Search

The advent of new generation radio telescopes is opening new possibilities on the classification and study of extragalactic high-energy sources, specially the underrepresented ones like radio galaxies. Among these, Giant Radio Galaxies (GRG, larger than 0.7 Mpc) are among the most extreme manifestations of the accretion/ejection processes on supermassive black holes. Our recent studies have shown that GRG can be up to four times more abundant in hard X-ray selected (i.e. from INTEGRAL/IBIS and Swift/BAT at $>$20 keV) samples and, most interestingly, the majority of them present signs of restarted radio activity. This makes them the ideal test-bed to study the so far unknown duty cycle of jets in active galactic nuclei. Open questions in the field include: How and when jets are restarted? How jets evolve and what's their dynamic? What is the jet's duty cycle and what triggers them? Our group has recently collected a wealth of radio data on these high-energy selected GRGs, allowing us to study their jet formation and evolution from the pc to kpc scales, across different activity epochs. In particular, thanks to our EVN large programme, we were able to probe the new radio phase in the core of these giants. Furthermore, we are devoting an effort to the exploitation of new radio surveys data for the discovery of new classes of counterparts of Fermi/LAT catalogues. In particular, we are unveiling the hidden population of radio galaxies associated with gamma-ray sources., Comment: Proceedings of the 16th European VLBI Network Symposium Ros, E., Benke, P., Dzib, S., Rottmann, I., & Zensus, J.A. (eds.) September 2nd-6th 2024, Bonn, Germany

We present here a study of the broadband spectral properties of 33 sources detected in HI absorption as part of the ASKAP-FLASH Pilot Surveys. We outline our approach to spectral classification and discuss the correlation seen between spectral shape and the detection of HI absorption. We further consider the implications of the observed correlation on the spatial distribution of the neutral gas, and on the jet-gas interactions. Our results are evaluated in the context of the forthcoming, full ASKAP-FLASH survey and other large, untargeted searches of the radio sky., Comment: 4 pages, 1 figure. To be published in proceedings from IAU Symposium 392, Neutral Hydrogen in and around galaxies in the SKA era. From a talk presented at the XXXII IAU General Assembly, Cape Town

We present and discuss two catalogues of UV-selected (NUV $< 22.8$ mag) galaxies that lie within a 200 deg$^2$ area of sky covered by the ASKAP FLASH survey and have an impact parameter of less than 20 arcsec to a FLASH radio continuum source. These catalogues are designed to enable a future search for 21 cm HI absorption in and around star-forming galaxies at redshift $0.480 percent) star-forming and resemble the overall WiggleZ population. The ($g - i$) colour evolution with redshift is consistent with a history of active star-formation, but the radio-associated objects are typically redder and have colours similar to high-excitation radio galaxies. The redshift distribution of the two catalogues matches the overall distribution for WiggleZ galaxies, despite their otherwise rare radio properties. These catalogues can be expanded in future as new radio data become available, and a forthcoming paper will present the HI absorption results., Comment: 22 pages, 18 figures, accepted for publication in MNRAS

Trapped ions provide a highly controlled platform for quantum sensors, clocks, simulators, and computers, all of which depend on cooling ions close to their motional ground state. Existing methods like Doppler, resolved sideband, and dark resonance cooling balance trade-offs between the final temperature and cooling rate. A traveling polarization gradient has been shown to cool multiple modes quickly and in parallel, but utilizing a stable polarization gradient can achieve lower ion energies, while also allowing more tailorable light-matter interactions in general. In this paper, we demonstrate cooling of a trapped ion below the Doppler limit using a phase-stable polarization gradient created using trap-integrated photonic devices. At an axial frequency of $2\pi\cdot1.45~ \rm MHz$ we achieve $\langle n \rangle = 1.3 \pm 1.1$ in $500~\mu \rm s$ and cooling rates of ${\sim}0.3 \, \rm quanta/\mu s$. We examine ion dynamics under different polarization gradient phases, detunings, and intensities, showing reasonable agreement between experimental results and a simple model. Cooling is fast and power-efficient, with improved performance compared to simulated operation under the corresponding running wave configuration., Comment: 16 pages, 11 figures

