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Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers must guarantee their safety. In this paper, we apply control barrier function (CBF) theory to investigate the safety of CAVs implementing connected cruise control (CCC). Specifically, we study how stability, connection architecture, and the CAV's response time impact the safety of CCC. Through safety and stability analyses, we derive stable and safe choices of control gains, and show that safe CAV operation requires plant and head-to-tail string stability in most cases. Furthermore, the reaction time of vehicles, which is represented as a first-order lag, has a detrimental effect on safety. We determine the critical value of this lag, above which safe CCC gains do not exist. To guarantee safety even with lag while preserving the benefits of CCC, we synthesize safety-critical CCC using CBFs. With the proposed safety-critical CCC, the CAV can leverage information from connected vehicles farther ahead to improve its safety. We evaluate this controller by numerical simulation using real traffic data., Comment: 14 pages, 9 figures

Does a broad-line region (BLR) wind in radio-quiet (RQ) active galactic nuclei (AGN) extend to pc scales and produce radio emission? We explore the correlations between a pc-scale radio wind and the BLR wind in a sample of 19 RQ Palomar-Green (PG) quasars. The radio wind is defined based on the spectral slope and the compactness of the emission at 1.5-5 GHz, and the BLR wind is defined by the excess blue wing in the C IV emission line profile. The five objects with both radio and BLR wind indicators are found at high Eddington ratios L/L_Edd (> 0.66), and eight of the nine objects with neither radio nor BLR winds reside at low L/L_Edd (< 0.28). This suggests that the BLR wind and the radio wind in RQ AGN are related to a radiation pressure driven wind. Evidence for free-free absorption by AGN photoionized gas, which flattens the spectral slope, is found in two objects. Radio outflows in three low L/L_Edd (0.05-0.12) objects are likely from a low-power jet, as suggested by additional evidence. The presence of a mild equatorial BLR wind in four intermediate L/L_Edd (0.2-0.4) objects can be tested with future spectropolarimetry., Comment: Accepted for publication in ApJ

A continuous motion planning method for connected automated vehicles is considered for generating feasible trajectories in real-time using three consecutive clothoids. The proposed method reduces path planning to a small set of nonlinear algebraic equations such that the generated path can be efficiently checked for feasibility and collision. After path planning, velocity planning is executed while maintaining a parallel simple structure. Key strengths of this framework include its interpretability, shareability, and ability to specify boundary conditions. Its interpretability and shareability stem from the succinct representation of the resulting local motion plan using a handful of physically meaningful parameters. Vehicles may share these parameters via V2X communication so that the recipients can precisely reconstruct the planned trajectory of the senders and respond accordingly. The proposed local planner guarantees the satisfaction of boundary conditions, thus ensuring seamless integration with a wide array of higher-level global motion planners. The tunable nature of the method enables tailoring the local plans to specific maneuvers like turns at intersections, lane changes, and U-turns., Comment: 14 pages, 14 figures

We present astrometric very long baseline interferometry (VLBI) studies of AGB stars. To understand the properties and evolution of AGB stars, distances are an important parameter. The distribution and kinematics of their circumstellar matter are also revealed with the VLBI method. We used the VERA array to observe 22\,GHz H$_2$O masers in various subclasses of AGB stars. Parallaxes of the three OH/IR stars NSV17351, OH39.7$+$1.5, IRC$-$30363, and the Mira-type variable star AW~Tau were newly obtained. We present the circumstellar distribution and kinematics of H$_2$O masers around NSV17351. The absolute magnitudes in mid-infrared bands of OH/IR stars with very long pulsation periods were investigated and a period-magnitude relation in the WISE W3 band, $M_{\mathrm{W3}} = (-7.21\pm1.18)\log P + (9.25\pm3.09)$, was found for the Galactic AGB stars. The VLBI is still a powerful tool for parallax measurements of the Galactic AGB stars surrounded by thick dust shells., Comment: 24 pages, 8 figures, Proceedings of the IAU symposium 376, At the cross-roads of astrophysics and cosmology Period luminosity relations in the 2020s

