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The simultaneous presence of liquid and gas in porous media increases flow heterogeneity compared to saturated flows. However, so far the impact of saturation on flow statistics and transport dynamics remained unclear. Here, we develop a theoretical framework that captures the impact of flow reorganization on the statistics of pore-scale fluid velocities, due to the presence of gas in the pore space, which leads to the development of a highly-structured flow field. Preferential flow is distributed spatially through the denoted backbone and flow recirculation occurs in dead-end regions branching from it. This induces a marked change in the scaling of the velocity PDF compared to the saturated case, and a sharp transition to strongly anomalous transport. We develop a transport model based on the continuous time random walk theory that successfully predicts advective transport dynamics for all saturation degrees. Our results provide a new modelling framework linking phase heterogeneity to flow heterogeneity and to transport in unsaturated media.

We present an application of the well-known Mask R-CNN approach to the counting of different types of bacterial colony forming units that were cultured in Petri dishes. Our model was made available to lab technicians in a modern SPA (Single-Page Application). Users can upload images of dishes, after which the Mask R-CNN model that was trained and tuned specifically for this task detects the number of BVG- and BVG+ colonies and displays these in an interactive interface for the user to verify. Users can then check the model's predictions, correct them if deemed necessary, and finally validate them. Our adapted Mask R-CNN model achieves a mean average precision (mAP) of 94\% at an intersection-over-union (IoU) threshold of 50\%. With these encouraging results, we see opportunities to bring the benefits of improved accuracy and time saved to related problems, such as generalising to other bacteria types and viral foci counting., Comment: 9 pages, 3 pdf figures. Extended version of poster presented at ESANN 2020 (European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning)

In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench distribution of the contact points based on the Chebyshev center. Our solution is formulated as a quadratic programming problem without a priori computation of balance regions. We assess our approach with experiments highlighting switches between fixed and sliding contact modes in multi-contact configurations. A humanoid robot demonstrates such contact interchanges from fully-fixed to multi-sliding and also shuffling of the foot. The scenarios illustrate the performance of our control scheme in achieving the desired forces, CoM position attractor, and planned trajectories while actively maintaining balance.

We derive the first positivity bounds for low-energy Effective Field Theories (EFTs) that are not invariant under Lorentz boosts. "Positivity bounds" are the low-energy manifestation of certain fundamental properties in the UV -- to date they have been used to constrain a wide variety of EFTs, however since all of the existing bounds require Lorentz invariance they are not directly applicable when this symmetry is broken, such as for most cosmological and condensed matter systems. From the UV axioms of unitarity, causality and locality, we derive an infinite family of bounds which (derivatives of) the $2\to2$ EFT scattering amplitude must satisfy even when Lorentz boosts are broken (either spontaneously or explicitly). We apply these bounds to the leading-order EFT of both a superfluid and the scalar fluctuations produced during inflation, comparing in the latter case with the current observational constraints on primordial non-Gaussianity., Comment: 14 pages (including Appendices), 1 figure

Pluto's atmospheric profiles (temperature and pressure) have been studied for decades from stellar occultation lightcurves. In this paper, we look at recent Pluto Global Climate Model (GCM) results (3D temperature, pressure, and density fields) from Bertrand et al. (2020) and use the results to generate model observer's plane intensity fields (OPIF) and lightcurves by using a Fourier optics scheme to model light passing through Pluto's atmosphere (Young, 2012). This approach can accommodate arbitrary atmospheric structures and 3D distributions of haze. We compared the GCM model lightcurves with the lightcurves observed during the 15-AUG-2018 Pluto stellar occultation. We find that the climate scenario which best reproduces the observed data includes an N2 ice mid-latitude band in the southern hemisphere. We have also studied different haze and P/T ratio profiles: the haze effectively reduces the central flash strength, and a lower P/T ratio both reduces the central flash strength and incurs anomalies in the shoulders of the central flash.

