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In this communication, we report on the results of the second phase of the Exoplanet Imaging Data Challenge started in 2019. This second phase focuses on the characterization of point sources (exoplanet signals) within multispectral high-contrast images from ground-based telescopes. We collected eight data sets from two high-contrast integral field spectrographs (namely Gemini-S/GPI and VLT/SPHERE-IFS) that we calibrated homogeneously, and in which we injected a handful of synthetic planetary signals (ground truth) to be characterized by the data challenge participants. The tasks of the participants consist of (1) extracting the precise astrometry of each injected planetary signals, and (2) extracting the precise spectro-photometry of each injected planetary signal. Additionally, the participants may provide the 1-sigma uncertainties on their estimation for further analyses. When available, the participants can also provide the posterior distribution used to estimate the position/spectrum and uncertainties. The data are permanently available on a Zenodo repository and the participants can submit their results through the EvalAI platform. The EvalAI submission platform opened on April 2022 and closed on the 31st of May 2024. In total, we received 4 valid submissions for the astrometry estimation and 4 valid submissions for the spectrophotometry (each submission, corresponding to one pipeline, has been submitted by a unique participant). In this communication, we present an analysis and interpretation of the results., Comment: Submitted to SPIE Astronomical Telescopes + Instrumentation 2024, Adaptive Optics Systems IX, Paper 13097-40

Context. To date, three nuclear transients have been associated with high-energy neutrino events. These transients are generally thought to be powered by tidal disruptions of stars (TDEs) by massive black holes. However, AT2019aalc, hosted in a Seyfert-1 galaxy, was not yet classified due to a lack of multiwavelength observations. Interestingly, the source has re-brightened 4 years after its discovery. Aims. We aim to classify the transient and explain the mechanism responsible for its second optical flare. Methods. We conducted a multi-wavelength monitoring program (from radio to X-rays) of AT2019aalc during its re-brightening in 2023. Results. The observations revealed a uniquely bright UV counterpart and multiple X-ray flares during the second optical flaring episode of the transient. The second flare, similarly to the first one, is also accompanied by IR dust echo emission. A long-term radio flare is found with an inverted spectrum. Optical spectroscopic observations reveal the presence of Bowen Fluorescence lines and strong high-ionization coronal lines indicating an extreme level of ionization in the system. Conclusions. The results suggest that the transient can be classified as a Bowen Fluorescence Flare (BFF), a relatively new sub-class of flaring active galactic nuclei (AGN). AT2019aalc can be also classified as an extreme coronal line emitter (ECLE). We found that, in addition to AT2019aalc, another BFF AT2021loi is spatially coincident with a high-energy neutrino event. The multi-wavelength properties of these transients suggest a possible connection between ECLEs, BFFs and TDEs in AGN., Comment: Submitted to A&A. 27 pages, 24 figures, 2 tables

In this paper, we present a novel sufficient condition for the stability of discrete-time linear systems that can be represented as a set of piecewise linear constraints, which make them suitable for quadratic programming optimization problems. More specifically, we tackle the problem of imposing asymptotic stability to a Koopman matrix learned from data during iterative gradient descent optimization processes. We show that this sufficient condition can be decoupled by rows of the system matrix, and propose a control barrier function-based projected gradient descent to enforce gradual evolution towards the stability set by running an optimization-in-the-loop during the iterative learning process. We compare the performance of our algorithm with other two recent approaches in the literature, and show that we get close to state-of-the-art performance while providing the added flexibility of allowing the optimization problem to be further customized for specific applications., Comment: 7 pages, 3 figures, 1 table, submitted to IEEE Conference on Decision and Control (CDC) 2024

Gamma-ray bursts (GRBs) are explosive transient events occurring at cosmological distances, releasing a large amount of energy as electromagnetic radiation over several energy bands. We report the detection of the long GRB~201216C by the MAGIC telescopes. The source is located at $z=1.1$ and thus it is the farthest one detected at very high energies. The emission above \SI{70}{\GeV} of GRB~201216C is modelled together with multi-wavelength data within a synchrotron and synchrotron-self Compton (SSC) scenario. We find that SSC can explain the broadband data well from the optical to the very-high-energy band. For the late-time radio data, a different component is needed to account for the observed emission. Differently from previous GRBs detected in the very-high-energy range, the model for GRB~201216C strongly favors a wind-like medium. The model parameters have values similar to those found in past studies of the afterglows of GRBs detected up to GeV energies., Comment: 13 pages, 6 figures, 2 tables. Accepted for publication in Monthly Notices of the Royal Astronomical Society