Results of astrometric very long baseline interferometry (VLBI) observations towards an extreme OH/IR star candidate NSV17351 are presented. We used the VERA (VLBI Exploration of Radio Astrometry) VLBI array to observe 22\,GHz H$_2$O masers of NSV17351. We derived an annual parallax of 0.247$\pm$0.035 mas which corresponds to a distance of 4.05$\pm$0.59 kpc. By averaging the proper motions of 15 maser spots, we obtained the systemic proper motion of NSV17351 to be ($\mu_{\alpha}\cos{\delta}, \mu_{\delta}$)$^{\mathrm{avg}}$ $=$ ($-$1.19 $\pm$ 0.11, 1.30 $\pm$ 0.19) mas\,yr$^{-1}$. The maser spots spread out over a region of 20 mas $\times$ 30 mas, which can be converted to a spatial distribution of $\sim$80 au $\times$ $\sim$120 au at the source distance. Internal motions of the maser spots suggest an outward moving maser region with respect to the estimated position of the central star. From single dish monitoring of the H$_2$O maser emission, we estimate the pulsation period of NSV17351 to be 1122$\pm$24 days. This is the first report of the periodic activity of NSV17351, indicating that NSV17351 could have a mass of $\sim$4\,M$_{\odot}$. We confirmed that the time variation of H$_2$O masers can be used as a period estimator of variable OH/IR stars. Furthermore, by inspecting dozens of double-peaked H$_2$O maser spectra from the last 40 years, we detected a long-term acceleration in the radial velocity of the circumstellar matter to be $0.17\pm0.03$ km\,s$^{-1}$\,yr$^{-1}$ Finally, we determined the position and kinematics of NSV17351 in the Milky Way Galaxy and found that NSV17351 is located in an interarm region between the Outer and Perseus arms. We note that astrometric VLBI observations towards extreme OH/IR stars are useful samples for studies of the Galactic dynamics., Comment: Published in the Publications of the Astronomical Society of Japan

This paper describes the overview of the FLASHING (Finest Legacy Acquisitions of SiO-/ H$_2$O-maser Ignitions by the Nobeyama Generation) project promoted using the 45 m telescope of Nobeyama Radio Observatory, which aims to intensively monitor H$_2$O (22 GHz) and SiO (43 GHz) masers associated with so-called "water fountain" sources. Here we show scientific results on the basis of the data taken in for the first five seasons of FLASHING, from 2018 December to 2023 April). We have found the evolution of the H$_2$O maser spectra, such as new spectral components breaking the record of the jet's top speed and/or systematic velocity drifts in the spectrum indicating acceleration or deceleration of the maser gas clumps. For the 43 GHz SiO maser emission, we have found its new detection in a source while its permanent disappearance in other source. Our finding may imply that the jets from these water fountains can be accelerated or decelerated, and show how cicumstellar envelopes have been destroyed., Comment: 31 pages, 22 figures, to be published in the Publications of the Astronomical Society of Japan

Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy these vehicles and leverage their benefits, the underlying algorithms must ensure their safe operation. In this paper, we address the safety of connected cruise control strategies for longitudinal car following using control barrier function (CBF) theory. In particular, we consider various safety measures such as minimum distance, time headway and time to conflict, and provide a formal analysis of these measures through the lens of CBFs. Additionally, motivated by how stability charts facilitate stable controller design, we derive safety charts for existing connected cruise controllers to identify safe choices of controller parameters. Finally, we combine the analysis of safety measures and the corresponding stability charts to synthesize safety-critical connected cruise controllers using CBFs. We verify our theoretical results by numerical simulations., Comment: Accepted to the 62nd IEEE Conference on Decision and Control. 6 pages, 5 figures

The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest possible extension of the rolling wheel where the location of the center of gravity is controlled. With the help of the Appellian approach, a state space representation of the controlled nonholonomic system is built in a way that the most compact nonlinear equations of motions are constructed. Based on controllability analysis, feedback controllers are designed which successfully carry out lane changing and turning maneuvers. The behavior of the closed-loop system is demonstrated by numerical simulations.