Trapped ions are a promising modality for quantum systems, with demonstrated utility as the basis for quantum processors and optical clocks. However, traditional trapped-ion systems are implemented using complex free-space optical configurations, whose large size and susceptibility to vibrations and drift inhibit scaling to large numbers of qubits. In recent years, integrated-photonics-based systems have been demonstrated as an avenue to address the challenge of scaling trapped-ion systems while maintaining high fidelities. While these previous demonstrations have implemented both Doppler and resolved-sideband cooling of trapped ions, these cooling techniques are fundamentally limited in efficiency. In contrast, polarization-gradient cooling can enable faster and more power-efficient cooling and, therefore, improved computational efficiencies in trapped-ion systems. While free-space implementations of polarization-gradient cooling have demonstrated advantages over other cooling mechanisms, polarization-gradient cooling has never previously been implemented using integrated photonics. In this paper, we design and experimentally demonstrate key polarization-diverse integrated-photonics devices and utilize them to implement a variety of integrated-photonics-based polarization-gradient-cooling systems, culminating in the first experimental demonstration of polarization-gradient cooling of a trapped ion by an integrated-photonics-based system. By demonstrating polarization-gradient cooling using an integrated-photonics-based system and, in general, opening up the field of polarization-diverse integrated-photonics-based devices and systems for trapped ions, this work facilitates new capabilities for integrated-photonics-based trapped-ion platforms.

This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial Navigation System (INS) localization solutions. Inspired by recent advances in equivariant theory applied to biased INSs, we derive a discrete-time formulation of the IMU preintegration on ${\mathbf{Gal}(3) \ltimes \mathfrak{gal}(3)}$, the left-trivialization of the tangent group of the Galilean group $\mathbf{Gal}(3)$. We define a novel preintegration error that geometrically couples the navigation states and the bias leading to lower linearization error. Our method improves in consistency compared to existing preintegration approaches which treat IMU biases as a separate state-space. Extensive validation against state-of-the-art methods, both in simulation and with real-world IMU data, implementation in the Lie++ library, and open-source code are provided.

Predicting how genetic variation affects phenotypic outcomes at the organismal, cellular, and molecular levels requires deciphering the cis-regulatory code, the sequence rules by which non-coding regions regulate genes. In this perspective, we discuss recent computational progress and challenges towards solving this fundamental problem. We describe how cis-regulatory elements are mapped and how their sequence rules can be learned and interpreted with sequence-to-function neural networks, with the goal of identifying genetic variants in human disease. We also discuss how studies of the 3D chromatin organization could help identifying long-range regulatory effects and how current methods for mapping gene regulatory networks could better describe biological processes. We point out current gaps in knowledge along with technical limitations and benchmarking challenges of computational methods. Finally, we discuss newly emerging technologies, such as spatial transcriptomics, and outline strategies for creating a more general model of the cis-regulatory code that is more broadly applicable across cell types and individuals.

Photometric galaxy surveys, despite their limited resolution along the line of sight, encode rich information about the large-scale structure (LSS) of the Universe thanks to the large number density and extensive depth of the data. However, the complicated selection effects in wide and deep surveys will potentially cause significant bias in the angular two-point correlation function (2PCF) measured from those surveys. In this paper, we measure the 2PCF from the newly published KiDS-Legacy sample. Given an $r$-band $5\sigma$ magnitude limit of $24.8$ and survey footprint of $1347$ deg$^2$, it achieves an excellent combination of sky coverage and depth for such a measurement. We find that complex selection effects, primarily induced by varying seeing, introduce over-estimation of the 2PCF by approximately an order of magnitude. To correct for such effects, we apply a machine learning-based method to recover an ``organised random'' (OR) that presents the same selection pattern as the galaxy sample. The basic idea is to find the selection-induced clustering of galaxies using a combination of self-organising maps (SOM) and hierarchical clustering (HC). This unsupervised machine learning method is able to recover complicated selection effects without specifying their functional forms. We validate this ``SOM+HC'' method on mock deep galaxy samples with realistic systematics and selections derived from the KiDS-Legacy catalogue. Using mock data, we demonstrate that the OR delivers unbiased 2PCF cosmological parameter constraints, removing the $27\sigma$ offset in the galaxy bias parameter that is recovered when adopting uniform randoms. Blinded measurements on the real KiDS-Legacy data show that the corrected 2PCF is robust to the SOM+HC configuration near the optimal setup suggested by the mock tests. Our software is open-source for future usage., Comment: 29 pages, 27 figures, 4 tables