Every polynomial $P(X)\in \mathbb Z[X]$ satisfies the congruences $P(n+m)\equiv P(n) \mod m$ for all integers $n, m\ge 0$. An integer valued sequence $(a_n)_{n\ge 0}$ is called a pseudo-polynomial when it satisfies these congruences. Hall characterized pseudo-polynomials and proved that they are not necessarily polynomials. A long standing conjecture of Ruzsa says that a pseudo-polynomial $a_n$ is a polynomial as soon as $\limsup_n \vert a_n\vert^{1/n}

Irradiation Assisted Stress Corrosion Cracking (IASCC) is a material degradation phenomenon affecting austenitic stainless steels used in nuclear Pressurized Water Reactors (PWR), leading to the initiation and propagation of intergranular cracks. Such phenomenon belongs to the broader class of InterGranular Stress Corrosion Cracking (IGSCC). A micromechanical analysis of IGSCC of an irradiated austenitic stainless steel is performed in this study to assess local cracking conditions. A 304L proton irradiated sample tested in PWR environment and showing intergranular cracking is investigated. Serial sectioning, Electron BackScatter Diffraction (EBSD) and a two-step misalignment procedure are performed to reconstruct the 3D microstructure over an extended volume, to assess statistically cracking criteria. A methodology is also developed to compute Grain Boundary (GB) normal orientations based on the EBSD measurements. The statistical analysis shows that cracking occurs preferentially for GB normals aligned with the mechanical loading axis, but also for low values of the Luster-Morris slip transmission parameter. Micromechanical simulations based on the reconstructed 3D microstructure, FFT-based solver and crystal plasticity constitutive equations modified to account for slip transmission at grain boundaries are finally performed. These simulations rationalize the correlation obtained experimentally into a single stress-based criterion. The actual strengths and weaknesses of such micromechanical approach are discussed.

The task of verbalization of RDF triples has known a growth in popularity due to the rising ubiquity of Knowledge Bases (KBs). The formalism of RDF triples is a simple and efficient way to store facts at a large scale. However, its abstract representation makes it difficult for humans to interpret. For this purpose, the WebNLG challenge aims at promoting automated RDF-to-text generation. We propose to leverage pre-trainings from augmented data with the Transformer model using a data augmentation strategy. Our experiment results show a minimum relative increases of 3.73%, 126.05% and 88.16% in BLEU score for seen categories, unseen entities and unseen categories respectively over the standard training., Comment: Accepted at WebNLG+: 3rd Workshop on Natural Language Generation from the Semantic Web

The Pluto-Charon system provides a broad variety of constraints on planetary formation, composition, chemistry, and evolution. Pluto was the first body to be discovered in what is now known as the Kuiper belt, its orbit ultimately becoming a major clue that the giant planets underwent substantial orbital migration early in Solar System history. This migration has been linked to an early instability in the orbits of the giant planets and the formation of the Kuiper belt itself, from an ancestral trans-Neptunian planetesimal disk that included Pluto. Pluto-Charon is emblematic of what are now recognized as small or dwarf planets. Far from being a cold, dead, battered icy relic, Pluto displays evidence of a complex geological history, with ongoing processes including tectonism, cryovolcanism, solid-state convection, glacial flow, atmospheric circulation, surface-atmosphere volatile exchange, aeolian processes, and atmospheric photochemistry, microphysics, and haze formation. Despite Pluto's relatively modest scale, the combination of original accretional heat, long-term internal radiogenic heat release, and external solar forcing, when combined with sufficiently volatile (and thus mobile) materials, yields an active world. Pluto may have inherited a large organic mass fraction during accretion, which may responsible, in part, for its surface and atmospheric volatiles. Charon, Pluto's major moon, displays evidence of extensive early tectonism and cryovolcanism. Dwarf planets are thus truly planetary in terms of satellite systems and geological and atmospheric complexity (if not ongoing activity). What they may lack in mass is made up in number, and the majority of the Solar System's dwarf planets remain undiscovered., Comment: 94 pages, 13 figures; will appear as a chapter/conference proceedings in the Space Science Series volume "The Pluto System After New Horizons," S.A. Stern et al., University of Arizona Press, Tucson, AZ