The astronomical transient AT2018cow is the closest example of the new class of luminous, fast blue optical transients (FBOTs). Liverpool Telescope RINGO3 observations of AT2018cow are reported here, which constitute the earliest polarimetric observations of an FBOT. At 5.7 days post-explosion, the optical emission of AT2018cow exhibited a chromatic polarization spike that reached ~7% at red wavelengths. This is the highest intrinsic polarization recorded for a non-relativistic explosive transient, and is observed in multiple bands and at multiple epochs over the first night of observations, before rapidly declining. The apparent wavelength dependence of the polarization may arise through depolarization or dilution of the polarized flux, due to conditions in AT~2018cow at early times. A second ``bump" in the polarization is observed at blue wavelengths at ~12 days. Such a high polarization requires an extremely aspherical geometry that is only apparent for a brief period (<1 day), such as shock breakout through an optically thick disk. For a disk-like configuration, the ratio of the thickness to radial extent must be ~10%., Comment: MNRAS Accepted, 10 pages, 8 figures

The dissipation process of GRB prompt emission is still unknown. Study of temporal variability may provide a unique way to discriminate the imprint of the inner engine activity from geometry and propagation related effects. We define the minimum variability timescale (MVT) as the shortest duration of individual pulses that shape a light curve for a sample of GRBs and test correlations with peak luminosity, Lorentz factor, and jet opening angle. We compare these correlations with predictions from recent numerical simulations for a relativistic structured -- possibly wobbling -- jet and assess the value of MTV as probe of prompt-emission physics. We used the peak detection algorithm mepsa to identify the shortest pulse within a GRB time history and estimate its full width half maximum (FWHM). We applied this framework to two sets of GRBs: Swift (from 2005 to July 2022) and Insight-HXMT (from June 2017 to July 2021, including 221009A). We then selected 401 GRBs with measured z to test for correlations. On average short GRBs have significantly shorter MVT than long GRBs. The MVT distribution of short GRBs with extended emission such as 060614 and 211211A is compatible only with that of short GRBs. This provides a new clue on the progenitor's nature. The MVT for long GRBs anticorrelates with peak luminosity. We confirm the anticorrelation with the Lorentz factor and find a correlation with the jet opening angle as estimated from the afterglow, along with an inverse correlation with the number of pulses. The MVT can identify the emerging putative new class of long GRBs that are suggested to be produced by compact binary mergers. For otherwise typical long GRBs, the different correlations between MVT and peak luminosity, Lorentz factor, jet opening angle, and number of pulses can be explained within the context of structured, possibly wobbling, weakly magnetised relativistic jets. (summarised), Comment: 18 pages, 15 figures, accepted by A&A

We demonstrate co-trapping and sideband cooling of a H$_2^+$ - $^9$Be$^+$ ion pair in a cryogenic Paul trap. We study the chemical lifetime of H$_2^+$ and its dependence on the apparatus temperature, achieving lifetimes of up to $11^{+6}_{-3}$ h at 10 K. We demonstrate cooling of two of the modes of translational motion to an average phonon number of 0.07(1) and 0.05(1), corresponding to a temperature of 22(1) $\mu$K and 55(3) $\mu$K respectively. Our results provide a basis for quantum logic spectroscopy experiments of H$_2^+$, as well as other light ions such as HD$^+$, H$_3^+$, and He$^+$.