We introduce OneCovariance, an open-source software designed to accurately compute covariance matrices for an arbitrary set of two-point summary statistics across a variety of large-scale structure tracers. Utilising the halo model, we estimate the statistical properties of matter and biased tracer fields, incorporating all Gaussian, non-Gaussian, and super-sample covariance terms. The flexible configuration permits user-specific parameters, such as the complexity of survey geometry, the halo occupation distribution employed to define each galaxy sample, or the form of the real-space and/or Fourier space statistics to be analysed. We illustrate the capabilities of OneCovariance within the context of a cosmic shear analysis of the final data release of the Kilo-Degree Survey (KiDS-Legacy). Upon comparing our estimated covariance with measurements from mock data and calculations from independent software, we ascertain that OneCovariance achieves accuracy at the per cent level. When assessing the impact of ignoring complex survey geometry in the cosmic shear covariance computation, we discover misestimations at approximately the $10\%$ level for cosmic variance terms. Nonetheless, these discrepancies do not significantly affect the KiDS-Legacy recovery of cosmological parameters. We derive the cross-covariance between real-space correlation functions, bandpowers, and COSEBIs, facilitating future consistency tests among these three cosmic shear statistics. Additionally, we calculate the covariance matrix of photometric-spectroscopic galaxy clustering measurements, validating Jackknife covariance estimates for calibrating KiDS-Legacy redshift distributions. The OneCovariance can be found on github Hub together with a comprehensive documentation and examples., Comment: 37 pages, 11 figures, to be submitted to A&A, code available at https://github.com/rreischke/OneCovariance

We explore the enhanced self-calibration of photometric galaxy redshift distributions, $n(z)$, through the combination of up to six two-point functions. Our $\rm 3\times2pt$ configuration is comprised of photometric shear, spectroscopic galaxy clustering, and spectroscopic-photometric galaxy-galaxy lensing (GGL). We further include spectroscopic-photometric cross-clustering; photometric GGL; and photometric auto-clustering, using the photometric shear sample as density tracer. We perform simulated likelihood forecasts of the cosmological and nuisance parameter constraints for Stage-III- and Stage-IV-like surveys. For the Stage-III-like case, we employ realistic but perturbed redshift distributions, and distinguish between "coherent" shifting in one direction, versus more internal scattering and full-shape errors. For perfectly known $n(z)$, a $\rm 6\times2pt$ analysis gains $\sim40\%$ in Figure of Merit (FoM) in the $S_8\equiv\sigma_8\sqrt{\Omega_{\rm m}/0.3}$ and $\Omega_{\rm m}$ plane relative to the $\rm 3\times2pt$ analysis. If untreated, coherent and incoherent redshift errors lead to inaccurate inferences of $S_8$ and $\Omega_{\rm m}$, respectively. Employing bin-wise scalar shifts $\delta{z}_i$ in the tomographic mean redshifts reduces cosmological parameter biases, with a $\rm 6x2pt$ analysis constraining the shift parameters with $2-4$ times the precision of a photometric $\rm 3^{ph}\times2pt$ analysis. For the Stage-IV-like survey, a $\rm 6\times2pt$ analysis doubles the FoM($\sigma_8{-}\Omega_{\rm m}$) compared to any $\rm 3\times2pt$ or $\rm 3^{ph}\times2pt$ analysis, and is only $8\%$ less constraining than if the $n(z)$ were perfectly known. A Gaussian mixture model for the $n(z)$ reduces mean-redshift errors and preserves the $n(z)$ shape. It also yields the most accurate and precise cosmological constraints for any $N\rm\times2pt$ configuration given $n(z)$ biases., Comment: 38 pages, 20 figures, to be submitted to A&A

We present a method to refine photometric redshift galaxy catalogs by comparing their color-space matching with overlapping spectroscopic calibration data. We focus on cases where photometric redshifts (photo-$z$) are estimated empirically. Identifying galaxies that are poorly represented in spectroscopic data is crucial, as their photo-$z$ may be unreliable due to extrapolation beyond the training sample. Our approach uses a self-organizing map (SOM) to project a multi-dimensional parameter space of magnitudes and colors onto a 2-D manifold, allowing us to analyze the resulting patterns as a function of various galaxy properties. Using SOM, we compare the Kilo-Degree Survey bright galaxy sample (KiDS-Bright), limited to $r<20$ mag, with various spectroscopic samples, including the Galaxy And Mass Assembly (GAMA). Our analysis reveals that GAMA under-represents KiDS-Bright at its faintest ($r\gtrsim19.5$) and highest-redshift ($z\gtrsim0.4$) ranges, however no strong trends in color or stellar mass. By incorporating additional spectroscopic data from the SDSS, 2dF, and early DESI, we identify SOM cells where photo-$z$ are estimated suboptimally. We derive a set of SOM-based criteria to refine the photometric sample and improve photo-$z$ statistics. For the KiDS-Bright sample, this improvement is modest: exclusion of the least represented 20% of the sample reduces photo-$z$ scatter by less than 10%. We conclude that GAMA, used for KiDS-Bright photo-$z$ training, is sufficiently representative for reliable redshift estimation across most of the color space. Future spectroscopic data from surveys such as DESI should be better suited for exploiting the full improvement potential of our method., Comment: Published in A&A