In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained trajectory solution of a low-level energy-optimal control problem with an upper-level optimization problem that yields the minimum travel time for CAVs. We predict the future trajectories of the HDVs using Newell's car-following model. To handle potential deviations of HDVs' actual behavior from the predicted one, we design a safety filter for CAVs based on control barrier functions. The effectiveness of the proposed control framework is demonstrated via simulations with heterogeneous human driving behaviors., Comment: final CDC manuscript, 6 pages

Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions -- in a variety of forms -- have been used to obtain safety guarantees for uncertain systems. Yet the differing types of uncertainty experienced in practice have resulted in a fractured landscape of robustification -- with a variety of instantiations depending on the structure of the uncertainty. This paper proposes a framework for generalizing these variations into a single form: parameterized barrier functions (PBFs), which yield safety guarantees for a wide spectrum of uncertainty types. This leads to controllers that enforce robust safety guarantees while their conservativeness scales by the parameterization. To illustrate the generality of this approach, we show that input-to-state safety (ISSf) is a special case of the PBF framework, whereby improved safety guarantees can be given relative to ISSf., Comment: 6 pages, 4 figures

We present the first results from the Southern Hemisphere Parallax Interferometric Radio Astrometry Legacy Survey (\spirals): $10\mu$as-accurate parallaxes and proper motions for two southern hemisphere 6.7 GHz methanol masers obtained using the inverse MultiView calibration method. Using an array of radio telescopes in Australia and New Zealand, we measured the trigonometric parallax and proper motions for the masers associated with the star formation region G232.62+00.99 of $\pi = 0.610\pm0.011$~mas, $\mu_x=-2.266\pm0.021$~mas~y$^{-1}$ and $\mu_y=2.249\pm0.049$~mas~y$^{-1}$, which implies its distance to be $d=1.637\pm0.029$~kpc. These measurements represent an improvement in accuracy by more than a factor of 3 over the previous measurements obtained through Very Long Baseline Array observations of the 12~GHz methanol masers associated with this region. We also measure the trigonometric parallax and proper motion for G323.74--00.26 as $\pi = 0.364\pm0.009$~mas, $\mu_x=-3.239\pm0.025$~mas~y$^{-1}$ and $\mu_y=-3.976\pm0.039$~mas~y$^{-1}$, which implies a distance of $d=2.747\pm0.068$~kpc. These are the most accurate measurements of trigonometric parallax obtained for 6.7~GHz class II methanol masers to date. We confirm that G232.62+00.99 is in the Local arm and find that G323.74--00.26 is in the Scutum-Centaurus arm. We also investigate the structure and internal dynamics of both masers., Comment: 13 pages, 9 figures, 3 tables. Accepted for publication in ApJ

Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting controllers. In this study, we propose a controller integration scheme to fuse performance-based controllers and safety-oriented controllers safely for the longitudinal motion of a CAV. The resulting structure is compatible with a large class of controllers, and offers flexibility to design each controller individually without affecting the performance of the others. We implement the proposed safe integration scheme on a connected automated truck using an optimal-in-energy controller and a safety-oriented connected cruise controller. We validate the premise of the safe integration through experiments with a full-scale truck in two scenarios: a controlled experiment on a test track and a real-world experiment on a public highway. In both scenarios, we achieve energy efficient driving without violating safety., Comment: 14 pages, 11 figures

This paper considers mixed traffic consisting of connected automated vehicles equipped with vehicle-to-everything (V2X) connectivity and human-driven vehicles. A control strategy is proposed for communicating pairs of connected automated vehicles, where the two vehicles regulate their longitudinal motion by responding to each other, and, at the same time, stabilize the human-driven traffic between them. Stability analysis is conducted to find stabilizing controllers, and simulations are used to show the efficacy of the proposed approach. The impact of the penetration of connectivity and automation on the string stability of traffic is quantified. It is shown that, even with moderate penetration, connected automated vehicle pairs executing the proposed controllers achieve significant benefits compared to when these vehicles are disconnected and controlled independently., Comment: Accepted to the IEEE Transactions on Intelligent Transportation Systems. 11 pages, 10 figures

In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are proposed. Reactive controllers are given by explicit feedback control laws. In predictive controllers, the control input is optimized in a receding-horizon fashion, which depends on the predictions of motions of preceding vehicles. Beyond-line-of-sight information is obtained via vehicle-to-vehicle (V2V) communication, and is utilized in the proposed reactive and predictive controllers. Simulations utilizing real traffic data are used to show that connectivity can bring significant energy savings., Comment: 18 pages, 12 figures, submitted to Transportation Research Part C: Emerging Technologies