A learning dialogue agent can infer its behaviour from interactions with the users. These interactions can be taken from either human-to-human or human-machine conversations. However, human interactions are scarce and costly, making learning from few interactions essential. One solution to speedup the learning process is to guide the agent's exploration with the help of an expert. We present in this paper several imitation learning strategies for dialogue policy where the guiding expert is a near-optimal handcrafted policy. We incorporate these strategies with state-of-the-art reinforcement learning methods based on Q-learning and actor-critic. We notably propose a randomised exploration policy which allows for a seamless hybridisation of the learned policy and the expert. Our experiments show that our hybridisation strategy outperforms several baselines, and that it can accelerate the learning when facing real humans., Comment: 8 pages, Accepted at Human in the Loop Dialogue Systems Workshop, NeurIPS 2020

With the development of big corpora of various periods, it becomes crucial to standardise linguistic annotation (e.g. lemmas, POS tags, morphological annotation) to increase the interoperability of the data produced, despite diachronic variations. In the present paper, we describe both methodologically (by proposing annotation principles) and technically (by creating the required training data and the relevant models) the production of a linguistic tagger for (early) modern French (16-18th c.), taking as much as possible into account already existing standards for contemporary and, especially, medieval French.

Microgrids, self contained electrical grids that are capable of disconnecting from the main grid, hold potential in both tackling climate change mitigation via reducing CO2 emissions and adaptation by increasing infrastructure resiliency. Due to their distributed nature, microgrids are often idiosyncratic; as a result, control of these systems is nontrivial. While microgrid simulators exist, many are limited in scope and in the variety of microgrids they can simulate. We propose pymgrid, an open-source Python package to generate and simulate a large number of microgrids, and the first open-source tool that can generate more than 600 different microgrids. pymgrid abstracts most of the domain expertise, allowing users to focus on control algorithms. In particular, pymgrid is built to be a reinforcement learning (RL) platform, and includes the ability to model microgrids as Markov decision processes. pymgrid also introduces two pre-computed list of microgrids, intended to allow for research reproducibility in the microgrid setting.

We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers. We demonstrate the use of these tools in simulation for a robot interacting with a human model. Finally, we showcase and discuss the use of the developed open-source tools for running the human-robot close contact interaction experiments with real human subjects inspired from assistance scenarios., Comment: IEEE/SICE 13th International Symposium on System Integration (SII 2021)

Air showers, produced by the interaction of energetic cosmic rays with the atmosphere, are an excellent alternative to study particle physics at energies beyond any human-made particle accelerator. For that, it is necessary to identify first the mass composition of the primary cosmic ray (and its energy). None of the existing high energy interaction models have been able to reproduce coherently all air shower observables over the entire energy and zenith angle phase space. This is despite having tried all possible combinations for the cosmic ray mass composition. This proposal outlines a self-consistent strategy to study high energy particle interactions and identify the energy spectra and mass composition of cosmic rays. This strategy involves the participation of different particle accelerators and astrophysics experiments. This is important to cover the entire cosmic ray energy range and a larger phase-space of shower observables to probe the high energy interaction models., Comment: Snowmass2021 - Letter of Interest

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in task-space contact velocity and peak impact forces also result in abrupt changes in robot joint velocities and torques; which can compromise controllers' stability, especially for those based on smooth models. In reality, several tasks would require establishing contact with moderately high velocity. We propose to enhance task-space multi-objective controllers formulated as a quadratic program to be resilient to frictional impacts in three dimensions. We devise new constraints and reformulate the usual ones to be robust to the abrupt joint state changes mentioned earlier. The impact event becomes a controlled process once the optimal control search space is aware of: (1) the hardware-affordable impact bounds and (2) analytically-computed feasible set (polyhedra) that constrain post-impact critical states. Prior to and nearby the targeted contact spot, we assume, at each control cycle, that the impact will occur at the next iteration. This somewhat one-step preview makes our controller robust to impact time and location. To assess our approach, we experimented its resilience to moderate impacts with the Panda manipulator and achieved swift grabbing tasks with the HRP-4 humanoid robot.