Gamma-ray bursts (GRBs) are bright extragalactic flashes of gamma-ray radiation and briefly the most energetic explosions in the Universe. Their catastrophic origin (the merger of compact objects or the collapse of massive stars) drives the formation of a newborn compact remnant (black hole or magnetar) that powers two highly relativistic jets. To distinguish between magnetized and baryonic jet models and ultimately determine the power source for these energetic explosions, our team studies the polarization of the light during the first minutes after the explosion (using novel instruments on fully autonomous telescopes around the globe) to directly probe the magnetic field properties in these extragalactic jets. This technology allowed the detection of highly polarized optical light in GRB 120308A and confirmed the presence of mildly magnetized jets with large-scale primordial magnetic fields in a reduced sample of GRBs (e.g. GRB 090102, GRB 110205A, GRB 101112A, GRB 160625B). Here we discuss the observations of the most energetic and first GRB detected at very high TeV energies, GRB 190114C, which opens a new frontier in GRB magnetic field studies suggesting that some jets can be launched highly magnetized and that the collapse and destruction of these magnetic fields at very early times may have powered the explosion itself. Additionally, our most recent polarimetric observations of the jet of GRB 141220A indicate that, when the jetted ejected material is decelerated by the surrounding environment, the magnetic field amplification mechanisms at the front shock (needed to generate the observed synchrotron emission) produce small magnetic domains. These measurements validate theoretical expectations and contrast with previous observations that suggest large magnetic domains in collisionless shocks (i.e. GRB 091208B)., Comment: To appear in the Proceedings of the 16th Marcel Grossmann Meeting (July 5-10, 2021)

The contemporaneous detection of gravitational waves and gamma rays from the GW170817/GRB 170817A, followed by kilonova emission a day after, confirmed compact binary neutron-star mergers as progenitors of short-duration gamma-ray bursts (GRBs), and cosmic sources of heavy r-process nuclei. However, the nature (and lifespan) of the merger remnant and the energy reservoir powering these bright gamma-ray flashes remains debated, while the first minutes after the merger are unexplored at optical wavelengths. Here, we report the earliest discovery of bright thermal optical emission associated with the short GRB 180618A with extended gamma-ray emission, with ultraviolet and optical multicolour observations starting as soon as 1.4 minutes post-burst. The spectrum is consistent with a fast-fading afterglow and emerging thermal optical emission at 15 minutes post-burst, which fades abruptly and chromatically (flux density $F_{\nu} \propto t^{-\alpha}$, $\alpha=4.6 \pm 0.3$) just 35 minutes after the GRB. Our observations from gamma rays to optical wavelengths are consistent with a hot nebula expanding at relativistic speeds, powered by the plasma winds from a newborn, rapidly-spinning and highly magnetized neutron star (i.e. a millisecond magnetar), whose rotational energy is released at a rate $L_{\rm th} \propto t^{-(2.22\pm 0.14)}$ to reheat the unbound merger-remnant material. These results suggest such neutron stars can survive the collapse to a black hole on timescales much larger than a few hundred milliseconds after the merger, and power the GRB itself through accretion. Bright thermal optical counterparts to binary merger gravitational wave sources may be common in future wide-field fast-cadence sky surveys.

We present photometric and polarimetric measurements of gamma-ray burst (GRB) optical afterglows observed by the RINGO3 imaging polarimeter over its $\sim$7 year lifetime mounted on the Liverpool Telescope. During this time, RINGO3 responded to 67 GRB alerts. Of these, 28 had optical afterglows and a further ten were sufficiently bright for photometric and polarimetric analysis ($R\lessapprox{17}$). We present high quality multicolour light curves of ten sources: GRB 130606A, GRB 130610A, GRB 130612A, GRB 140430A, GRB 141220A, GRB 151215A, GRB 180325A, GRB 180618A, GRB 190114C, and GRB 191016A and polarimetry for seven of these (excluding GRB 130606A, GRB 130610A, and GRB 130612A, which were observed before the polarimetry mode was fully commissioned). Eight of these ten GRBs are classical long GRBs, one sits at the short-long duration interface with a $T_{90}$ $\sim$ 4 seconds and one is a classical short, hard burst with extended emission. We detect polarization for GRB 190114C and GRB 191016A. While detailed analyses of several of these GRBs have been published previously, here we present a uniform re-reduction and analysis of the whole sample and investigation of the population in a broad context relative to the current literature. We use survival analysis to fully include the polarization upper limits in the comparison with other GRB properties, such as temporal decay rate, isotropic energy and redshift. We find no clear correlation between polarization properties and wider sample properties and conclude that larger samples of early time polarimetry of GRB afterglows are required to fully understand GRB magnetic fields., Comment: 18 pages, 7 figures, Accepted for publication in MNRAS