We report VLBI monitoring observations of the 22 GHz water (H$_{2}$O) masers around the Mira variable BX Cam, which were carried out as a part of the EAVN Synthesis of Stellar Maser Animations (ESTEMA) project. Data of 37 epochs in total were obtained from 2018 May to 2021 June with a time interval of 3-4 weeks, spanning approximately three stellar pulsation periods ($P= \sim$440 d). In particular, the dual-beam system equipped on the VERA stations was used to measure the kinematics and parallaxes of the H$_{2}$O maser features. The measured parallax, $\pi=1.79\pm 0.08$ mas, is consistent with $Gaia$ EDR3 and previously measured VLBI parallaxes within a 1-$\sigma$ error level. The position of the central star was estimated, based on both the $Gaia$ EDR3 data and the center position of the ring-like 43 GHz silicon-monoxide (SiO) maser distribution imaged with the KVN. The three-dimensional H$_{2}$O maser kinematics indicates that the circumstellar envelope is expanding at a velocity of $13\pm4$ km s$^{-1}$, while there are asymmetries in both the spatial and velocity distributions of the maser features. Furthermore, the H$_{2}$O maser animation achieved by our dense monitoring program manifests the propagation of shock waves in the circumstellar envelope of BX Cam., Comment: 31 pages, 16 figures, accepted by ApJ

This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate with control barrier functions to attain provably safe dynamic behavior. The observer error bound - which consists of transient and steady-state parts - is quantified, and the system is endowed with robustness against this error via the proposed controller. An adaptive cruise control problem is used as illustrative example through simulations including real disturbance data., Comment: 6 pages, 5 figures

A novel way of using neural networks to learn the dynamics of time delay systems from sequential data is proposed. A neural network with trainable delays is used to approximate the right hand side of a delay differential equation. We relate the delay differential equation to an ordinary differential equation by discretizing the time history and train the corresponding neural ordinary differential equation (NODE) to learn the dynamics. An example on learning the dynamics of the Mackey-Glass equation using data from chaotic behavior is given. After learning both the nonlinearity and the time delay, we demonstrate that the bifurcation diagram of the neural network matches that of the original system., Comment: Accepted by 17th IFAC Workshop on Time Delay Systems. 6 pages, 8 figures

This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced to attain formal safety guarantees, by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays both in the dynamics and in the safety condition, and provides an affine constraint on the control input that yields provable safety. This constraint can be incorporated into optimization problems to synthesize pointwise optimal and provable safe controllers. The applicability of the proposed method is demonstrated by numerical simulation examples., Comment: Submitted to the International Journal of Robust and Nonlinear Control (JRNC). 25 pages, 3 figures

Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work we present a constructive approach for safety-critical control synthesis via Control Barrier Functions (CBF). By filtering a hand-designed controller via a CBF, we are able to attain performant behavior while providing rigorous guarantees of safety. In the face of disturbances, robust safety and performance are simultaneously achieved through the notion of Input-to-State Safety (ISSf). We take a tutorial approach by developing the CBF-design methodology in parallel with an inverted pendulum example, making the challenges and sensitivities in the design process concrete. To establish the capability of the proposed approach, we consider the practical setting of safety-critical design via CBFs for a connected automated vehicle (CAV) in the form of a class-8 truck without a trailer. Through experimentation we see the impact of unmodeled disturbances in the truck's actuation system on the safety guarantees provided by CBFs. We characterize these disturbances and using ISSf, produce a robust controller that achieves safety without conceding performance. We evaluate our design both in simulation, and for the first time on an automotive system, experimentally., Comment: 16 pages, 16 figures

Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe, collision-free behavior by taking into account the significant response time of the truck as input delay and the uncertainty of its dynamical model as input disturbance. The benefits of the proposed controller compared to control designs that neglect the delay or treat the delay as disturbance are shown by numerical simulations., Comment: Accepted to the 17th IFAC Workshop on Time Delay Systems. 6 pages, 3 figures