In contrast to massless spinning particles, scalars are not heavily constrained by unitarity and locality. Off-shell, no gauge symmetries are required to write down manifestly local theories, while on-shell consistent factorisation is trivial. Instead a useful classification scheme for scalars is based on the symmetries they can non-linearly realise. Motivated by the breaking of Lorentz boosts in cosmology, in this paper we classify the possible symmetries of a shift-symmetric scalar that is assumed to non-linearly realise Lorentz boosts as, for example, in the EFT of inflation. Our classification method is algebraic; guided by the coset construction and inverse Higgs constraints. We rediscover some known phonon theories within the superfluid and galileid classes, and discover a new galileid theory which we call the $\textit{extended galileid}$. Generic galileids correspond to the broken phase of galileon scalar EFTs and our extended galileids correspond to special subsets where each galileon coupling is fixed by an additional symmetry. We discuss the broken phase of theories that also admit a perturbation theory around Poincar\'{e} invariant vacua and we show that the so-called exceptional EFTs, the DBI scalar and special galileon, do not admit such a broken phase. Concentrating on DBI we provide a detailed account of this showing that the scattering amplitudes are secretly Poincar\'{e} invariant when the theory is expanded around the superfluid background used in the EFT of inflation. We point out that DBI is an exception to the common lore that the residue of the total energy pole of cosmological correlators is proportional to the amplitude. We also discuss the inevitability of poles in $2 \rightarrow 2$ scattering amplitudes when boost are spontaneously broken meaning that such theories do not admit Adler zeros and generalisations even in the presence of a shift symmetry., Comment: 45 pages, 6 Figures, 3 Tables

During inflation, there is a preferred reference frame in which the expansion of the background spacetime is spatially isotropic. In contrast to Minkowski spacetime, observables can depend on the velocity of the system with respect to this cosmic rest frame. We derive new constraints from radiative stability and unitarity on effective field theories with such spontaneously broken Lorentz symmetry. In addition to a maximum energy scale, there is now also a critical velocity at which the theory breaks down. The theory therefore has different resolving power in time and in space, and we show that these can only coincide if cubic Lorentz-violating interactions are absent. Applying these bounds to the Effective Field Theory of Inflation, we identify the region of parameter space in which inflation can be both single-field and weakly coupled on subhorizon scales. This can be implemented as a theoretical prior, and we illustrate this explicitly using Planck observational constraints on the primordial bispectrum., Comment: 41 pages plus Appendices, 7 figures (replaced to match journal version. [55] refers to 2102.05683)

The mass-type quadrupole moment of inspiralling compact binaries (without spins) is computed at the fourth post-Newtonian (4PN) approximation of general relativity. The multipole moments are defined by matching between the field in the exterior zone of the matter system and the PN field in the near zone, following the multipolar-post-Minkowskian (MPM)-PN formalism. The matching implies a specific regularization for handling infra-red (IR) divergences of the multipole moments at infinity, based on the Hadamard finite part procedure. On the other hand, the calculation entails ultra-violet (UV) divergences due to the modelling of compact objects by delta-functions, that are treated with dimensional regularization (DR). In future work we intend to systematically study the IR divergences by means of dimensional regularization as well. Our result constitutes an important step in the goal of obtaining the gravitational wave templates of inspiralling compact binary systems with 4PN/4.5PN accuracy., Comment: 56 pages

