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We present a benchmark for Planning And Reasoning Tasks in humaN-Robot collaboration (PARTNR) designed to study human-robot coordination in household activities. PARTNR tasks exhibit characteristics of everyday tasks, such as spatial, temporal, and heterogeneous agent capability constraints. We employ a semi-automated task generation pipeline using Large Language Models (LLMs), incorporating simulation in the loop for grounding and verification. PARTNR stands as the largest benchmark of its kind, comprising 100,000 natural language tasks, spanning 60 houses and 5,819 unique objects. We analyze state-of-the-art LLMs on PARTNR tasks, across the axes of planning, perception and skill execution. The analysis reveals significant limitations in SoTA models, such as poor coordination and failures in task tracking and recovery from errors. When LLMs are paired with real humans, they require 1.5x as many steps as two humans collaborating and 1.1x more steps than a single human, underscoring the potential for improvement in these models. We further show that fine-tuning smaller LLMs with planning data can achieve performance on par with models 9 times larger, while being 8.6x faster at inference. Overall, PARTNR highlights significant challenges facing collaborative embodied agents and aims to drive research in this direction., Comment: Alphabetical author order

Very-high-energy (0.1-100 TeV) gamma-ray emission was observed in HAWC data from the lobes of the microquasar SS 433, making them the first set of astrophysical jets that were resolved at TeV energies. In this work, we update the analysis of SS 433 using 2,565 days of data from the High Altitude Water Cherenkov (HAWC) observatory. Our analysis reports the detection of a point-like source in the east lobe at a significance of $6.6\,\sigma$ and in the west lobe at a significance of $8.2\,\sigma$. For each jet lobe, we localize the gamma-ray emission and identify a best-fit position. The locations are close to the X-ray emission sites "e1" and "w1" for the east and west lobes, respectively. We analyze the spectral energy distributions and find that the energy spectra of the lobes are consistent with a simple power-law $\text{d}N/\text{d}E\propto E^{\alpha}$ with $\alpha = -2.44^{+0.13+0.04}_{-0.12-0.04}$ and $\alpha = -2.35^{+0.12+0.03}_{-0.11-0.03}$ for the east and west lobes, respectively. The maximum energy of photons from the east and west lobes reaches 56 TeV and 123 TeV, respectively. We compare our observations to various models and conclude that the very-high-energy gamma-ray emission can be produced by a population of electrons that were efficiently accelerated.

The bright radio source, GLEAM J091734-001243 (hereafter GLEAM J0917-0012), was previously selected as a candidate ultra-high redshift (z>5) radio galaxy due to its compact radio size and faint magnitude (K(AB)=22.7). Its redshift was not conclusively determined from follow-up millimetre and near-infrared spectroscopy. Here we present new HST WFC3 G141 grism observations which reveal several emission lines including [NeIII]3867, [NeV]3426 and an extended (~4.8 kpc), [OII]3727 line which confirm a redshift of 3.004+/-0.001. The extended component of the [OII]3727 line is co-spatial with one of two components seen at 2.276 GHz in high resolution (60x20 mas) Long Baseline Array data, reminiscent of the alignments seen in local compact radio galaxies. The BEAGLE stellar mass (~2x10^11 Msun) and radio luminosity (L_500MHz}~10^28 W Hz^-1) put GLEAM J0917-0012 within the distribution of the brightest high-redshift radio galaxies at similar redshifts. However, it is more compact than all of them. Modelling of the radio jet demonstrates that this is a young, ~50 kyr old, but powerful, 10^39 W, compact steep spectrum radio source. The weak constraint on the active galactic nucleus bolometric luminosity from the [NeV]3426 line combined with the modelled jet power tentatively implies a large black hole mass, >10^9 Msun, and a low, advection-dominated accretion rate, an Eddington ratio <0.03. The [NeV]3426/[NeIII]3867 vs [OII]3727/[NeIII]3867 line ratios are most easily explained by radiative shock models with precursor photoionisation. Hence, we infer that the line emission is directly caused by the shocks from the jet and that this radio source is one of the youngest and most powerful known at cosmic noon. We speculate that the star-formation in GLEAM J0917-0012 could be on its way to becoming quenched by the jet., Comment: 16 pages, 7 figures, 4 tables, accepted for publication in PASA

