Search

A search for Dark Sectors is performed using the unique M2 beam line at the CERN Super Proton Synchrotron. New particles ($X$) could be produced in the bremsstrahlung-like reaction of high energy 160 GeV muons impinging on an active target, $\mu N\rightarrow\mu NX$, followed by their decays, $X\rightarrow\text{invisible}$. The experimental signature would be a scattered single muon from the target, with about less than half of its initial energy and no activity in the sub-detectors located downstream the interaction point. The full sample of the 2022 run is analyzed through the missing energy/momentum channel, with a total statistics of $(1.98\pm0.02)\times10^{10}$ muons on target. We demonstrate that various muon-philic scenarios involving different types of mediators, such as scalar or vector particles, can be probed simultaneously with such a technique. For the vector-case, besides a $L_\mu-L_\tau$ $Z'$ vector boson, we also consider an invisibly decaying dark photon ($A'\rightarrow\text{invisible}$). This search is complementary to NA64 running with electrons and positrons, thus, opening the possibility to expand the exploration of the thermal light dark matter parameter space by combining the results obtained with the three beams., Comment: 24 pages, 22 figures

Search and rescue operations require mobile robots to navigate unstructured indoor and outdoor environments. In particular, actively stabilized multirotor drones need precise movement data to balance and avoid obstacles. Combining radial velocities from on-chip radar with MEMS inertial sensing has proven to provide robust, lightweight, and consistent state estimation, even in visually or geometrically degraded environments. Statistical tests robustify these estimators against radar outliers. However, available work with binary outlier filters lacks adaptability to various hardware setups and environments. Other work has predominantly been tested in handheld static environments or automotive contexts. This work introduces a robust baro-radar-inertial odometry (BRIO) m-estimator for quadcopter flights in typical GNSS-denied scenarios. Extensive real-world closed-loop flights in cities and forests demonstrate robustness to moving objects and ghost targets, maintaining a consistent performance with 0.5 % to 3.2 % drift per distance traveled. Benchmarks on public datasets validate the system's generalizability. The code, dataset, and video are available at https://github.com/ethz-asl/rio., Comment: Accepted for publication at IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) 2024

In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can adjust their motion based on human intentions, enabling dynamic task planning and adaptation. Addressing the needs of industrial applications, we propose a motion control framework that (i) removes the need for manual control of the robot's movement; (ii) facilitates the formulation and combination of complex tasks; and (iii) allows the seamless integration of human intent recognition and robot motion planning. For this purpose, we leverage a modular and purely reactive approach for task parametrization and motion generation, embodied by Riemannian Motion Policies. The effectiveness of our method is demonstrated, evaluated, and compared to \remove{state-of-the-art approaches}\add{a representative state-of-the-art approach} in experimental scenarios inspired by realistic industrial Human-Robot Interaction settings., Comment: 9 pages; Robotics, Science and Systems (RSS) 2024

We present the first results from a proof-of-concept search for dark sectors via invisible decays of pseudoscalar $\eta$ and $\eta'$ mesons in the NA64h experiment at the CERN SPS. Our novel technique uses the charge-exchange reaction of 50 GeV $\pi^-$ on nuclei of an active target as the source of neutral mesons. The $\eta, \eta' \to invisible$ events would exhibit themselves via a striking signature - the complete disappearance of the incoming beam energy in the detector. No evidence for such events has been found with $2.9\times10^{9}$ pions on target accumulated during one day of data taking. This allows us to set a stringent limit on the branching ratio ${\rm Br}(\eta' \to invisible) < 2.1 \times 10^{-4}$ improving the current bound by a factor of $\simeq3$. We also set a limit on ${\rm Br}(\eta \to invisible) < 1.1 \times 10^{-4}$ comparable with the existing one. These results demonstrate the great potential of our approach and provide clear guidance on how to enhance and extend the sensitivity for dark sector physics from future searches for invisible neutral meson decays., Comment: 5 pages, 3 figures