We analyze the dynamics of solute mixing in a vortex flow. The transport of a passive tracer is considered in a Rankine vortex. The action of a shear flow, in general, is to achieve stretching of fluid elements. A vortex flow exhibits stretching and folding of fluid elements in a way which brings adjacent fluid elements closer every turn. A strong stretching along the direction of rotation is accompanied by a concomitant thinning in the radial direction leading to a strong diffusive flux which may cause material from neighbouring regions of the mixing interface to aggregate. Through a Lagrangian concentration evolution technique, the diffusive strip method, we obtain the concentration field and pinpoint the signature of coalescence of two neighbouring concentration regions by analyzing the concentration distribution profiles. We link coalescence with reactivity for mixing-limited reactive flows. The analysis is useful to understand scalar dispersion in vortical flow structures., Comment: 11 figures

Millimeter-wave (mmWave) communication is one of the cornerstone innovations of fifth-generation (5G) wireless networks, thanks to the massive bandwidth available in these frequency bands. To correctly assess the performance of such systems, however, it is essential to have reliable channel models, based on a deep understanding of the propagation characteristics of the mmWave signal. In this respect, ray tracers can provide high accuracy, at the expense of a significant computational complexity, which limits the scalability of simulations. To address this issue, in this paper we present possible simplifications that can reduce the complexity of ray tracing in the mmWave environment, without significantly affecting the accuracy of the model. We evaluate the effect of such simplifications on link-level metrics, testing different configuration parameters and propagation scenarios., Comment: 6 pages, 6 figures, 1 table. This paper has been accepted for presentation at ITA 2020. (c) 2020 IEEE. Please cite it as: M. Lecci, P. Testolina, M. Giordani, M. Polese, T. Ropitault, C. Gentile, N. Varshney, A. Bodi, M. Zorzi, "Simplified Ray Tracing for the Millimeter Wave Channel: A Performance Evaluation," Information Theory and Applications Workshop (ITA), San Diego, US, 2020

Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external environment. We explicitly investigate the propagation of the impact-induced velocity and torque jumps along the structure linkage and propose a set of constraints that always satisfy the hardware limits, sustain already established contacts and the stability measure, i.e. the zero moment point condition. Without assumptions on the impact location or timing, our proposed controller enables humanoid robots to generate non-zero contact velocity without breaking the established contacts or falling. The novelty of our approach lies in building on existing continuous dynamics whole body multi-objective controller without the need of reset-maps or hybrid control.

An experimental methodology is developed to evaluate size effects in nanovoids deformation under macroscopic uniaxial stress loading conditions. Quantitative evaluation of voids deformation as a function of voids size shows both a crystallographic effect, albeit small compared to the scatter, and no evidence of size effects for voids diameter larger than 10 nm, while a slight effect is present for smaller voids. Critical assessment of the data in light of theoretical models indicates that these results may be compatible with the presence of a hardened layer at the void/matrix interface, which is illustrated through finite element simulations accounting for surface tension.

This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an admissible convex area. This area should be calculated based on the contact positions and forces. We introduce a methodology to compute this CoM support area (CSA) for multiple fixed and sliding contacts. To select the most appropriate CoM position inside CSA, we account for (i) constraints of multiple fixed and sliding contacts, (ii) desired wrench distribution for contacts, and (iii) desired position of CoM (eventually dictated by other tasks). These are formulated as a quadratic programming optimization problem. We illustrate our approach with pushing against a wall and wiping and conducted experiments using the HRP-4 humanoid robot.

