes conventional ellipsometry impossible. This paper presents a cryogenic Fourier transform infrared microscope design constructed entirely from off-the-shelf components and fitting procedures for determining optical constants. We use this microscope to present the first temperature-dependent characterization of the optical properties of hexagonal boron nitride grown with isotopically pure boron. We show that Fabry Perot-type resonances close to the transverse optical phonon show the key temperature-dependent tuning of several parameters. Our full analysis of the infrared dielectric function shows small but significant tuning of the optical constants, which is highly consistent with Raman data from the literature. We then use this dielectric data to perform and analyze the polariton propagation properties, which agree extremely well with published cryogenic scattering-type nearfield microscopy results. In addition to the insights gained into hyperbolic polaritons in hBN, our paper represents a transferable framework for characterizing exfoliated infrared polaritonic materials and other infrared devices. This could accelerate discoveries in other material systems, especially those that are spatially inhomogeneous or cannot be prepared as large single crystals.

Automated driving can have a huge impact on the transport system in passenger, as well as freight applications; however, market and technological development are difficult to foresee. Therefore, a systems analysis is called for to answer the question: What is the impact of automated driving on the techno-economic performance of transport systems? It is important to quantify the potential impacts not only on a local scale and for specific use cases but for entire transport systems at large. Here, we provide an overview of the current state of automated driving, including academic research in addition to industrial development. For industrial development, we find that it will take at least until 2030-2040 for automated vehicles to be widely available for passenger transport. For freight transport on the other hand, automated vehicles might already be used within the next years at least on motorways. For academic research, we find that most studies on passenger transport consider shared automated vehicles separated from other transport modes and consider specific regions only. For freight transport we find that operational strategies and usage potentials for level 4 and 5 trucks lack alignment with real-life use cases and driving profiles. Based on this, we develop an analytical framework for future research. This includes a mode choice model for passenger transport demand calculations, a total cost of ownership model for freight trucks, transport statistics for freight flows, a microscopic traffic simulation to assess the impact of automated vehicles on traffic flow, and a road network analysis.

Recent advances in machine learning have significantly improved prediction accuracy in various applications. However, ensuring the calibration of probabilistic predictions remains a significant challenge. Despite efforts to enhance model calibration, the rigorous statistical evaluation of model calibration remains less explored. In this work, we develop confidence intervals the $\ell_2$ Expected Calibration Error (ECE). We consider top-1-to-$k$ calibration, which includes both the popular notion of confidence calibration as well as full calibration. For a debiased estimator of the ECE, we show asymptotic normality, but with different convergence rates and asymptotic variances for calibrated and miscalibrated models. We develop methods to construct asymptotically valid confidence intervals for the ECE, accounting for this behavior as well as non-negativity. Our theoretical findings are supported through extensive experiments, showing that our methods produce valid confidence intervals with shorter lengths compared to those obtained by resampling-based methods.

We analyze the transformation of a very broad class of metrics that can be expressed in terms of static coordinates. Starting from a general ansatz, we obtain a relation for the parameters in which one can impose further symmetries or restrictions. One of the simplest restrictions leads to FLRW cases, while transforming from the initial static to other static-type coordinates can lead to near horizon coordinates, Wheeler--Regge, and isotropic coordinates, among others. As less restrictive cases, we show an indirect route for obtaining Kruskal-Szekeres within this approach, as well as Lema\^{\i}tre coordinates. We use Schwarzschild spacetime as a prototype for testing the procedure in individual cases. However, application to other spacetimes, such as de-Sitter, Reissner-Nordstr\"{o}m, and Schwarzschild de Sitter, can be readily generalized., Comment: 13 Pages, no figures

The sheer scale and diversity of transportation make it a formidable sector to decarbonize. Here, we consider an emerging opportunity to reduce carbon emissions: the growing adoption of semi-autonomous vehicles, which can be programmed to mitigate stop-and-go traffic through intelligent speed commands and, thus, reduce emissions. But would such dynamic eco-driving move the needle on climate change? A comprehensive impact analysis has been out of reach due to the vast array of traffic scenarios and the complexity of vehicle emissions. We address this challenge with large-scale scenario modeling efforts and by using multi-task deep reinforcement learning with a carefully designed network decomposition strategy. We perform an in-depth prospective impact assessment of dynamic eco-driving at 6,011 signalized intersections across three major US metropolitan cities, simulating a million traffic scenarios. Overall, we find that vehicle trajectories optimized for emissions can cut city-wide intersection carbon emissions by 11-22%, without harming throughput or safety, and with reasonable assumptions, equivalent to the national emissions of Israel and Nigeria, respectively. We find that 10% eco-driving adoption yields 25%-50% of the total reduction, and nearly 70% of the benefits come from 20% of intersections, suggesting near-term implementation pathways. However, the composition of this high-impact subset of intersections varies considerably across different adoption levels, with minimal overlap, calling for careful strategic planning for eco-driving deployments. Moreover, the impact of eco-driving, when considered jointly with projections of vehicle electrification and hybrid vehicle adoption remains significant. More broadly, this work paves the way for large-scale analysis of traffic externalities, such as time, safety, and air quality, and the potential impact of solution strategies., Comment: In review