We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines Inertial Measurement Unit (IMU) data, RGB images, and point cloud depth measurements. This system applies the factor graph representation to an optimization problem that provides 3-D skeleton joint estimations. In this paper, we focus on improving the temporal consistency of the estimated human trajectories to greatly extend the range of operability of the depth sensor. More specifically, we introduce a new factor graph factor based on Koopman theory that embeds the nonlinear dynamics of several lower-limb movement activities. This factor performs a two-step process: first, a custom activity recognition module based on spatial temporal graph convolutional networks recognizes the walking activity; then, a Koopman pose prediction of the subsequent skeleton is used as an a priori estimation to drive the optimization problem toward more consistent results. We tested the performance of this module on datasets composed of multiple clinical lowerlimb mobility tests, and we show that our approach reduces outliers on the skeleton form by almost 1 m, while preserving natural walking trajectories at depths up to more than 10 m., Comment: 8 pages, 6 figures, accepted to IROS 2022

We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback controller to navigate through each cell toward a goal location using duality, Control Lyapunov and Barrier Functions (CLF, CBF), and Linear Programming. In this paper, we propose a novel strategy that uses relative bearing measurements with respect to a set of landmarks in the environment, as opposed to full relative displacements. The main advantage is then that the measurements can be obtained using a simple monocular camera. We test the proposed algorithm in the simulation, and then in an experimental environment to evaluate the performance of our approach with respect to practical issues such as mismatches in the dynamical model of the robot, and measurements acquired with a camera with a limited field of view., Comment: This work is submitted to the IROS 2022 conference

Long gamma-ray burst GRB 191016A was a bright and slow rising burst that was detected by the \textit{Swift} satellite and followed up by ground based Liverpool Telescope (LT). LT follow-up started $2411$-s after the \textit{Swift} Burst Alert Telescope (BAT) trigger using imager IO:O around the time of the late optical peak. From $3987-7687$-s, we used the LT polarimeter RINGO3 to make polarimetric and photometric observations of the GRB simultaneously in the $V,R$ and $I$ bands. The combined optical light curve shows an initial late peak followed by a decline until 6147-s, 6087-s, and 5247-s for $I,R$ and $V$ filters respectively followed by a flattening phase. There is evidence of polarization at all phases including polarization ($P = 14.6 \pm 7.2 \%$) which is coincident with the start of the flattening phase. The combination of the light curve morphology and polarization measurement favours an energy injection scenario where slower magnetised ejecta from the central engine catches up with the decelerating blast wave. We calculate the minimum energy injection to be $\Delta E / E>0.36$. At a later time combining the optical light curve from BOOTES (reported via GCN) and IO:O we see evidence of a jet break with jet opening angle 2 \degree., Comment: 10 pages, 4 figures, Accepted for publication in MNRAS

Context. Gamma-ray burst (GRB) afterglows originate from the interaction between the relativistic ejecta and the surrounding medium. Consequently, their properties depend on several aspects: radiation mechanisms, relativistic shock micro-physics, circumburst environment, and the structure and geometry of the relativistic jet. While the standard afterglow model accounts for the overall spectral and temporal evolution for a number of GRBs, its validity limits emerge when the data set is particularly rich and constraining, especially in the radio band. Aims. We aimed to model the afterglow of the long GRB160131A (redshift $z = 0.972$), for which we collected a rich, broadband, and accurate data set, spanning from $6\times10^{8}$ to $7\times10^{17}$ Hz in frequency, and from 330 s to 160 days post burst in time. Methods. We modelled the spectral and temporal evolution of this GRB afterglow through two approaches: the adoption of empirical functions to model optical/X-rays data set, later assessing their compatibility with the radio domain; the inclusion of the entire multi-frequency data set simultaneously through the Python package named sAGa (Software for AfterGlow Analysis), to come up with an exhaustive and self-consistent description of the micro-physics, geometry, and dynamics of the afterglow. Results. From deep broadband analysis (from radio to X-ray frequencies) of the afterglow light curves, GRB160131A outflow shows evidence of jetted emission. Moreover, we observe dust extinction in the optical spectra, and energy injection in the optical/X-ray data. Radio spectra are characterised by several peaks, that could be due to either interstellar scintillation (ISS) effects or a multi-component structure. Conclusions. The inclusion of radio data in the broadband set of GRB160131A makes a self-consistent modelling hardly attainable within the standard model of GRB afterglows., Comment: 36 pages, 16 figures, 8 tables, accepted by A&A; v2: updated Acknowledgements