We provide a complete classification of Poincar\'e-invariant scalar field theories with an enlarged set of classical symmetries to leading order in derivatives, namely for the so-called $P(X,\phi)$ theories, in two or more spacetime dimensions. We find only three possibilities: Dirac-Born-Infeld, Cuscuton and Scaling theories. The latter two classes of actions involve an arbitrary function of the scalar field. As an application, we use the scaling symmetry to derive an infinite set of constraints on the Wilsonian coefficients of the low-energy Effective Field Theory. Furthermore, we study the extension of these results to cosmological (FLRW) and (Anti-)de Sitter spacetimes. We find in particular that the Cuscuton action has a generic set of symmetries around any background spacetime that possesses Killing vector fields, while the DBI actions have well-known analogues that we summarize explicitly., Comment: 26 pages

Global dust storms are the most thermodynamically significant dust events on Mars. They are produced from the combination of multiple local and regional lifting events and maintained by positive radiative-dynamic feedbacks. The most recent of these events, which began in June 2018, was monitored by several spacecraft in orbit and on the surface, but many questions remain regarding its onset, expansion and decay. We model the 2018 global dust storm with the NASA Ames Mars Global Climate Model to better understand the evolution of the storm and how the general circulation and finite surface dust reservoirs impact it. The global dust storm is characterized by the rapid eastward transport of dust in the equatorial regions and subsequent lifting. We highlight the rapid transfer of dust between western and eastern hemispheres reservoirs, which may play an important role in the storm development through the replenishment of surface dust. Both the Hadley cell circulation and the diurnal cycle of atmospheric heating increase in intensity with increasing dustiness. Large dust plumes are predicted during the mature stage of the storm, injecting dust up to 80 km. The water ice cloud condensation level migrates to higher altitudes, leading to the enrichment of water vapor in the upper atmosphere. In our simulations, the intensity of the Hadley cell is significantly stronger than that of non-dusty conditions. This feedback is strongly sensitive to the radiative properties of dust, which depends on the effective size of the lifted dust distribution., Comment: 40 pages, 16 figures, submitted to JGR planets

If a linear differential operator with rational function coefficients is reducible, its factors may have coefficients with numerators and denominatorsof very high degree. When the base field is $\mathbb C$, we give a completely explicit bound for the degrees of the monic right factors in terms of the degree and the order of the original operator, as well as the largest modulus of the local exponents at all its singularities. As a consequence, if a differential operator $L$ has rational function coefficients over a number field, we get degree bounds for its monic right factors in terms of the degree, the order and the height of $L$, and of the degree of the number field.

The IEEE 802.11ad standard extends WiFi operation to the millimeter wave frequencies, and introduces novel features concerning both the physical (PHY) and Medium Access Control (MAC) layers. However, while there are extensive research efforts to develop mechanisms for establishing and maintaining directional links for mmWave communications, fewer works deal with transmission scheduling and the hybrid MAC introduced by the standard. The hybrid MAC layer provides for two different kinds of resource allocations: Contention Based Access Periods (CBAPs) and contention free Service Periods (SPs). In this paper, we propose a Markov Chain model to represent CBAPs, which takes into account operation interruptions due to scheduled SPs and the deafness and hidden node problems that directional communication exacerbates. We also propose a mathematical analysis to assess interference among stations. We derive analytical expressions to assess the impact of various transmission parameters and of the Data Transmission Interval configuration on some key performance metrics such as throughput, delay and packet dropping rate. This information may be used to efficiently design a transmission scheduler that allocates contention-based and contention-free periods based on the application requirements.

We explain, step by step, how we strategically circumvented the Nintendo Switch's system security, from basic userland code execution, to undermining and exposing the secrets of the security co-processor. To this end, we've identified and utilized two distinct analysis procedures. The software-based analysis suffices for reverse-engineering the userland and operating system services, and is necessary for a general architectural understanding of the software systems in the Nintendo Switch. While this method is extremely powerful and provides significant leverage over the control of the system and its software security, a hardware-based method was devised, which employs analysis of the trusted bootstrap code in ROM. This strategy was essential for the goal of defeating the hardware root of trust. Together, these two vectors provide essential insight required to instance a chain of attacks, in order to gain ROP code execution from the context of a high-security mode of a secure co-processor of a running system, thus allowing us to demonstrate a multi-faceted approach on attacking secure, embedded devices in an unfamiliar and novel environment., Comment: 12 pages, 4 figures; corrected some innacuracies