Choosing a nonlinear state estimator for an application often involves a trade-off between local optimality (such as provided by an extended Kalman filter) and (almost-/semi-) global asymptotic stability (such as provided by a constructive observer design based on Lyapunov principles). This paper proposes a filter design methodology that is both global and optimal for a class of nonlinear systems. In particular, systems for which there is an embedding of the state-manifold into Euclidean space for which the measurement function is linear in the embedding space and for which there is a synchronous error construction. A novel observer is derived using the minimum energy filter design paradigm and exploiting the embedding coordinates to solve for the globally optimal solution exactly. The observer is demonstrated through an application to the problem of unit quaternion attitude estimation, by embedding the 3-dimensional nonlinear system into a 4-dimensional Euclidean space. Simulation results demonstrate that the state estimate remains optimal for all time and converges even with a very large initial error., Comment: 11 pages, 2 figures, accepted for presentation at IEEE CDC 2024

Knowledge graphs (KGs) have achieved significant attention in recent years, particularly in the area of the Semantic Web as well as gaining popularity in other application domains such as data mining and search engines. Simultaneously, there has been enormous progress in the development of different types of heterogeneous hardware, impacting the way KGs are processed. The aim of this paper is to provide a systematic literature review of knowledge graph hardware acceleration. For this, we present a classification of the primary areas in knowledge graph technology that harnesses different hardware units for accelerating certain knowledge graph functionalities. We then extensively describe respective works, focusing on how KG related schemes harness modern hardware accelerators. Based on our review, we identify various research gaps and future exploratory directions that are anticipated to be of significant value both for academics and industry practitioners.

The First Large Absorption Survey in HI (FLASH) is a large-area radio survey for neutral hydrogen in the redshift range 0.41$, and appear to be a mixture of intervening and associated systems. The overall detection rate for HI absorption lines in the Pilot Surveys (0.3 to 0.5 lines per ASKAP field) is a factor of two below the expected value. There are several possible reasons for this, but one likely factor is the presence of a range of spectral-line artefacts in the Pilot Survey data that have now been mitigated and are not expected to recur in the full FLASH survey. A future paper will discuss the host galaxies of the HI absorption systems identified here., Comment: 46 pages, 25 figures, 10 tables. Submitted to PASA

With wide-field phased array feed technology,the Australian Square Kilometre Array Pathfinder (ASKAP) is ideally suited to search for seemingly rare radio transient sources that are difficult to discover previous-generation narrow-field telescopes. The Commensal Real-time ASKAP Fast Transient (CRAFT) Survey Science Project has developed instrumentation to continuously search for fast radio transients (duration < 1 second) with ASKAP, with a particular focus on finding and localising Fast Radio Bursts (FRBs). Since 2018, the CRAFT survey has been searching for FRBs and other fast transients by incoherently adding the intensities received by individual ASKAP antennas, and then correcting for the impact of frequency dispersion on these short-duration signals in the resultant incoherent sum (ICS) in real-time. This low-latency detection enables the triggering of voltage buffers, which facilitates the localisation of the transient source and the study of spectro-polarimetric properties at high time resolution. Here we report the sample of 43 FRBs discovered in this CRAFT/ICS survey to date. This includes 22 FRBs that had not previously been reported: 16 FRBs localised by ASKAP to < 1 arcsec and 6 FRBs localised to ~ 10 arcmin. Of the new arcsecond-localised FRBs, we have identified and characterised host galaxies (and measured redshifts) for 11. The median of all 30 measured host redshifts from the survey to date is z=0.23. We summarise results from the searches, in particular those contributing to our understanding of the burst progenitors and emission mechanisms, and on the use of bursts as probes of intervening media. We conclude by foreshadowing future FRB surveys with ASKAP using a coherent detection system that is currently being commissioned. This will increase the burst detection rate by a factor of approximately ten and also the distance to which ASKAP can localise FRBs., Comment: Accepted for publication in PASA. 36 pages, 23 Figures, 5 Tables

In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and relative attitude measurements. We present a bottom-up approach where each agent runs an extended Kalman filter (EKF) locally using directional measurements and augments this with relative attitude measurements provided by neighbouring agents. The covariance estimates of the relative attitude measurements are geometrically corrected to compensate for relative attitude between the agent that makes the measurement and the agent that uses the measurement before being fused with the local estimate using the convex combination ellipsoid (CCE) method to avoid data incest. Simulations are undertaken to numerically evaluate the performance of the proposed algorithm., Comment: To be presented at IFAC MTNS 2024