This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicles. The truck has access to information about connected vehicles beyond line of sight using vehicle-to-vehicle (V2V) communication. A novel connected cruise control design is proposed which incorporates additional delays into the control law when responding to distant connected vehicles to account for the finite propagation of traffic waves. The speeds of non-connected vehicles are modeled as stochastic processes. A fundamental theorem is proven which links the spectral properties of the motion signals to the average energy consumption. This enables us to tune controller parameters and maximize energy efficiency. Simulations with synthetic data and real traffic data are used to demonstrate the energy efficiency of the control design. It is demonstrated that even with lean penetration of connected vehicles, our controller can bring significant energy savings., Comment: This is submitted to IEEE Transactions on Intelligent Transportation Systems

Very Long Baseline Interferometry (VLBI) astrometry is a well established technique for achieving $\pm10~\mu$as parallax accuracies at frequencies well above 10~GHz. At lower frequencies, uncompensated interferometer delays associated with the ionosphere play the dominant role in limiting the astrometric accuracy. Multiview is a novel VLBI calibration method, which uses observations of multiple quasars to accurately model and remove time-variable, directional-dependent changes to the interferometer delay. Here we extend the Multiview technique by phase referencing data to the target source ("inverse Multiview") and test its performance. Multiple observations with a four-antenna VLBI array operating at 8.3~GHz show single-epoch astrometric accuracies near $20~\mu$as for target-reference quasar separations up to about 7 degrees. This represents an improvement in astrometric accuracy by up to an order of magnitude compared to standard phase referencing., Comment: 11 pages, 5 figures

This work gives introduction to traffic control by connected automated vehicles. The influence of vehicle control on vehicular traffic and traffic control strategies are discussed and compared. It is highlighted that vehicle-to-everything connectivity allows connected automated vehicles to access the state of the traffic behind them such that feedback can be utilized to mitigate evolving congestions. Numerical simulations demonstrate that such connectivity-based traffic control is beneficial for smoothness and energy efficiency of highway traffic. The dynamics and stability of traffic flow, under the proposed controllers, are analyzed in detail to construct stability charts that guide the selection of stabilizing control gains., Comment: Accepted for publication in the book "AI-enabled Technologies for Autonomous and Connected Vehicles". 37 pages, 8 figures

Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conservative behavior, and tuning these controllers to find the ideal trade-off between performance and safety typically requires domain expertise or a carefully constructed reward function. This work presents a design paradigm for systematically achieving behaviors that balance performance and robust safety by integrating safety-aware Preference-Based Learning (PBL) with Control Barrier Functions (CBFs). Fusing these concepts -- safety-aware learning and safety-critical control -- gives a robust means to achieve safe behaviors on complex robotic systems in practice. We demonstrate the capability of this design paradigm to achieve safe and performant perception-based autonomous operation of a quadrupedal robot both in simulation and experimentally on hardware., Comment: 15 pages, 4 figures

Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). The framework is able to guarantee safety even in the presence of input delay, by accounting for the evolution of the environment during the delayed response of the system. The underlying control synthesis relies on predicting the future state of the system and the environment over the delay interval, with robust safety guarantees against prediction errors. The efficacy of the proposed method is demonstrated by a simple adaptive cruise control problem and a more complex robotics application on a Segway platform., Comment: Accepted to the IEEE Transactions on Control Systems Technology (TCST). 14 pages, 7 figures

We have performed a molecular line search toward the flaring 6.7-GHz masers G24.33+0.13 and G359.62-0.24 using the Australia Telescope Compact Array. We present spectra of the 6.7-GHz class~II methanol and 22.2-GHz water masers toward these sources and provide comparison with other recent flaring events these sources have experienced. We also detect the fourth example of a 23.4-GHz class~I methanol maser, and the eleventh example of a 4.8-GHz formaldehyde maser toward G24.33+0.13. Alongside these results, we observe the previously detected ammonia (3,3) emission and report upper limits on the presence of various other cm-wavelength methanol, ammonia and OH transitions. Our results are consistent with the flaring of G24.33+0.13 being driven by a variable accretion rate in the host high-mass young stellar object., Comment: Accepted into MNRAS 2021 October 17. 10 pages, 4 figures and 3 tables

Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated that the developed models can be used to design low-complexity controllers that enable automated vehicles to execute a large variety of maneuvers with high precision., Comment: 42 pages, 25 figures, 5 tables, accepted for inclusion in a future issue in Nonlinear Dynamics, Springer