Scientific workflows have become highly heterogenous, leveraging distributed facilities such as High Performance Computing (HPC), Artificial Intelligence (AI), Machine Learning (ML), scientific instruments (data-driven pipelines) and edge computing. As a result, Identity and Access Management (IAM) and Cybersecurity challenges across the diverse hardware and software stacks are growing. Nevertheless, scientific productivity relies on lowering access barriers via seamless, single sign-on (SSO) and federated login while ensuring access controls and compliance. We present an implementation of a federated IAM solution, which is coupled with multiple layers of security controls, multi-factor authentication, cloud-native protocols, and time-limited role-based access controls (RBAC) that has been co-designed and deployed for the Isambard-AI and HPC supercomputing Digital Research Infrastructures (DRIs) in the UK. Isambard DRIs as a national research resource are expected to comply with regulatory frameworks. Implementation details for monitoring, alerting and controls are outlined in the paper alongside selected user stories for demonstrating IAM workflows for different roles., Comment: 9 pages, 2 figures

II Zw 40 is a starburst dwarf and merger product, and holds a radio-infrared supernebula excited by thousands of embedded OB stars. We present here observations of three aspects of the supernebula: maps of the K and KU radio continuum that trace dense ionized gas with spatial resolution $\sim0.1^{\prime\prime}$, a spectral data cube of the [S IV]$10.5\mu$m emission line that measures the kinematics of the ionized gas with velocity resolution $4.5$ km s$^{-1}$, and an ALMA spectral cube of the CO(3-2) line that probes the dense warm molecular gas with spatial and velocity resolution comparable to the ionized gas. The observations suggest that the supernebula is the overlap,collision or merger of two star clusters, each associated with an elongated molecular cloud. We accordingly modelled the supernebula with simulations of colliding clusters. The model that best agrees with the data is a grazing collision that has distorted the gas and stars to create the distinctive structures observed. These models may have wide applicability in the cluster-rich regions of young starbursts., Comment: Accepted for publication at MNRAS

Modelling partial differential equations (PDEs) is of crucial importance in science and engineering, and it includes tasks ranging from forecasting to inverse problems, such as data assimilation. However, most previous numerical and machine learning approaches that target forecasting cannot be applied out-of-the-box for data assimilation. Recently, diffusion models have emerged as a powerful tool for conditional generation, being able to flexibly incorporate observations without retraining. In this work, we perform a comparative study of score-based diffusion models for forecasting and assimilation of sparse observations. In particular, we focus on diffusion models that are either trained in a conditional manner, or conditioned after unconditional training. We address the shortcomings of existing models by proposing 1) an autoregressive sampling approach that significantly improves performance in forecasting, 2) a new training strategy for conditional score-based models that achieves stable performance over a range of history lengths, and 3) a hybrid model which employs flexible pre-training conditioning on initial conditions and flexible post-training conditioning to handle data assimilation. We empirically show that these modifications are crucial for successfully tackling the combination of forecasting and data assimilation, a task commonly encountered in real-world scenarios., Comment: Accepted at NeurIPS 2024

Earth's magnetotail, and the plasma sheet embedded in it, is a highly dynamic region that is coupled to both the solar wind and to the inner magnetosphere. As a consequence of this coupling, the plasma sheet undergoes explosive energy releases in the form of substorms. A substorm is initiated when reconnection is triggered within a thin current sheet, initiating a complex chain of phenomena. One consequence of these phenomena is heating of thermal electrons and acceleration of energetic (non-thermal) electrons. The upper-energy limit as well as the spatial scale size of the electron acceleration regions are ongoing mysteries in magnetotail physics because current missions can only offer us a glimpse into the numerous magnetotail phenomena ranging from electron- to global-scales occurring in this extensive system. Observational difficulties aside, these energetic electrons also provide a significant source of seed electrons for the Van Allen Radiation belts. Here we demonstrate a unique approach to study plasma sheet electron acceleration. We combine Magnetospheric Multiscale (MMS) Mission high-altitude observations with Electron Losses and Fields Investigation (ELFIN) low-altitude observations, to quantify the upper-energy extent and radial scale of a burst of plasma sheet electrons that mapped to 30 Earth radii. We find that the plasma sheet locally accelerated electrons to 2-3 MeV energies -- far higher than previously anticipated -- and scattered them into the atmospheric loss cone. Interestingly, high-altitude observations of the plasma sheet at 17 Earth radii showed only the usual substorm signatures: bursty bulk flows and dipolarizing flux bundles -- demonstrating that this burst was 1) intense, 2) localized to the far magnetotail, and 3) likely accelerated by a very efficient mechanism.