This article introduces the structure flow field; a flow field that can provide high-speed robo-centric motion information for motion control of highly dynamic robotic devices and autonomous vehicles. Structure flow is the angular 3D velocity of the scene at a given pixel. We show that structure flow posses an elegant evolution model in the form of a Partial Differential Equation (PDE) that enables us to create dense flow predictions forward in time. We exploit this structure to design a predictor-update algorithm to compute structure flow in real time using image and depth measurements. The prediction stage takes the previous estimate of the structure flow and propagates it forward in time using a numerical implementation of the structure flow PDE. The predicted flow is then updated using new image and depth data. The algorithm runs up to 600 Hz on a Desktop GPU machine for 512x512 images with flow values up to 8 pixels. We provide ground truth validation on high-speed synthetic image sequences as well as results on real-life video on driving scenarios.

Stochastic inference on Lie groups plays a key role in state estimation problems such as; inertial navigation, visual inertial odometry, pose estimation in virtual reality, etc. A key problem is fusing independent concentrated Gaussian distributions defined at different reference points on the group. In this paper we approximate distributions at different points in the group in a single set of exponential coordinates and then use classical Gaussian fusion to obtain the fused posteriori in those coordinates. We consider several approximations including the exact Jacobian of the change of coordinate map, first and second order Taylor's expansions of the Jacobian, and parallel transport with and without curvature correction associated with the underlying geometry of the Lie group. Preliminary results on SO(3) demonstrate that a novel approximation using parallel transport with curvature correction achieves similar accuracy to the state-of-the-art optimisation based algorithms at a fraction of the computational cost., Comment: Preprint for L-CSS

We report on the serendipitous discovery of 49 HI-rich galaxies in a 2.3 hour Open Time observation with MeerKAT. We present their properties including their HI masses, intensity and velocity maps, and spectra. We determine that at least three HI-rich galaxy groups have been detected, potentially as part of a supergroup. Some members of these galaxy groups show clear interaction with each other in their HI emission. We cross-match the detections with PanSTARRS, WISE and GALEX, and obtain stellar masses and star formation rates. One source is found to be a potential OH megamaser, but further follow-up is required to confidently determine this. For 6 sources with sufficient spatial resolution in HI we produce rotation curves with BBarolo, generate mass models, and derive a dark matter halo mass. While the number of galaxies detected in this relatively short pointing appears to be at the high end of expectations compared to other MeerKAT observations and group HIMF studies, this finding highlights the capability of MeerKAT for other serendipitous discoveries, and the potential for many more HI-rich galaxies to be revealed within both existing and upcoming Open Time datasets., Comment: 16 pages, 10 figures. Includes appendix (32 pages, primarily figures). Published in MNRAS

Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential matrix associated with a motion and then extract orientation and normalized translation as inputs to pose estimation, reconstructing the scene scale (that is unobservable in the epipolar construction) from separate information. In this paper, we design a continuous-time filter that exploits the same perspective by using the epipolar constraint to define pseudo-measurements. We propose a novel polar symmetry on the pose of the camera that makes these measurements equivariant. This allows us to apply recent results from equivariant systems theory to estimating pose. We provide a novel explicit persistence of excitation condition to characterize observability of the full pose, ensuring reconstruction of the scale parameter that is not directly observable in the epipolar construction., Comment: Preprint for L-CSS

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of observer design and recent advances in the study of equivariant systems have provided a template for global error construction that exploits the symmetry structure of a group action if such a structure exists. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system and symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves ``Euler-Poincare like'' and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie group state space., Comment: Preprint for LHMNC2024

Multi-instance scenes are especially challenging for end-to-end visuomotor (image-to-control) learning algorithms. "Pipeline" visual servo control algorithms use separate detection, selection and servo stages, allowing algorithms to focus on a single object instance during servo control. End-to-end systems do not have separate detection and selection stages and need to address the visual ambiguities introduced by the presence of arbitrary number of visually identical or similar objects during servo control. However, end-to-end schemes avoid embedding errors from detection and selection stages in the servo control behaviour, are more dynamically robust to changing scenes, and are algorithmically simpler. In this paper, we present a real-time end-to-end visuomotor learning algorithm for multi-instance reaching. The proposed algorithm uses a monocular RGB image and the manipulator's joint angles as the input to a light-weight fully-convolutional network (FCN) to generate control candidates. A key innovation of the proposed method is identifying the optimal control candidate by regressing a control-Lyapunov function (cLf) value. The multi-instance capability emerges naturally from the stability analysis associated with the cLf formulation. We demonstrate the proposed algorithm effectively reaching and grasping objects from different categories on a table-top amid other instances and distractors from an over-the-shoulder monocular RGB camera. The network is able to run up to approximately 160 fps during inference on one GTX 1080 Ti GPU., Comment: This manuscript was published in ICRA21, not a new paper