We report the earliest-ever detection of optical polarization from a GRB forward shock (GRB 141220A), measured $129.5-204.3\,$s after the burst using the multi-colour RINGO3 optical polarimeter on the 2-m fully autonomous robotic Liverpool Telescope. The temporal decay gradient of the optical light curves from $86\,$s to $\sim 2200\,$s post-burst is typical of classical forward shocks with $\alpha = 1.091 \pm 0.008$. The low optical polarization $P_{BV} = 2.8_{- 1.6} ^{+ 2.0} \, \%$ (2$\sigma$) at mean time $\sim 168\,$s post-burst is compatible with being induced by the host galaxy dust ($A_{V, {\rm HG}}= 0.71 \pm 0.15 \,$mag), leaving low polarization intrinsic to the GRB emission itself -- as theoretically predicted for forward shocks and consistent with previous detections of low degrees of optical polarization in GRB afterglows observed hours to days after the burst. The current sample of early-time polarization data from forward shocks suggests polarization from (a) the Galactic and host galaxy dust properties (i.e. $P \sim 1\%-3\%$), (b) contribution from a polarized reverse shock (GRB deceleration time, jet magnetization) or (c) forward shock intrinsic polarization (i.e. $P \leq 2\%$), which depends on the magnetic field coherence length scale and the size of the observable emitting region (burst energetics, circumburst density).

We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based output-feedback controllers obtained via Control Lyapunov Functions, Control Barrier Functions, and robust Linear Programming. Our solution inherits many benefits of RRT*-like algorithms, such as the ability to implicitly handle arbitrarily complex obstacles, and asymptotic optimality. Additionally, it extends planning beyond the discrete nominal paths, as feedback controllers can correct deviations from such paths, and are robust to discrepancies between the map used for planning and the real environment. We test our algorithms first in simulations and then in experiments, testing the robustness of the approach to practical conditions, such as deformations of the environment, mismatches in the dynamical model of the robot, and measurements acquired with a camera with a limited field of view., Comment: submitted to IROS2021

This paper introduces methods and a novel toolbox that efficiently integrates any high-dimensional Neural Mass Models (NMMs) specified by two essential components. The first is the set of nonlinear Random Differential Equations of the dynamics of each neural mass. The second is the highly sparse three-dimensional Connectome Tensor (CT) that encodes the strength of the connections and the delays of information transfer along the axons of each connection. Semi-analytical integration of the RDE is done with the Local Linearization scheme for each neural mass model, which is the only scheme guaranteeing dynamical fidelity to the original continuous-time nonlinear dynamic. It also seamlessly allows modeling distributed delays CT with any level of complexity or realism, as shown by the Moore-Penrose diagram of the algorithm. This ease of implementation includes models with distributed-delay CTs. We achieve high computational efficiency by using a tensor representation of the model that leverages semi-analytic expressions to integrate the Random Differential Equations (RDEs) underlying the NMM. We discretized the state equation with Local Linearization via an algebraic formulation. This approach increases numerical integration speed and efficiency, a crucial aspect of large-scale NMM simulations. To illustrate the usefulness of the toolbox, we simulate both a single Zetterberg-Jansen-Rit (ZJR) cortical column and an interconnected population of such columns. These examples illustrate the consequence of modifying the CT in these models, especially by introducing distributed delays. We provide an open-source Matlab live script for the toolbox., Comment: 12 pages, 6 figures, 2 tables