Deep Reinforcement Learning (DRL) presents a promising avenue for optimizing Energy Storage Systems (ESSs) dispatch in distribution networks. This paper introduces RL-ADN, an innovative open-source library specifically designed for solving the optimal ESSs dispatch in active distribution networks. RL-ADN offers unparalleled flexibility in modeling distribution networks, and ESSs, accommodating a wide range of research goals. A standout feature of RL-ADN is its data augmentation module, based on Gaussian Mixture Model and Copula (GMC) functions, which elevates the performance ceiling of DRL agents. Additionally, RL-ADN incorporates the Laurent power flow solver, significantly reducing the computational burden of power flow calculations during training without sacrificing accuracy. The effectiveness of RL-ADN is demonstrated using in different sizes of distribution networks, showing marked performance improvements in the adaptability of DRL algorithms for ESS dispatch tasks. This enhancement is particularly beneficial from the increased diversity of training scenarios. Furthermore, RL-ADN achieves a tenfold increase in computational efficiency during training, making it highly suitable for large-scale network applications. The library sets a new benchmark in DRL-based ESSs dispatch in distribution networks and it is poised to advance DRL applications in distribution network operations significantly. RL-ADN is available at: https://github.com/ShengrenHou/RL-ADN and https://github.com/distributionnetworksTUDelft/RL-ADN.

We use conformal geometry methods and the construction of Friedrich's cylinder at spatial infinity to study the propagation of spin-$0$ fields (solutions to the wave equation) on $n$-dimensional Minkowski spacetimes in a neighbourhood of spatial and null infinity. We obtain formal solutions written in terms of series expansions close to spatial and null infinity and use them to compute non-trivial asymptotic spin-$0$ charges. It is shown that if one considers the most general initial data within the class considered in this paper, the expansion is poly-homogeneous and hence of restricted regularity at null infinity. Furthermore, we derive the conditions on the initial data needed to obtain regular solutions and well-defined limits for the asymptotic charges at the critical sets where null infinity and spatial infinity meet. In four dimensions, we find that there are infinitely many well-defined asymptotic charges at the critical sets, while for higher dimensions there is only a finite number of non-trivial asymptotic charges that remain regular at the critical sets., Comment: 17 pages, 1 figure

Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a lightweight, accessible solution integrating tactile sensing with a compliant linkage-based mechanism. This paper introduces OPENGRASP LITE, an open-source, highly integrated, tactile, and lightweight artificial hand. Leveraging compliant linkage systems and MEMS barometer-based tactile sensing, it offers versatile grasping capabilities with six degrees of actuation. By providing tactile sensors and enabling soft grasping, it serves as an accessible platform for further research in tactile artificial hands., Comment: Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 October 2024

Scaling up hardware systems has become an important tactic for improving performance as Moore's law fades. Unfortunately, simulations of large hardware systems are often a design bottleneck due to slow throughput and long build times. In this article, we propose a solution targeting designs composed of modular blocks connected by latency-insensitive interfaces. Our approach is to construct the hardware simulation in a similar fashion as the design itself, using a prebuilt simulator for each block and connecting the simulators via fast shared-memory queues at runtime. This improves build time, because simulation scale-up simply involves running more instances of the prebuilt simulators. It also addresses simulation speed, because prebuilt simulators can run in parallel, without fine-grained synchronization or global barriers. We introduce a framework, Switchboard, that implements our approach, and discuss two applications, demonstrating its speed, scalability, and accuracy: (1) a web application where users can run fast simulations of chiplets on an interposer, and (2) a wafer-scale simulation of one million RISC-V cores distributed across thousands of cloud compute cores.