Trapped atomic ions are natural candidates for quantum information processing and have the potential to realize or improve quantum computing, sensing, and networking. These applications often require the collection of individual photons emitted from ions into guided optical modes, in some cases for the production of entanglement between separated ions. Proof-of-principle demonstrations of such photon collection from trapped ions have been performed using high-numerical-aperture lenses or cavities and single-mode fibers, but integrated photonic elements in ion-trap structures offer advantages in scalability and manufacturabilty over traditional optics. In this paper we analyze structures monolithically fabricated with an ion trap for collecting ion-emitted photons, coupling them into waveguides, and manipulating them via interference. We calculate geometric limitations on collection efficiency for this scheme, simulate a single-layer grating that shows performance comparable to demonstrated free-space optics, and discuss practical fabrication and fidelity considerations. Based on this analysis, we conclude that integrated photonics can support scalable systems of trapped-ions that can distribute quantum information via photon-mediated entanglement., Comment: 25 pages, 6 figures, 2 tables. File updated to version published in Optica Quantum

This paper presents the development process of a natural language to SQL model using the T5 model as the basis. The models, developed in August 2022 for an online transaction processing system and a data warehouse, have a 73\% and 84\% exact match accuracy respectively. These models, in conjunction with other work completed in the research project, were implemented for several companies and used successfully on a daily basis. The approach used in the model development could be implemented in a similar fashion for other database environments and with a more powerful pre-trained language model.

Psychiatry research seeks to understand the manifestations of psychopathology in behavior, as measured in questionnaire data, by identifying a small number of latent factors that explain them. While factor analysis is the traditional tool for this purpose, the resulting factors may not be interpretable, and may also be subject to confounding variables. Moreover, missing data are common, and explicit imputation is often required. To overcome these limitations, we introduce interpretability constrained questionnaire factorization (ICQF), a non-negative matrix factorization method with regularization tailored for questionnaire data. Our method aims to promote factor interpretability and solution stability. We provide an optimization procedure with theoretical convergence guarantees, and an automated procedure to detect latent dimensionality accurately. We validate these procedures using realistic synthetic data. We demonstrate the effectiveness of our method in a widely used general-purpose questionnaire, in two independent datasets (the Healthy Brain Network and Adolescent Brain Cognitive Development studies). Specifically, we show that ICQF improves interpretability, as defined by domain experts, while preserving diagnostic information across a range of disorders, and outperforms competing methods for smaller dataset sizes. This suggests that the regularization in our method matches domain characteristics. The python implementation for ICQF is available at \url{https://github.com/jefferykclam/ICQF}.

This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to the well known MSCKF). We define a symmetry group and corresponding group action that allow specifically the design of an equivariant filter for the problem of visual-inertial odometry (VIO) including IMU bias, and camera intrinsic and extrinsic calibration states. In contrast to state-of-the-art invariant extended Kalman filter (IEKF) approaches that simply tack IMU bias and other states onto the $\mathbf{SE}_2(3)$ group, our filter builds upon a symmetry that properly includes all the states in the group structure. Thus, we achieve improved behavior, particularly when linearization points largely deviate from the truth (i.e., on transients upon state disturbances). Our approach is inherently consistent even during convergence phases from significant errors without the need for error uncertainty adaptation, observability constraint, or other consistency enforcing techniques. This leads to greatly improved estimator behavior for significant error and unexpected state changes during, e.g., long-duration missions. We evaluate our approach with a multitude of different experiments using three different prominent real-world datasets., Comment: Accepted for publication in the IEEE Robotics and Automation Letters (RA-L), 2023

Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of the most successful nonlinear controllers in the literature. To the author's knowledge however, all prior work has used a body-fixed, or left-invariant, group error formulation for the study of the tracking problem. In this paper, we consider the spatial, or right-invariant, group error in the design of a tracking controller for the kinematic unicycle. We provide a physical interpretation of the right-invariant error and go on to show that the associated error dynamics are drift-free, a property that is not true for the body-fixed error. We exploit this property to propose a simple nonlinear control scheme for the kinematic unicycle and prove almost-global asymptotic stability of this control scheme for a class of persistently exciting trajectories. We also verify performance of this control scheme in simulation for an example trajectory.