The subclass of bipolar Planetary Nebulae (PN) exhibits well-defined low-power outflows and some show shock-related equatorial spiderweb structures and hourglass structures surrounding these outflows. These structures are distinctly different from the phenomena associated with spherical and elliptical PN and suggest a non-standard way to simultaneously energise both kind of structures. This paper presents evidence from the published literature on bipolar PN Hb\,12 and other sources in support of an alternative scenario for energizing these structures by means of accretion from material shells deposited during earlier post-AGB and pre-PN evolutionary stages. In addition to energizing the bipolar outflow, a sub-Eddington accretion scenario could hydrodynamically explain the spiderweb and outer hourglass structures as oblique shockwaves for guiding the accreting material into the equatorial region of the source. Estimates of the accretion rate resulting from fallback-related spherical accretion could indeed help to drive a low-power outflow and contribute to the total luminosity of these sources., Comment: To be published in Research in Astronomy and Astrophysics

We take the first step in using vehicle-to-vehicle (V2V) communication to provide real-time on-board traffic predictions. In order to best utilize real-world V2V communication data, we integrate first principle models with deep learning. Specifically, we train recurrent neural networks to improve the predictions given by first principle models. Our approach is able to predict the velocity of individual vehicles up to a minute into the future with improved accuracy over first principle-based baselines. We conduct a comprehensive study to evaluate different methods of integrating first principle models with deep learning techniques. The source code for our models is available at https://github.com/Rose-STL-Lab/V2V-traffic-forecast ., Comment: 13 pages, 3rd Annual Conference on Learning for Dynamics and Control 2021

To bring complex systems into real world environments in a safe manner, they will have to be robust to uncertainties - both in the environment and the system. This paper investigates the safety of control systems under input disturbances, wherein the disturbances can capture uncertainties in the system. Safety, framed as forward invariance of sets in the state space, is ensured with the framework of control barrier functions (CBFs). Concretely, the definition of input to state safety (ISSf) is generalized to allow the synthesis of non-conservative, tunable controllers that are provably safe under varying disturbances. This is achieved by formulating the concept of tunable input to state safe control barrier functions (TISSf-CBFs) which guarantee safety for disturbances that vary with state and, therefore, provide less conservative means of accommodating uncertainty. The theoretical results are demonstrated with a simple control system with input disturbance and also applied to design a safe connected cruise controller for a heavy duty truck.

We discovered new high-velocity components of H$_2$O maser emission in one of the "water fountain" sources, IRAS~18286$-$0959, which has been monitored using the Nobeyama 45 m telescope in the new FLASHING (Finest Legacy Acquisitions of SiO- and H$_2$O-maser Ignitions by Nobeyama Generation) project since 2018 December. The maser spectra show new, extremely high expansion velocities ($>$200~km~s$^{-1}$ projected in the line of sight) components, some of which are located symmetrically in the spectrum with respect to the systemic velocity. They were also mapped with KaVA (KVN and VERA Combined Array) in 2019 March. We located some of these maser components closer to the central stellar system than other high velocity components (50--200~km~s$^{-1}$) that have been confirmed to be associated with the known bipolar outflow. The new components would flash in the fast collimated jet at a speed over 300~km~s$^{-1}$ (soon) after 2011 when they had not been detected. The fastest of the new components seem to indicate rapid deceleration in these spectra, however our present monitoring is still too sparse to unambiguously confirm it (up to 50~km~s$^{-1}$yr$^{-1}$) and too short to reveal their terminal expansion velocity, which will be equal to the expansion velocity that has been observed ($v_{\rm exp}\sim$120~km~s$^{-1}$). Future occurrences of such extreme velocity components may provide a good opportunity to investigate possible recurrent outflow ignitions. Thus sculpture of the parental envelope will be traced by the dense gas that is entrained by the fast jet and exhibits spectacular distributions of the relatively stable maser features., Comment: 11 pages, 5 figures, 2 tables