Voice over Wi-Fi (VoWiFi) uses a series of IPsec tunnels to deliver IP-based telephony from the subscriber's phone (User Equipment, UE) into the Mobile Network Operator's (MNO) core network via an Internet-facing endpoint, the Evolved Packet Data Gateway (ePDG). IPsec tunnels are set up in phases. The first phase negotiates the cryptographic algorithm and parameters and performs a key exchange via the Internet Key Exchange protocol, while the second phase (protected by the above-established encryption) performs the authentication. An insecure key exchange would jeopardize the later stages and the data's security and confidentiality. In this paper, we analyze the phase 1 settings and implementations as they are found in phones as well as in commercially deployed networks worldwide. On the UE side, we identified a recent 5G baseband chipset from a major manufacturer that allows for fallback to weak, unannounced modes and verified it experimentally. On the MNO side -- among others -- we identified 13 operators (totaling an estimated 140 million subscribers) on three continents that all use the same globally static set of ten private keys, serving them at random. Those not-so-private keys allow the decryption of the shared keys of every VoWiFi user of all those operators. All these operators deployed their core network from one common manufacturer.

In this study, the combined use of structural equation modeling (SEM) and Bayesian network modeling (BNM) in causal inference analysis is revisited. The perspective highlights the debate between proponents of using BNM as either an exploratory phase or even as the sole phase in the definition of structural models, and those advocating for SEM as the superior alternative for exploratory analysis. The individual strengths and limitations of SEM and BNM are recognized, but this exploration evaluates the contention between utilizing SEM's robust structural inference capabilities and the dynamic probabilistic modeling offered by BNM. A case study of the work of, \citet{balaguer_2022} in a structural model for personal positive youth development (\textit{PYD}) as a function of positive parenting (\textit{PP}) and perception of the climate and functioning of the school (\textit{CFS}) is presented. The paper at last presents a clear stance on the analytical primacy of SEM in exploratory causal analysis, while acknowledging the potential of BNM in subsequent phases., Comment: 38 pages, 9 figures, 2 tables

To lower the barriers to game design development, automated game design, which generates game designs through computational processes, has been explored. In automated game design, machine learning-based techniques such as evolutionary algorithms have achieved success. Benefiting from the remarkable advancements in deep learning, applications in computer vision and natural language processing have progressed in level generation. However, due to the limited amount of data in game design, the application of deep learning has been insufficient for tasks such as game description generation. To pioneer a new approach for handling limited data in automated game design, we focus on the in-context learning of large language models (LLMs). LLMs can capture the features of a task from a few demonstration examples and apply the capabilities acquired during pre-training. We introduce the grammar of game descriptions, which effectively structures the game design space, into the LLMs' reasoning process. Grammar helps LLMs capture the characteristics of the complex task of game description generation. Furthermore, we propose a decoding method that iteratively improves the generated output by leveraging the grammar. Our experiments demonstrate that this approach performs well in generating game descriptions.

Image-text retrieval (ITR), an important task in information retrieval (IR), is driven by pretrained vision-language models (VLMs) that consistently achieve state-of-the-art performance. However, a significant challenge lies in the brittleness of existing ITR benchmarks. In standard datasets for the task, captions often provide broad summaries of scenes, neglecting detailed information about specific concepts. Additionally, the current evaluation setup assumes simplistic binary matches between images and texts and focuses on intra-modality rather than cross-modal relationships, which can lead to misinterpretations of model performance. Motivated by this gap, in this study, we focus on examining the brittleness of the ITR evaluation pipeline with a focus on concept granularity. We start by analyzing two common benchmarks, MS-COCO and Flickr30k, and compare them with their augmented versions, MS-COCO-FG and Flickr30k-FG, given a specified set of linguistic features capturing concept granularity. We discover that Flickr30k-FG and MS COCO-FG consistently achieve higher scores across all the selected features. To investigate the performance of VLMs on coarse and fine-grained datasets, we introduce a taxonomy of perturbations. We apply these perturbations to the selected datasets. We evaluate four state-of-the-art models - ALIGN, AltCLIP, CLIP, and GroupViT - on the standard and fine-grained datasets under zero-shot conditions, with and without the applied perturbations. The results demonstrate that although perturbations generally degrade model performance, the fine-grained datasets exhibit a smaller performance drop than their standard counterparts. Moreover, the relative performance drop across all setups is consistent across all models and datasets, indicating that the issue lies within the benchmarks. We conclude the paper by providing an agenda for improving ITR evaluation pipelines.