Microquasars are laboratories for the study of jets of relativistic particles produced by accretion onto a spinning black hole. Microquasars are near enough to allow detailed imaging of spatial features across the multiwavelength spectrum. The recent extension of the spatial morphology of a microquasar, SS 433, to TeV gamma rays \cite{abeysekara2018very} localizes the acceleration of electrons at shocks in the jet far from the black hole \cite{hess2024ss433}. Here we report TeV gamma-ray emission from another microquasar, V4641~Sgr, which reveals particle acceleration at similar distances from the black hole as SS~433. Additionally, the gamma-ray spectrum of V4641 is among the hardest TeV spectra observed from any known gamma-ray source and is detected up to 200 TeV. Gamma rays are produced by particles, either electrons or hadrons, of higher energies. Because electrons lose energy more quickly the higher their energy, such a spectrum either very strongly constrains the electron production mechanism or points to the acceleration of high-energy hadrons. This observation suggests that large-scale jets from microquasars could be more common than previously expected and that microquasars could be a significant source of Galactic cosmic rays. high energy gamma-rays also provide unique constraints on the acceleration mechanisms of extra-Galactic cosmic rays postulated to be produced by the supermassive black holes and relativistic jets of quasars. The distance to quasars limits imaging studies due to insufficient angular resolution of gamma-rays and due to attenuation of the highest energy gamma-rays by the extragalactic background light.

We use the Hubble Space Telescope to analyse the extended [O III] 5007A emission in seven bright radio-quiet type 1 quasars (QSO1s), focusing on the morphology and physical conditions of their extended Narrow-Line Regions (NLRs). We find NLRs extending 3-9 kpc, with four quasars showing roughly symmetrical structures (b/a=1.2-1.5) and three displaying asymmetric NLRs (b/a=2.4-5.6). When included with type 1 and type 2 AGNs from previous studies, the sizes of the extended [O III] regions scale with luminosity as $R[O III] \sim L[O III]^{0.5}$, consistent with photoionisation. However, when analysed separately, type 1s exhibit a steeper slope ($\gamma=0.57\pm0.05$) compared to type 2 AGNs ($\gamma=0.48\pm0.02$). We use photoionisation modeling to estimate the maximum NLRs sizes, assuming a minimum ionisation parameter of $\log(U) = -3$, an ionising luminosity based on the $L[O III]$-derived bolometric luminosity, and a minimum gas number density $n_H \sim 100\,\text{cm}^{-3}$, assuming that molecular clouds provide a reservoir for the ionised gas. The derived sizes agree well with direct measurements for a sample of type 2 quasars, but are underestimated for the current sample of QSO1s. A better agreement is obtained for the QSO1s using bolometric luminosities derived from the 5100A continuum luminosity. Radial mass profiles for the QSO1s show significant extended mass in all cases, but with less [O III]-emitting gas near the central AGN compared to QSO2s. This may suggest that the QSO1s are in a later evolutionary stage than QSO2s, further past the blow-out stage., Comment: Accepted for publication on MNRAS

Diffusion models have led to significant advancements in generative modelling. Yet their widespread adoption poses challenges regarding data attribution and interpretability. In this paper, we aim to help address such challenges in diffusion models by developing an \textit{influence functions} framework. Influence function-based data attribution methods approximate how a model's output would have changed if some training data were removed. In supervised learning, this is usually used for predicting how the loss on a particular example would change. For diffusion models, we focus on predicting the change in the probability of generating a particular example via several proxy measurements. We show how to formulate influence functions for such quantities and how previously proposed methods can be interpreted as particular design choices in our framework. To ensure scalability of the Hessian computations in influence functions, we systematically develop K-FAC approximations based on generalised Gauss-Newton matrices specifically tailored to diffusion models. We recast previously proposed methods as specific design choices in our framework and show that our recommended method outperforms previous data attribution approaches on common evaluations, such as the Linear Data-modelling Score (LDS) or retraining without top influences, without the need for method-specific hyperparameter tuning.