An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as GNSS position, GNSS velocity, and magnetometer, to estimate the attitude, velocity, and position of a vehicle. This paper shows that the INS problem can be analysed using the automorphism group of the extended special Euclidean group: a group we term the extended similarity group. By exploiting this novel geometric framework, we propose an observer architecture with synchronous error dynamics; that is, the error is stationary if the observer correction terms are set to zero. In turn, this enables us to derive a modular, or plug-and-play, observer design for INS that allows different sensors to be added or removed depending on what is available in the vehicle sensor suite. We prove both almost-global asymptotic and local exponential stability of the error dynamics for the common scenario of at least IMU and GNSS position. To the authors' knowledge, this is the first non-linear observer design with almost global convergence guarantees or with plug-and-play modular capability. A simulation with extreme initial error demonstrates the almost-global robustness of the system. Real-world capability is demonstrated on data from a fixed-wing UAV, and the solution is compared to the state-of-the-art ArduPilot INS., Comment: 18 pages, 4 figures, pre-print

We report an ASKAP search for associated HI 21-cm absorption against bright radio sources from the Molonglo Reference Catalogue (MRC) 1-Jy sample. The search uses pilot survey data from the ASKAP First Large Absorption Survey in \hi (FLASH) covering the redshift range $0.42 < z < 1.00$. From a sample of 62 MRC 1-Jy radio galaxies and quasars in this redshift range we report three new detections of associated HI 21-cm absorption, yielding an overall detection fraction of $1.8\%^{+4.0\%}_{-1.5\%}$. The detected systems comprise two radio galaxies (MRC 2216$-$281 at $z=0.657$ and MRC 0531$-$237 at $z=0.851$) and one quasar (MRC 2156$-$245 at $z=0.862$). The MRC 0531$-$237 absorption system is the strongest found to date, with a velocity integrated optical depth of $\rm 143.8 \pm 0.4 \ km \ s^{-1}$. All three objects with detected HI 21-cm absorption are peaked-spectrum or compact steep-spectrum (CSS) radio sources, classified based on our SED fits to the spectra. Two of them show strong interplanetary scintillation at 162 MHz, implying that the radio continuum source is smaller than 1 arcsec in size even at low frequencies. Among the class of peaked-spectrum and compact steep-spectrum radio sources, the HI detection fraction is $23\%^{+22\%}_{-13\%}$. This is consistent within $1\sigma$ with a detection fraction of $\approx 42\%^{+21\%}_{-15\%}$ in earlier reported GPS and CSS samples at intermediate redshifts ($0.4 < z < 1.0$). All three detections have a high 1.4 GHz radio luminosity, with MRC 0531$-$237 and MRC 2216$-$281 having the highest values in the sample, $\rm > 27.5 \ W \ Hz^{-1}$. The preponderance of extended radio sources in our sample could partially explain the overall low detection fraction, while the effects of a redshift evolution in gas properties and AGN UV luminosity on the neutral gas absorption still need to be investigated., Comment: 28 pages, 9 figures and 7 Tables. Submitted to MNRAS

The kinematics of many control systems, especially in the robotics field, naturally live on smooth manifolds. Most classical state-estimation algorithms, including the extended Kalman filter, are posed on Euclidean space. Although any filter algorithm can be adapted to a manifold setting by implementing it in local coordinates and ignoring the geometric structure, it has always been clear that there would be advantages in taking the geometric structure into consideration in developing the algorithm. In this paper, we argue that the minimum geometric structure required to adapt the extended Kalman filter to a manifold is that of an affine connection. With this structure, we show that a naive coordinate implementation of the EKF fails to account for geometry of the manifold in the update step and in the reset step. We provide geometric modifications to the classical EKF based on parallel transport of the measurement covariance (for the update) and a-posteriori state covariance (for the reset) that address these limitations. Preliminary results for attitude estimation with two directional measurements demonstrate that the proposed modifications significantly improve the transient behavior of the filter., Comment: 12 pages, 3 figures. Accepted for presentation in 2023 62st IEEE Conference on Decision and Control (CDC), IEEE, 2023