The Solar eruptioN Integral Field Spectrograph (SNIFS) is a solar-gazing spectrograph scheduled to fly in the summer of 2025 on a NASA sounding rocket. Its goal is to view the solar chromosphere and transition region at a high cadence (1s) both spatially (0.5") and spectrally (33 m{\AA}) viewing wavelengths around Lyman Alpha (1216 {\AA}), Si iii (1206 {\AA}) and O v (1218 {\AA}) to observe spicules, nanoflares, and possibly a solar flare. This time cadence will provide yet-unobserved detail about fast-changing features of the Sun. The instrument is comprised of a Gregorian-style reflecting telescope combined with a spectrograph via a specialized mirrorlet array that focuses the light from each spatial location in the image so that it may be spectrally dispersed without overlap from neighboring locations. This paper discusses the driving science, detailed instrument and subsystem design, and pre-integration testing of the SNIFS instrument., Comment: 22 pages (not including references), 7 figures, submitting to Solar Physics

For fast-tracking climate change response, green hydrogen is key for achieving greenhouse gas neutral energy systems. Especially Sub-Saharan Africa can benefit from it enabling an increased access to clean energy through utilizing its beneficial conditions for renewable energies. However, developing green hydrogen strategies for Sub-Saharan Africa requires highly detailed and consistent information ranging from technical, environmental, economic, and social dimensions, which is currently lacking in literature. Therefore, this paper provides a comprehensive novel approach embedding the required range of disciplines to analyze green hydrogen cost-potentials in Sub-Saharan Africa. This approach stretches from a dedicated land eligibility based on local preferences, a location specific renewable energy simulation, locally derived sustainable groundwater limitations under climate change, an optimization of local hydrogen energy systems, and a socio-economic indicator-based impact analysis. The capability of the approach is shown for case study regions in Sub-Saharan Africa highlighting the need for a unified, interdisciplinary approach.

This study analysed sprint kayak pacing profiles in order to categorise and compare an athlete's race profile throughout their career. We used functional principal component analysis of normalised velocity data for 500m and 1000m races to quantify pacing. The first four principal components explained 90.77% of the variation over 500m and 78.80% over 1000m. These principal components were then associated with unique pacing characteristics with the first component defined as a dropoff in velocity and the second component defined as a kick. We then applied a Hidden Markov model to categorise each profile over an athlete's career, using the PC scores, into different types of race profiles. This model included age and event type and we identified a trend for a higher dropoff in development pathway athletes. Using the four different race profile types, four athletes had all their race profiles throughout their careers analysed. It was identified that an athlete's pacing profile can and does change throughout their career as an athlete matures. This information provides coaches, practitioners and athletes with expectations as to how pacing profiles can be expected to change across the course of an athlete's career., Comment: 17 Pages, 7 Figures, 3 Tables

Amplification of bursts of ultrashort pulses is very challenging when the intraburst repetition frequency reaches the THz range, corresponding to (sub)-ps intervals between consecutive pulses. Periodic interference significantly modifies conditions for chirped pulse amplification (CPA) which gives rise to temporal and spectral distortions during CPA due to the optical Kerr nonlinearity. Multi-pulse chirped amplification to mJ energies may lead to a pronounced degradation of burst fidelity and the appearance of periodic temporal satellites after de-chirping the amplified waveform. We study, experimentally and numerically, the limitations of THz burst-mode CPA caused by self- and cross-phase modulation. A number of practical recipes to suppress nonlinear distortions and improve energy scaling by optimizing burst parameters and applying modulation techniques are presented., Comment: 14 pages, 9 Figures, research article

We present optical photometry for the afterglow of GRB 221009A, in some respects the most extraordinary gamma-ray burst (GRB) ever observed. Good quality in the R-band light curve is obtained, covering 0.32-19.57 days since the Fermi-GBM trigger. We find that a weak bump emerges fromthe declining afterglow at $t \approx 11$ days; a supernova (SN) may be responsible. We use a smooth broken power-law and $^{56}\mathrm{Ni}$ model to fit the light curve. The best-fitting results reveal that the SN ejected a total mass of $M_\mathrm{ej} = 3.70 M_\odot$, a $^{56}\mathrm{Ni}$ mass of $M_\mathrm{Ni} = 0.23 M_\odot$, and a kinetic energy of $E_\mathrm{SN,K} = 2.35 \times 10^{52} \mathrm{erg}$. We also compare GRB 221009A with other GRB-SN events based on a GRB-associated SN sample, and find that only SN 2003lw and SN 2011kl can be obviously revealed in the afterglow of GRB 221009A by setting these objects at its distance. This suggests that a supernova (SN 2022xiw) is possibly obscured by the brighter afterglow emission from GRB 221009A.