The inclusion of an additional $U(1)$ gauge $L_\mu-L_\tau$ symmetry would release the tension between the measured and the predicted value of the anomalous muon magnetic moment: this paradigm assumes the existence of a new, light $Z^\prime$ vector boson, with dominant coupling to $\mu$ and $\tau$ leptons and interacting with electrons via a loop mechanism. The $L_\mu-L_\tau$ model can also explain the Dark Matter relic abundance, by assuming that the $Z'$ boson acts as a "portal" to a new Dark Sector of particles in Nature, not charged under known interactions. In this work we present the results of the $Z'$ search performed by the NA64-$e$ experiment at CERN SPS, that collected $\sim 9\times10^{11}$ 100 GeV electrons impinging on an active thick target. Despite the suppressed $Z'$ production yield with an electron beam, NA64-$e$ provides the first accelerator-based results excluding the $g-2$ preferred band of the $Z'$ parameter space in the 1 keV $ < m_{Z'} \lesssim 2$ MeV range, in complementarity with the limits recently obtained by the NA64-$\mu$ experiment with a muon beam., Comment: 15 pages, 5 figures. New version with extended exclusion limits down to 1 keV in Z' mass

The ATLAS model simulates the various stages of the electricity market chain in Europe, including the formulation of offers by different market actors, the coupling of European markets, strategic optimization of production portfolios and, finally, real-time system balancing processes. ATLAS was designed to simulate the various electricity markets and processes that occur from the day ahead timeframe to real-time with a high level of detail. Its main aim is to capture impacts from imperfect actor coordination, evolving forecast errors and a high-level of technical constraints--both regarding different production units and the different market constraints.

Fixed-wing aerial vehicles provide an efficient way to navigate long distances or cover large areas for environmental monitoring applications. By design, they also require large open spaces due to limited maneuverability. However, strict regulatory and safety altitude limits constrain the available space. Especially in complex, confined, or steep terrain, ensuring the vehicle does not enter an inevitable collision state(ICS) can be challenging. In this work, we propose a strategy to find safe paths that do not enter an ICS while navigating within tight altitude constraints. The method uses periodic paths to efficiently classify ICSs. A sampling-based planner creates collision-free and kinematically feasible paths that begin and end in safe periodic (circular) paths. We show that, in realistic terrain, using circular periodic paths can simplify the goal selection process by making it yaw agnostic and constraining yaw. We demonstrate our approach by dynamically planning safe paths in real-time while navigating steep terrain on a flight test in complex alpine terrain., Comment: Accepted to IEEE Robotics and Automation Letters (RA-L)

We report on a search for a new $Z'$ ($L_\mu-L_\tau$) vector boson performed at the NA64 experiment employing a high energy muon beam and a missing energy-momentum technique. Muons from the M2 beamline at the CERN Super Proton Synchrotron with a momentum of 160 GeV/c are directed to an active target. A signal event is a single scattered muon with momentum $<$ 80 GeV/c in the final state, accompanied by missing energy, i.e. no detectable activity in the downstream calorimeters. For a total statistic of $(1.98\pm0.02)\times10^{10}$ muons on target, no event is observed in the expected signal region. This allows us to set new limits on part of the remaining $(m_{Z'},\ g_{Z'})$ parameter space which could provide an explanation for the muon $(g-2)_\mu$ anomaly. Additionally, our study excludes part of the parameter space suggested by the thermal Dark Matter relic abundance. Our results pave the way to explore Dark Sectors and light Dark Matter with muon beams in a unique and complementary way to other experiments., Comment: 5 pages, 4 figures

The COVID-19 pandemic shifted many events in our daily lives into the virtual domain. While virtual conference systems provide an alternative to physical meetings, larger events require a muted audience to avoid an accumulation of background noise and distorted audio. However, performing artists strongly rely on the feedback of their audience. We propose a concept for a virtual audience framework which supports all participants with the ambience of a real audience. Audience feedback is collected locally, allowing users to express enthusiasm or discontent by selecting means such as clapping, whistling, booing, and laughter. This feedback is sent as abstract information to a virtual audience server. We broadcast the combined virtual audience feedback information to all participants, which can be synthesized as a single acoustic feedback by the client. The synthesis can be done by turning the collective audience feedback into a prompt that is fed to state-of-the-art models such as AudioGen. This way, each user hears a single acoustic feedback sound of the entire virtual event, without requiring to unmute or risk hearing distorted, unsynchronized feedback., Comment: 4 pages, 2 figures