Higher Time Derivative Theories are generated by considering space-time rotated KdV and mKdV systems. These systems are then studied to see if/how instabilities, usually associated with higher time derivative theories, manifest on the classical level by presenting both analytic and numerical solutions. For a linearised version of these space-time rotated systems we present a detailed quantisation of the theory that highlights the known dilemma on higher time derivative theories, that we have either negative norm states or the Hamiltonian being unbounded from below., Comment: Conference proceeding for the 28^th International Symposium on Integrable Systems and Quantum Symmetries at the Czech Technical University in Prague

We use a custom-made calibrator to measure individual detectors' polarization angles of BICEP3, a small aperture telescope observing the cosmic microwave background (CMB) at 95GHz from the South Pole. We describe our calibration strategy and the statistical and systematic uncertainties associated with the measurement. We reach an unprecedented precision for such measurement on a CMB experiment, with a repeatability for each detector pair of $0.02\deg$. We show that the relative angles measured using this method are in excellent agreement with those extracted from CMB data. Because the absolute measurement is currently limited by a systematic uncertainty, we do not derive cosmic birefringence constraints from BICEP3 data in this work. Rather, we forecast the sensitivity of BICEP3 sky maps for such analysis. We investigate the relative contributions of instrument noise, lensing, and dust, as well as astrophysical and instrumental systematics. We also explore the constraining power of different angle estimators, depending on analysis choices. We establish that the BICEP3 2-year dataset (2017--2018) has an on-sky sensitivity to the cosmic birefringence angle of $\sigma = 0.078\deg$, which could be improved to $\sigma = 0.055\deg$ by adding all of the existing BICEP3 data (through 2023). Furthermore, we emphasize the possibility of using the BICEP3 sky patch as a polarization calibration source for CMB experiments, which with the present data could reach a precision of $0.035\deg$. Finally, in the context of inflation searches, we investigate the impact of detector-to-detector variations in polarization angles as they may bias the tensor-to-scalar ratio r. We show that while the effect is expected to remain subdominant to other sources of systematic uncertainty, it can be reliably calibrated using polarization angle measurements such as the ones we present in this paper., Comment: 29 Pages, 17 Figures, 6 Tables, as submitted to PRD

We present the discovery and characterization of TOI-4364\,b, a young mini-Neptune in the tidal tails of the Hyades cluster, identified through TESS transit observations and ground-based follow-up photometry. The planet orbits a bright M dwarf ($K=9.1$\,mag) at a distance of 44\,pc, with an orbital period of 5.42\,days and an equilibrium temperature of $488^{+4}_{-4}$\,K. The host star's well-constrained age of 710\,Myr makes TOI-4364\,b an exceptional target for studying early planetary evolution around low-mass stars. We determined a planetary radius of $2.01^{+0.1}_{-0.08}$\,Earth radii, indicating that this planet is situated near the upper edge of the radius valley. This suggests that the planet retains a modest H/He envelope. As a result, TOI-4364\,b provides a unique opportunity to explore the transition between rocky super-Earths and gas-rich mini-Neptunes at the early stages of evolution. Its radius, which may still evolve as a result of ongoing atmospheric cooling, contraction, and photoevaporation, further enhances its significance for understanding planetary development. Furthermore, TOI-4364\,b possesses a moderately high Transmission Spectroscopy Metric of 44.2, positioning it as a viable candidate for atmospheric characterization with instruments such as JWST. This target has the potential to offer crucial insights into atmospheric retention and loss in young planetary systems., Comment: 18 pages, 9 figures

We introduce a new, open-source, Python module for the acquisition and processing of archival data from many X-ray telescopes - Democratising Archival X-ray Astronomy (hereafter referred to as DAXA). Our software is built to increase access to, and use of, large archives of X-ray astronomy data; providing a unified, easy-to-use, Python interface to the disparate archives and processing tools. We provide this interface for the majority of X-ray telescopes launched within the last 30 years. This module enables much greater access to X-ray data for non-specialists, while preserving low-level control of processing for X-ray experts. It is useful for identifying relevant observations of a single object of interest but it excels at creating multi-mission datasets for serendipitous or targeted studies of large samples of X-ray emitting objects. The management and organization of datasets is also made easier; DAXA archives can be version controlled and updated if new data become available. Once relevant observations are identified, the raw data can be downloaded (and optionally processed) through DAXA, or pre-processed event lists, images, and exposure maps can be downloaded if they are available. X-ray observations are perfectly suited to serendipitous discoveries and archival analyses, and with a decade-long `X-ray desert' potentially on the horizon archival data will take on even greater importance; enhanced access to those archives will be vital to the continuation of X-ray astronomy., Comment: 5 pages, 1 figure, submitted to JOSS; GitHub repository - https://github.com/DavidT3/DAXA; Documentation - https://daxa.readthedocs.io/

An $n$-strand braid is order-preserving if its action on the free group $F_n$ preserves some bi-order of $F_n$. A braid $\beta$ is order-preserving if and only if the link $L$ obtained as the union of the closure of $\beta$ and its axis has bi-orderable complement. We describe and implement an algorithm which, given a non-order-preserving braid $\beta$, confirms this property and returns a proof that $\beta$ is indeed not order-preserving. Guided by the algorithm, we prove that the infinite family of simple 3-braids $\sigma_1\sigma_2^{2m+1}$ are not order-preserving for any integer $m$., Comment: 13 pages, 3 figures