We present Reasons For and Against Vaccination (RFAV), a dataset for predicting reasons for and against vaccination, and scientific authorities used to justify them, annotated through nichesourcing and augmented using GPT4 and GPT3.5-Turbo. We show how it is possible to mine these reasons in non-structured text, under different task definitions, despite the high level of subjectivity involved and explore the impact of artificially augmented data using in-context learning with GPT4 and GPT3.5-Turbo. We publish the dataset and the trained models along with the annotation manual used to train annotators and define the task., Comment: 8 pages + references and appendix

Superconducting traveling-wave parametric amplifiers have emerged as highly promising devices for near-quantum-limited broadband amplification of microwave signals and are essential for high quantum-efficiency microwave readout lines. Built-in isolation, as well as gain, would address their primary limitation: lack of true directionality due to potential backward travel of electromagnetic radiation to their input port. Here, we demonstrate a Josephson-junction-based traveling-wave parametric amplifier isolator. It utilizes third-order nonlinearity for amplification and second-order nonlinearity for frequency upconversion of backward propagating modes to provide reverse isolation. These parametric processes, enhanced by a novel phase matching mechanism, exhibit gain of up to 20~dB and reverse isolation of up to 30~dB over a static 3~dB bandwidth greater than 500~MHz, while keeping near-quantum limited added noise. This demonstration of a broadband truly directional amplifier ultimately paves the way towards broadband quantum-limited microwave amplification lines without bulky magnetic isolators and with inhibited back-action.

The newly installed Silmaril beam combiner at the CHARA array is designed to observe previously inaccessible faint targets, including Active Galactic Nuclei and T-Tauri Young Stellar Objects. Silmaril leverages cutting-edge optical design, low readout noise, and a high-speed C-RED1 camera to realize its sensitivity objectives. In this presentation, we offer a comprehensive overview of the instrument's software, which manages critical functions, including camera data acquisition, fringe tracking, automatic instrument alignment, and observing interfaces, all aimed at optimizing on-sky data collection. Additionally, we offer an outline of the data reduction pipeline, responsible for converting raw instrument data products into the final OIFITS used by the standard interferometry modeling software. The purpose of this paper is to provide a solid reference for studies based on Silmaril data., Comment: Presented at 2024 SPIE Astronomical Telescopes + Instrumentation conference

The complexity of event-based object detection (OD) poses considerable challenges. Spiking Neural Networks (SNNs) show promising results and pave the way for efficient event-based OD. Despite this success, the path to efficient SNNs on embedded devices remains a challenge. This is due to the size of the networks required to accomplish the task and the ability of devices to take advantage of SNNs benefits. Even when "edge" devices are considered, they typically use embedded GPUs that consume tens of watts. In response to these challenges, our research introduces an embedded neuromorphic testbench that utilizes the SPiking Low-power Event-based ArchiTecture (SPLEAT) accelerator. Using an extended version of the Qualia framework, we can train, evaluate, quantize, and deploy spiking neural networks on an FPGA implementation of SPLEAT. We used this testbench to load a state-of-the-art SNN solution, estimate the performance loss associated with deploying the network on dedicated hardware, and run real-world event-based OD on neuromorphic hardware specifically designed for low-power spiking neural networks. Remarkably, our embedded spiking solution, which includes a model with 1.08 million parameters, operates efficiently with 490 mJ per prediction., Comment: Result link: https://youtu.be/TsolUDaMY7Y

The acquisition of complex knowledge and competences raises difficult challenges for the supporting tools within the corporate environment, which digital storytelling presents a potential solution. Traditionally, a driving goal of digital storytelling is the generation of dramatic stories with human significance, but for learning purposes, the need for drama is complemented by the requirement of achieving particular learning outcomes. This paper presents a narrative engine that supports emergent storytelling to support the development of complex competences in the learning domains of project management and innovation. The approach is based on the adaptation on the Fabula model combined with cases representing situated contexts associated to particular competences. These cases are then triggered to influence the unfolding of the story such that a learner encounters dramatic points in the narrative where the associated competences need to be used. In addition to the description of the approach and corresponding narrative engine, an illustration is presented of how the competence 'conflict management' influences a story.

In today's cellular network evolutions, such as 4G and 5G, the IMS (IP Multimedia Subsystem) serves as a crucial component in managing voice calls and handling short messages. Besides accessing the IMS over the traditional radio layer, many operators use Voice over Wi-Fi (VoWiFi) allowing customers to dial into their core network over the public Internet using an (insecure) Wi-Fi connection. To protect against malicious actors on the WiFi or Internet domain, the traffic is sent over a series of IPsec tunnels, ensuring confidentiality and integrity. Similar to other encrypted protocols (e.g. TLS), the client and server use a handshake protocol (i.e., IKEv2) to communicate their supported security configurations and to agree upon the used parameters (e.g., keys or an encryption algorithm) for the ongoing session. This however opens the door for security vulnerabilities introduced by misconfiguration. We want to analyze security configurations within commercial VoWiFi deployments, both on the client and server side, spotting deprecated configurations that undermine communication security.