This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the staple of INS filtering for 50 years; however, recent advances in inertial navigation systems have exploited matrix Lie group structure to design stochastic filters and state observers that have been shown to display superior performance compared to classical solutions. In this work we consider the case where a vehicle has an inertial measurement unit (IMU) and a global navigation satellite system (GNSS) receiver. We show that all the modern variants of the EKF for these sensors can be interpreted as the recently proposed Equivariant Filter (EqF) design methodology applied to different choices of symmetry group for the INS problem. This leads us to propose two new symmetries for the INS problem that have not been considered in the prior literature, and provide a discussion of the relative strengths and weaknesses of all the different algorithms. We believe the collection of symmetries that we present here capture all the sensible choices of symmetry for this problem and sensor suite, and that the analysis provided is indicative of the relative real-world performance potential of the different algorithms., Comment: Submitted to Automatica

As satellites become smaller, the ability to maintain stable pointing decreases as external forces acting on the satellite come into play. At the same time, reaction wheels used in the attitude determination and control system (ADCS) introduce high frequency jitter which can disrupt pointing stability. For space domain awareness (SDA) tasks that track objects tens of thousands of kilometres away, the pointing accuracy offered by current nanosats, typically in the range of 10 to 100 arcseconds, is not sufficient. In this work, we develop a novel payload that utilises a neuromorphic event sensor (for high frequency and highly accurate relative attitude estimation) paired in a closed loop with a piezoelectric stage (for active attitude corrections) to provide highly stable sensor-specific pointing. Event sensors are especially suited for space applications due to their desirable characteristics of low power consumption, asynchronous operation, and high dynamic range. We use the event sensor to first estimate a reference background star field from which instantaneous relative attitude is estimated at high frequency. The piezoelectric stage works in a closed control loop with the event sensor to perform attitude corrections based on the discrepancy between the current and desired attitude. Results in a controlled setting show that we can achieve a pointing accuracy in the range of 1-5 arcseconds using our novel payload at an operating frequency of up to 50Hz using a prototype built from commercial-off-the-shelf components. Further details can be found at https://ylatif.github.io/ultrafinestabilisation

In this letter, we report the discovery of a fast neutral hydrogen outflow in SDSS J145239.38+062738.0, a merging radio galaxy containing an optical type I active galactic nuclei (AGN). This discovery was made through observations conducted by the Five-hundred-meter Aperture Spherical radio Telescope (FAST) using redshifted 21-cm absorption. The outflow exhibits a blueshifted velocity likely up to $\sim-1000\,\rm km\,s^{-1}$ with respect to the systemic velocity of the host galaxy with an absorption strength of $\sim -0.6\,\rm mJy\,beam^{-1}$ corresponding to an optical depth of 0.002 at $v=-500\,\rm km\,s^{-1}$. The mass outflow rate ranges between $2.8\times10^{-2}$ and $3.6\, \rm M_\odot \, yr^{-1}$, implying an energy outflow rate ranging between $4.2\times10^{39}$ and $9.7\times10^{40}\rm\,erg\,s^{-1}$, assuming 100 K $

Event cameras are ideally suited to capture High Dynamic Range (HDR) visual information without blur but provide poor imaging capability for static or slowly varying scenes. Conversely, conventional image sensors measure absolute intensity of slowly changing scenes effectively but do poorly on HDR or quickly changing scenes. In this paper, we present an asynchronous linear filter architecture, fusing event and frame camera data, for HDR video reconstruction and spatial convolution that exploits the advantages of both sensor modalities. The key idea is the introduction of a state that directly encodes the integrated or convolved image information and that is updated asynchronously as each event or each frame arrives from the camera. The state can be read-off as-often-as and whenever required to feed into subsequent vision modules for real-time robotic systems. Our experimental results are evaluated on both publicly available datasets with challenging lighting conditions and fast motions, along with a new dataset with HDR reference that we provide. The proposed AKF pipeline outperforms other state-of-the-art methods in both absolute intensity error (69.4% reduction) and image similarity indexes (average 35.5% improvement). We also demonstrate the integration of image convolution with linear spatial kernels Gaussian, Sobel, and Laplacian as an application of our architecture., Comment: 17 pages, 10 figures. Date of Publication: 04 September 2023

Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or extended pose, of a vehicle. The industry-standard extended Kalman filter (EKF) does not come with strong stability or robustness guarantees and can be subject to catastrophic failure. This paper exploits a Lie group symmetry of the INS dynamics to propose the first nonlinear observer for INS with error dynamics that are almost-globally asymptotically and locally exponentially stable, independently of the chosen gains. The observer is aided only by a GNSS measurement of position. As expected, the convergence guarantee depends on persistence of excitation of the vehicle's specific acceleration in the inertial frame. Simulation results demonstrate the observer's performance and its ability to converge from extreme errors in the initial state estimates., Comment: 10 pages, 2 figures, to appear in Proceedings of IFAC World Congress 2023