We present the first determination of the proton mechanical radius. The result was obtained by employing a novel theoretical approach that connects experimental data of deeply virtual Compton scattering with the spin = 2 interaction that is characteristic of gravity coupling with matter. We find that the proton mechanical radius is significantly smaller than its charge radius, consistent with the latest Lattice QCD computation., Comment: 4 pages, 3 figures, 1 table

The parameterization of the nucleon structure through Generalized Parton Distributions (GPDs) shed a new light on the nucleon internal dynamics. For its direct interpretation, Deeply Virtual Compton Scattering (DVCS) is the golden channel for GPDs investigation. The DVCS process interferes with the Bethe-Heitler (BH) mechanism to constitute the leading order amplitude of the $eN \to eN\gamma$ process. The study of the $ep\gamma$ reaction with polarized positron and electron beams gives a complete set of unique observables to unravel the different contributions to the $ep \gamma$ cross section. This separates the different reaction amplitudes, providing a direct access to their real and imaginary parts which procures crucial constraints on the model dependences and associated systematic uncertainties on GPDs extraction. The real part of the BH-DVCS interference amplitude is particularly sensitive to the $D$-term which parameterizes the Gravitational Form Factors of the nucleon. The separation of the imaginary parts of the interference and DVCS amplitudes provides insights on possible higher-twist effects. We propose to measure the unpolarized and polarized Beam Charge Asymmetries (BCAs) of the $\vec{e}^{\pm}p \to e^{\pm}p \gamma$ process on an unpolarized hydrogen target with {\tt CLAS12}, using polarized positron and electron beams at 10.6 GeV. The azimuthal and $t$-dependences of the unpolarized and polarized BCAs will be measured over a large $(x_B,Q^2)$ phase space using a 100 day run with a luminosity of 0.66$\times 10^{35}$cm$^{-2}\cdot$s$^{-1}$., Comment: Proposal to the Jefferson Lab Program Advisory Committee (PAC51)

The new experimental measurements of beam spin asymmetry were performed for the deeply virtual exclusive $\pi^0$ production in a wide kinematic region with the photon virtualities $Q^2$ up to 8 GeV$^2$ and the Bjorken scaling variable $x_B$ in the valence regime. The data were collected by the CEBAF Large Acceptance Spectrometer (CLAS12) at Jefferson Lab with longitudinally polarized 10.6 GeV electrons scattered on an unpolarized liquid-hydrogen target. Sizable asymmetry values indicate a substantial contribution from transverse virtual photon amplitudes to the polarized structure functions.The interpretation of these measurements in terms of the Generalized Parton Distributions (GPDs) demonstrates their sensitivity to the chiral-odd GPD $\bar E_T$, which contains information on quark transverse spin densities in unpolarized and polarized nucleons and provides access to the proton's transverse anomalous magnetic moment. Additionally, the data were compared to a theoretical model based on a Regge formalism that was extended to the high photon virtualities., Comment: arXiv admin note: substantial text overlap with arXiv:2210.14557

Thermal dark matter models with particle $\chi$ masses below the electroweak scale can provide an explanation for the observed relic dark matter density. This would imply the existence of a new feeble interaction between the dark and ordinary matter. We report on a new search for the sub-GeV $\chi$ production through the interaction mediated by a new vector boson, called the dark photon $A'$, in collisions of 100 GeV electrons with the active target of the NA64 experiment at the CERN SPS. With $9.37\times10^{11}$ electrons on target collected during 2016-2022 runs NA64 probes for the first time the well-motivated region of parameter space of benchmark thermal scalar and fermionic dark matter models. No evidence for dark matter production has been found. This allows us to set the most sensitive limits on the $A'$ couplings to photons for masses $m_{A'} \lesssim 0.35$ GeV, and to exclude scalar and Majorana dark matter with the $\chi-A'$ coupling $\alpha_D \leq 0.1$ for masses $0.001 \lesssim m_\chi \lesssim 0.1$ GeV and $3m_\chi \leq m_{A'}$., Comment: 7 pages, 7 figures. arXiv admin note: text overlap with arXiv:1906.00176