Many important problems require modelling large-scale spatio-temporal datasets, with one prevalent example being weather forecasting. Recently, transformer-based approaches have shown great promise in a range of weather forecasting problems. However, these have mostly focused on gridded data sources, neglecting the wealth of unstructured, off-the-grid data from observational measurements such as those at weather stations. A promising family of models suitable for such tasks are neural processes (NPs), notably the family of transformer neural processes (TNPs). Although TNPs have shown promise on small spatio-temporal datasets, they are unable to scale to the quantities of data used by state-of-the-art weather and climate models. This limitation stems from their lack of efficient attention mechanisms. We address this shortcoming through the introduction of gridded pseudo-token TNPs which employ specialised encoders and decoders to handle unstructured observations and utilise a processor containing gridded pseudo-tokens that leverage efficient attention mechanisms. Our method consistently outperforms a range of strong baselines on various synthetic and real-world regression tasks involving large-scale data, while maintaining competitive computational efficiency. The real-life experiments are performed on weather data, demonstrating the potential of our approach to bring performance and computational benefits when applied at scale in a weather modelling pipeline.

We present a detailed analysis of JWST/NIRSpec and NIRCam observations of ZF-UDS-7329, a massive, quiescent galaxy at redshift $z=3.2$, which has been put forward to challenge cosmology and galaxy formation physics. Our study extends previous works by focusing on the impact of different star formation history (SFH) priors, stellar libraries, metallicity, and initial mass function assumptions. Our results show that ZF-UDS-7329, with a formed stellar mass of $M_{\star} \approx 10^{11.4}~M_{\odot}$ and a specific star formation rate of $\mathrm{sSFR} \approx 0.03$ Gyr$^{-1}$, formed efficiently in the first billion years of the Universe. In agreement with previous work, we find that the spectrum is consistent with mass-weighted stellar ages of $1.3-1.8$ Gyr, depending on the SFH prior used. A physically motivated rising SFH prior makes the formation history of ZF-UDS-7329 compatible with stellar mass and star-formation rate estimates of high-redshift ($z>6$) galaxies. Using NIRCam imaging, we identify a colour gradient indicative of an old, quiescent bulge and a younger disc component, as expected from a complex formation history. The inferred SFH is consistent a high stellar fraction of $f_{\star}=M_{\star}/(f_b \cdot M_{\rm h}) \approx 100\%$ at $z=7-12$, implying an extremely high integrated star-formation efficiency. However, when considering cosmic variance and possible mergers as expected in over-dense environments - as traced by ZF-UDS-7329 - the stellar fractions could be reduced to $f_{\star} \approx 50\%$, which is more consistent with galaxy formation models and the stellar-to-halo mass relation at lower redshifts. We conclude that ZF-UDS-7329 forms extremely efficient in the early universe, but does not necessitate unseen galaxies at higher redshifts since the inferred SFR of ancestors are consistent with those seen in $z>6$ galaxies., Comment: 15 pages and 8 figures (+appendix), submitted to MNRAS

The Small and Large Magellanic Clouds are the only galaxies outside our own in which radio pulsars have been discovered to date. The sensitivity of the MeerKAT radio interferometer offers an opportunity to search for a population of more distant extragalactic pulsars. The TRAPUM (TRansients And PUlsars with MeerKAT) collaboration has performed a radio-domain search for pulsars and transients in the dwarf star-forming galaxies Sextans A and B, situated at the edge of the local group 1.4 Mpc away. We conducted three 2-hour multi-beam observations at L-band (856-1712 MHz) with the full array of MeerKAT. No pulsars were found down to a radio pseudo-luminosity upper limit of 7.9$\pm$0.4 Jy kpc$^{2}$ at 1400 MHz, which is 28 times more sensitive than the previous limit from the Murriyang telescope. This luminosity is 30 per cent greater than that of the brightest known radio pulsar and sets a cut-off on the luminosity distributions of the entire Sextans A and B galaxies for unobscured radio pulsars beamed in our direction. A Fast Radio Burst was detected in one of the Sextans A observations at a Dispersion Measure (DM) of 737 pc cm$^{-3}$. We believe this is a background event not associated with the dwarf galaxy due to its large DM and its S/N being strongest in the wide-field incoherent beam of MeerKAT., Comment: 11 pages, 9 figures, 5 tables. Accepted for publication in Monthly Notices of the Royal Astronomical Society