We introduce a methodology to guarantee safety against the spread of infectious diseases by viewing epidemiological models as control systems and by considering human interventions (such as quarantining or social distancing) as control input. We consider a generalized compartmental model that represents the form of the most popular epidemiological models and we design safety-critical controllers that formally guarantee safe evolution with respect to keeping certain populations of interest under prescribed safe limits. Furthermore, we discuss how measurement delays originated from incubation period and testing delays affect safety and how delays can be compensated via predictor feedback. We demonstrate our results by synthesizing active intervention policies that bound the number of infections, hospitalizations and deaths for epidemiological models capturing the spread of COVID-19 in the USA., Comment: Accepted to the IEEE Control System Letters (L-CSS) and the 2021 American Control Conference (ACC). 6 pages, 3 figures

One of the major puzzles in the study of stellar evolution is the formation process of bipolar and multi-polar planetary nebulae. There is growing consensus that collimated jets create cavities with dense walls in the slowly-expanding (10--20 ~km~s$^{-1}$) envelope ejected in previous evolutionary phases, leading to the observed morphologies. However, the launching of the jet and the way it interacts with the circumstellar material to create such asymmetric morphologies have remained poorly known. Here we present for the first time CO emission from the asymptotic giant branch star W43A that traces the whole stream of a jet, from the vicinity of its driving stellar system out to the regions where it shapes the circumstellar envelope. We found that the jet has a launch velocity of 175~km~s$^{-1}$ and decelerates to a velocity of 130~km~s$^{-1}$ as it interacts with circumstellar material. The continuum emission reveals a bipolar shell with a compact bright dot in the centre that pinpoints the location of the driving source of the jet. The kinematical ages of the jet and the bipolar shell are equal, $\tau$$\sim$60~years, indicating that they were created simultaneously, probably by a common underlying mechanism, and in an extremely short time. These results provide key initial conditions for the theoretical models that aim to explain the formation of bipolar morphologies in the circumstellar envelopes of low and intermediate mass stars., Comment: 11 pages, 6 figures. Published in ApJ Letters

Dealing with high variance is a significant challenge in model-free reinforcement learning (RL). Existing methods are unreliable, exhibiting high variance in performance from run to run using different initializations/seeds. Focusing on problems arising in continuous control, we propose a functional regularization approach to augmenting model-free RL. In particular, we regularize the behavior of the deep policy to be similar to a policy prior, i.e., we regularize in function space. We show that functional regularization yields a bias-variance trade-off, and propose an adaptive tuning strategy to optimize this trade-off. When the policy prior has control-theoretic stability guarantees, we further show that this regularization approximately preserves those stability guarantees throughout learning. We validate our approach empirically on a range of settings, and demonstrate significantly reduced variance, guaranteed dynamic stability, and more efficient learning than deep RL alone., Comment: Appearing in ICML 2019

Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process. Real world systems would realistically fail or break before an optimal controller can be learned. To address this issue, we propose a controller architecture that combines (1) a model-free RL-based controller with (2) model-based controllers utilizing control barrier functions (CBFs) and (3) on-line learning of the unknown system dynamics, in order to ensure safety during learning. Our general framework leverages the success of RL algorithms to learn high-performance controllers, while the CBF-based controllers both guarantee safety and guide the learning process by constraining the set of explorable polices. We utilize Gaussian Processes (GPs) to model the system dynamics and its uncertainties. Our novel controller synthesis algorithm, RL-CBF, guarantees safety with high probability during the learning process, regardless of the RL algorithm used, and demonstrates greater policy exploration efficiency. We test our algorithm on (1) control of an inverted pendulum and (2) autonomous car-following with wireless vehicle-to-vehicle communication, and show that our algorithm attains much greater sample efficiency in learning than other state-of-the-art algorithms and maintains safety during the entire learning process., Comment: Published in AAAI 2019

In a rare and spectacular display, two well-known massive star forming regions, W49N and G25.65+1.05, recently underwent maser 'super burst' - their fluxes suddenly increasing above 30,000 and 18,000 Jy, respectively, reaching several orders of magnitude above their usual values. In quick-response, ToO observations with the EVN, VLBA and KaVA were obtained constituting a 4 week campaign - producing a high-cadence multi-epoch VLBI investigation of the maser emission. The combination of high-resolution, polarisation and flux monitoring during the burst provides one of the best accounts, to date, of the maser super burst phenomenon, aiding their use as astrophysical tools. These proceedings contain the preliminary results of our campaign.