This document presents the initial scientific case for upgrading the Continuous Electron Beam Accelerator Facility (CEBAF) at Jefferson Lab (JLab) to 22 GeV. It is the result of a community effort, incorporating insights from a series of workshops conducted between March 2022 and April 2023. With a track record of over 25 years in delivering the world's most intense and precise multi-GeV electron beams, CEBAF's potential for a higher energy upgrade presents a unique opportunity for an innovative nuclear physics program, which seamlessly integrates a rich historical background with a promising future. The proposed physics program encompass a diverse range of investigations centered around the nonperturbative dynamics inherent in hadron structure and the exploration of strongly interacting systems. It builds upon the exceptional capabilities of CEBAF in high-luminosity operations, the availability of existing or planned Hall equipment, and recent advancements in accelerator technology. The proposed program cover various scientific topics, including Hadron Spectroscopy, Partonic Structure and Spin, Hadronization and Transverse Momentum, Spatial Structure, Mechanical Properties, Form Factors and Emergent Hadron Mass, Hadron-Quark Transition, and Nuclear Dynamics at Extreme Conditions, as well as QCD Confinement and Fundamental Symmetries. Each topic highlights the key measurements achievable at a 22 GeV CEBAF accelerator. Furthermore, this document outlines the significant physics outcomes and unique aspects of these programs that distinguish them from other existing or planned facilities. In summary, this document provides an exciting rationale for the energy upgrade of CEBAF to 22 GeV, outlining the transformative scientific potential that lies within reach, and the remarkable opportunities it offers for advancing our understanding of hadron physics and related fundamental phenomena., Comment: Updates to the list of authors; Preprint number changed from theory to experiment; Updates to sections 4 and 6, including additional figures

Topological superconductivity is a long-sought state of matter in bulk materials, and odd-parity superconductor UTe$_2$ is a prime candidate. The recent observation of a field-trainable spontaneous Kerr signal in UTe$_2$ at the onset of superconductivity provides strong evidence that the superconducting order parameter is multicomponent and breaks time-reversal symmetry. Here, we perform Kerr effect measurements on a number of UTe$_2$ samples -- grown $via$ both chemical vapor transport and the molten-salt-flux methods -- that show a single superconducting transition between 1.6~K and 2.1~K. Our results show no evidence for a spontaneous Kerr signal in zero field measurements. This implies that the superconducting state of UTe$_2$ does not intrinsically break time-reversal symmetry. Instead, we observe a field-trainable signal that varies in magnitude between samples and between different locations on a single sample, which is a sign of inhomogeneous magnetic regions. Our results provide an examination of representative UTe$_2$ samples and place strong constraints on the superconducting order parameter of UTe$_2$.

Integration of thin-film oxide piezoelectrics on glass is imperative for the next generation of transparent electronics to attain sensing and actuating functions. However, their crystallization temperature (above 650 {\deg}C) is incompatible with most glasses. We developed a flash lamp process for growth of piezoelectric lead zirconate titanate films. The process enables crystallization on various types of glasses in a few seconds only. Functional properties of these films are comparable to the films processed with standard rapid thermal annealing at 700 {\deg}C. A surface haptic device was fabricated with a 1 $\unicode{x00B5}$m-thick film (piezoelectric e$_{33,f}$ of -5 C m$^{-2}$). Its ultrasonic surface deflection reached 1.5 $\unicode{x00B5}$m at 60 V, sufficient for its use in surface rendering applications. This flash lamp annealing process is compatible with large glass sheets and roll-to-roll processing and has the potential to significantly expand the applications of piezoelectric devices on glass., Comment: 53 pages, 18 figures

The physics of the gravitational form factors of the proton, and their understanding within quantum chromodynamics, has advanced significantly in the past two decades through both theory and experiment. This Colloquium provides an overview of this progress, highlights the physical insights unveiled by studies of gravitational form factors, and reviews their interpretation in terms of the mechanical properties of the proton., Comment: 22 pages, 15 figures