Neural networks are trained primarily based on their inputs and outputs, without regard for their internal mechanisms. These neglected mechanisms determine properties that are critical for safety, like (i) transparency; (ii) the absence of sensitive information or harmful capabilities; and (iii) reliable generalization of goals beyond the training distribution. To address this shortcoming, we introduce gradient routing, a training method that isolates capabilities to specific subregions of a neural network. Gradient routing applies data-dependent, weighted masks to gradients during backpropagation. These masks are supplied by the user in order to configure which parameters are updated by which data points. We show that gradient routing can be used to (1) learn representations which are partitioned in an interpretable way; (2) enable robust unlearning via ablation of a pre-specified network subregion; and (3) achieve scalable oversight of a reinforcement learner by localizing modules responsible for different behaviors. Throughout, we find that gradient routing localizes capabilities even when applied to a limited, ad-hoc subset of the data. We conclude that the approach holds promise for challenging, real-world applications where quality data are scarce.

When training transformers on graph-structured data, incorporating information about the underlying topology is crucial for good performance. Topological masking, a type of relative position encoding, achieves this by upweighting or downweighting attention depending on the relationship between the query and keys in a graph. In this paper, we propose to parameterise topological masks as a learnable function of a weighted adjacency matrix -- a novel, flexible approach which incorporates a strong structural inductive bias. By approximating this mask with graph random features (for which we prove the first known concentration bounds), we show how this can be made fully compatible with linear attention, preserving $\mathcal{O}(N)$ time and space complexity with respect to the number of input tokens. The fastest previous alternative was $\mathcal{O}(N \log N)$ and only suitable for specific graphs. Our efficient masking algorithms provide strong performance gains for tasks on image and point cloud data, including with $>30$k nodes.

We compute the triply graded Khovanov-Rozansky homology for Coxeter braids on 4 strands., Comment: 10 pages

This article details how images of proton microbunch trains obtained from streak camera measurements may differ from actual microbunch trains inside the plasma, at the plasma exit. We use the same procedure as when comparing simulation results with measurements: create a particle distribution at the plasma exit using particle-in-cell simulations, propagate it to the location of the measurement and add diagnostic apertures and instrument resolution. From comparing distributions, we identify that changes in microbunch divergence and/or dimensions along trains result in differences between the charge distribution in reality and in the measurement. Additionally, we observe that instrument resolution reduces the observed modulation depth, with more reduction for shorter microbunches.

Mechanical metamaterials utilize geometry to achieve exceptional mechanical properties, including those not typically possible for traditional materials. To achieve these properties, it is necessary to identify the proper structures and geometries, which is often a non-trivial and computationally expensive process. Here, we propose a Substructure Perturbation Method (SSPM) for systematic design and search of these materials with programmed deformation modes. We present the theoretical fundamentals and computational algorithms of the SSPM, along with four design problems to investigate the effect and performance of the SSPM. Results reveal the necessity of analyzing multiple substructures simultaneously in obtaining successful designs, and its effectiveness in speeding up numerical processes. In one design case, SSPM is shown to be effectively two orders of magnitude faster than another state-of-art approach while using less computational resources. We also show an experimental validation where the fabricated prototypes can grasp objects respectively by undergoing programmed deformations under corresponding inputs. The proposed SSPM provides new fundamentals and strategies for the design of mechanical metamaterials with advanced functionalities.

This paper introduces the hypothetical track-length fitting algorithm, a novel method for measuring the kinetic energies of ionizing particles in liquid argon time projection chambers (LArTPCs). The algorithm finds the most probable offset in track length for a track-like object by comparing the measured ionization density as a function of position with a theoretical prediction of the energy loss as a function of the energy, including models of electron recombination and detector response. The algorithm can be used to measure the energies of particles that interact before they stop, such as charged pions that are absorbed by argon nuclei. The algorithm's energy measurement resolutions and fractional biases are presented as functions of particle kinetic energy and number of track hits using samples of stopping secondary charged pions in data collected by the ProtoDUNE-SP detector, and also in a detailed simulation. Additional studies describe impact of the dE/dx model on energy measurement performance. The method described in this paper to characterize the energy measurement performance can be repeated in any LArTPC experiment using stopping secondary charged pions.