The Heavy Photon Search experiment (HPS) at the Thomas Jefferson National Accelerator Facility searches for electro-produced dark photons. We report results from the 2016 Engineering Run consisting of 10608/nb of data for both the prompt and displaced vertex searches. A search for a prompt resonance in the $e^+e^-$ invariant mass distribution between 39 and 179 MeV showed no evidence of dark photons above the large QED background, limiting the coupling of {\epsilon}^2 {\geq} 10^-5, in agreement with previous searches. The search for displaced vertices showed no evidence of excess signal over background in the masses between 60 and 150 MeV, but had insufficient luminosity to limit canonical heavy photon production. This is the first displaced vertex search result published by HPS. HPS has taken high-luminosity data runs in 2019 and 2021 that will explore new dark photon phase space., Comment: 28 pages, 46 figures

Alloying indium into the topological insulator Sn1-xInxBi2Te4 induces bulk superconductivity with critical temperatures Tc up to 1.85 K and upper critical fields up to about 14 kOe. This is confirmed by electrical resistivity, heat capacity, and magnetic susceptibility measurements. The heat capacity shows a discontinuity at Tc and temperature dependence below Tc consistent with weak coupling BCS theory, and suggests a superconducting gap near 0.25 meV. The superconductivity is type-II and the topological surface states have been verified by photoemission. A simple picture suggests analogies with the isostructural magnetic topological insulator MnBi2Te4, in which a natural heterostructure hosts complementary properties on different sublattices, and motivates new interest in this large family of compounds. The existence of both topological surface states and superconductivity in Sn1-xInxBi2Te4 identifies these materials as promising candidates for the study of topological superconductivity.

Deeply virtual Compton scattering (DVCS) allows one to probe Generalized Parton Distributions (GPDs) describing the 3D structure of the nucleon. We report the first measurement of the DVCS beam-spin asymmetry using the CLAS12 spectrometer with a 10.2 and 10.6 GeV electron beam scattering from unpolarised protons. The results greatly extend the $Q^2$ and Bjorken-$x$ phase space beyond the existing data in the valence region and provide over 2000 new data points measured with unprecedented statistical uncertainty, setting new, tight constraints for future phenomenological studies., Comment: Revised Figure 4 and discussion around the number of effective ANNs after Bayesian reweighting

NA60+ is a fixed target experiment proposed in the framework of the Physics Beyond Colliders programme at CERN. It aims to precisely measure the hard and electromagnetic probes in nuclear collisions. Initially proposed for the underground cavern ECN3 with very high beam intensities, the experiment now foresees a location in the EHN1 surface hall which was shown to have a limited impact on the physics performance in spite of a significant reduction of beam intensity and detector size. The potential installation and operation of the experiment with the ion beams from the Super Proton Synchrotron (SPS) has been examined regarding detector integration, beam physics, radiation protection and shielding requirements. The integration of the experiment is considered feasible, but would require a significant reconfiguration of the existing hall infrastructure with regards to shielding and layout., Comment: 21 pages, 15 figures, submitted to Nucl. Instr. Meth. A. Editor: A. Gerbershagen

We report the discovery of CeLiBi$_2$, the first example of a material in the tetragonal Ce$TX_2$ ($T$ = transition metal; $X$ = pnictogen) family wherein an alkali cation replaces the typical transition metal. Magnetic susceptibility and neutron powder diffraction measurements are consistent with a crystal-field $\Gamma_6$ ground state Kramers doublet that orders antiferromagnetically below $T_N = 3.4$ K with an incommensurate propagation wave vector ${\bf{k}} = (0, 0.0724(4), 0.5)$ that generates a nanometric modulation of the magnetic structure. The best model of the ordered state is an elliptical cycloid with Ce moments primarily residing in the $ab$ plane. This is highly unusual, as all other $\Gamma_6$ Ce$TX_2$ members order ferromagnetically. Further, we observe an atypical hard-axis metamagnetic transition at $2$ T in magnetostriction, magnetization, and resistivity measurements. CeLiBi$_2$ is a rare example of a highly conductive material with dominant skew scattering leading to a large anomalous Hall effect. Quantum oscillations with five frequencies arise in magnetostriction and magnetic susceptibility data to $T = 30$ K and $\mu_0H = 55$ T, which indicate small Fermi pockets of light carriers with effective masses as low as 0.07$m_e$. Density functional theory calculations indicate that square-net Dirac-like Bi$-p$ bands are responsible for these ultralight carriers. Together, our results show that CeLiBi$_2$ enables multiple atypical magnetic and electronic properties in a single clean material., Comment: 16 pages, 10 figures