The Robert Stobie Spectrograph (RSS) on the Southern African Large Telescope (SALT) offers multi-object spectroscopy over an 8' field-of-view at resolutions up to 3000. Reduction is typically conducted using RSSMOSPipeline, which performs basic data calibrations, sky subtraction, and wavelength calibration. However, flux calibration of SALT-RSS using spectrophotometric standard star observations is difficult due to variable primary mirror illumination. We describe a novel approach where stars with Sloan Digital Sky Survey spectra are included as alignment stars on RSS slitmasks and then used to perform flux calibration of the resulting data. RSS offers multiple settings that can be pieced together to cover the entire optical range, utilizing grating angle dithers to fill chip gaps. We introduce a non-linear reprojection routine that defines an exponential wavelength array spanning 3500-9500 Angstroms with gradually decreasing resolution and then reprojects several individual settings into a single 2D spectrum for each object. Our flux calibration and non-linear reprojection routines are released as part of the Calibration And Reprojection for RSS Pipeline (CARRSSPipeline; https://github.com/GeorgeTheGeorgian/CARRSSPipeline.git ), that enables the extraction of full-optical-coverage, flux-calibrated, medium-resolution one-dimensional spectra., Comment: 12 pages, 9 figures, and 4 tables. Submitted to PASP

The BICEP3 and BICEP Array polarimeters are small-aperture refracting telescopes located at the South Pole designed to measure primordial gravitational wave signatures in the Cosmic Microwave Background (CMB) polarization, predicted by inflation. Constraining the inflationary signal requires not only excellent sensitivity, but also careful control of instrumental systematics. Both instruments use antenna-coupled orthogonally polarized detector pairs, and the polarized sky signal is reconstructed by taking the difference in each detector pair. As a result, the differential response between detectors within a pair becomes an important systematic effect we must control. Additionally, mapping the intensity and polarization response in regions away from the main beam can inform how sidelobe levels affect CMB measurements. Extensive calibration measurements are taken in situ every austral summer for control of instrumental systematics and instrument characterisation. In this work, we detail the set of beam calibration measurements that we conduct on the BICEP receivers, from deep measurements of main beam response to polarized beam response and sidelobe mapping. We discuss the impact of these measurements for instrumental systematics studies and design choices for future CMB receivers., Comment: 13 pages, 7 figures, 1 table, Proceedings paper SPIE 2024

We investigate the properties of domain walls arising from non-Abelian discrete symmetries, which we refer to as non-Abelian domain walls. We focus on $S_4$, one of the most commonly used groups in lepton flavour mixing models. The spontaneous breaking of $S_4$ leads to distinct vacua preserving a residual $Z_2$ or $Z_3$ symmetry. Five types of domain walls are found, labelled as SI, SII, TI, TII, and TIII, respectively, the former two separating $Z_2$ vacua and the latter three separating $Z_3$ vacua. We highlight that SI, TI and TIII may be unstable for some regions of the parameter space and decay to stable domain walls. Stable domain walls can collapse and release gravitational radiation for a suitable size of explicit symmetry breaking. A symmetry-breaking scale of order 100 TeV may explain the recent discovery of nanohertz gravitational waves by PTA experiments. For the first time, we investigate the properties of these domain walls, which we obtain numerically with semi-analytical formulas applied to compute the tension and thickness across a wide range of parameter space. We estimate the resulting gravitational wave spectrum and find that, thanks to their rich vacuum structure, non-Abelian domain walls manifest in a very interesting and complex phenomenology., Comment: 29 pages, 15 figures

Radio detections of stellar systems provide a window onto stellar magnetic activity and the space weather conditions of extrasolar planets, information that is difficult to attain at other wavelengths. There have been recent advances observing auroral emissions from radio-bright low-mass stars and exoplanets largely due to the maturation of low-frequency radio instruments and the plethora of wide-field radio surveys. To guide us in placing these recent results in context, we introduce the foremost local analogues for the field: Solar bursts and the aurorae found on Jupiter. We detail how radio bursts associated with stellar flares are foundational to the study of stellar coronae, and time-resolved radio dynamic spectra offers one of the best prospects of detecting and characterising coronal mass ejections from other stars. We highlight the prospects of directly detecting coherent radio emission from exoplanetary magnetospheres, and early tentative results. We bridge this discussion to the field of brown dwarf radio emission, in which their larger and stronger magnetospheres are amenable to detailed study with current instruments. Bright, coherent radio emission is also predicted from magnetic interactions between stars and close-in planets. We discuss the underlying physics of these interactions and implications of recent provisional detections for exoplanet characterisation. We conclude with an overview of outstanding questions in theory of stellar, star-planet interaction, and exoplanet radio emission, and the prospects of future facilities in answering them., Comment: Accepted to Nature Astronomy. The manuscript is designed to be a primer for new doctoral students and scholars to the field of radio stars and exoplanets. 36 pages, 3 figures

The need for organisms to regulate their volume and osmolarity when surrounded by freshwater is a basic physical challenge for many bacteria, protists and algae. Taking inspiration from the contractile vacuole complex found in many protists, we discuss how simple models of active membrane tubes can give insights into the fluid and active ionic transport properties of such systems. We show that a simple membrane tube with unidirectional ion pumps, and passive ion and water channels, forms a large vacuole due to osmotically-driven water flow and that this can be used to actively pump water out of the cell interior. We discuss the use of this system as a possible minimal method for osmoregulation., Comment: 12 pages, 8 figures

Stepped-wedge cluster randomized trials (SW-CRTs) are traditionally analyzed with models that assume an immediate and sustained treatment effect. Previous work has shown that making such an assumption in the analysis of SW-CRTs when the true underlying treatment effect varies by exposure time can produce severely misleading estimates. Alternatively, the true underlying treatment effect might vary by calendar time. Comparatively less work has examined treatment effect structure misspecification in this setting. Here, we evaluate the behavior of the mixed effects model-based immediate treatment effect, exposure time-averaged treatment effect, and calendar time-averaged treatment effect estimators in different scenarios where they are misspecified for the true underlying treatment effect structure. We prove that the immediate treatment effect estimator can be relatively robust to bias when estimating a true underlying calendar time-averaged treatment effect estimand. However, when there is a true underlying calendar (exposure) time-varying treatment effect, misspecifying an analysis with an exposure (calendar) time-averaged treatment effect estimator can yield severely misleading estimates and even converge to a value of the opposite sign of the true calendar (exposure) time-averaged treatment effect estimand. Researchers should carefully consider how the treatment effect may vary as a function of exposure time and/or calendar time in the analysis of SW-CRTs., Comment: 49 pages (29 main, 20 appendix), 18 figures (10 main, 8 appendix)

Using particle-in-cell (PIC) simulation technique, the effect of gas pressure (5-500 mTorr) on the plasma spatial asymmetry, ionization rate, metastable gas densities profile, electron energy distribution function and higher harmonics generation are studied in a symmetric capacitively coupled plasma discharge driven by a sawtooth-like waveform. At a constant current density of 50 A/m2, the simulation results predict a decrease in the plasma spatial asymmetry (highest at 5mTorr) with increasing gas pressure reaching a minimum value (at intermediate gas pressures) and then turning into a symmetric discharge at higher gas pressures. Conversely, the flux asymmetry shows an opposite trend. At a low gas pressure, the observed strong plasma spatial asymmetry is due to high frequency oscillation on the instantaneous sheath edge position near to one of the electrodes triggered by temporally asymmetry waveform, whereas the flux asymmetry is not present due to collisionless transport of charge particles. At higher pressures, multi-step ionization through metastable states dominates in the plasma bulk, causing a reduction in the plasma spatial asymmetry. Distinct higher harmonics (26th) are observed in the bulk electric field at low pressure and diminished at higher gas pressures. The electron energy distribution function changes its shape from bi-Maxwellian at 5 mTorr to nearly Maxwellian at intermediate pressures and then depletion of the high-energy electrons (below 25 eV) is observed at higher gas pressures. The inclusion of the secondary electron emission is found to be negligible on the observed simulation trend.

We investigate a class of leptogenesis scenarios in which the sector containing the lightest right-handed neutrino establishes kinetic equilibrium at a temperature $T_{N_1} > T_\text{SM}$, where $T_\text{SM}$ is the temperature of the Standard Model sector. We study the reheating processes which realise this "hot leptogenesis" and the conditions under which kinetic and chemical equilibrium can be maintained. We derive and solve two sets of evolution equations, depending on the presence of chemical equilibrium within the hot sector, and numerically solve these for benchmark scenarios. We compare the viable parameter space of this model with standard leptogenesis scenarios with a thermal initial condition and find that hot leptogenesis resolves the neutrino and Higgs mass fine-tuning problems present in the standard scenario., Comment: 33 pages, 10 figures, 2 tables

The use of in-situ digital sensors for water quality monitoring is becoming increasingly common worldwide. While these sensors provide near real-time data for science, the data are prone to technical anomalies that can undermine the trustworthiness of the data and the accuracy of statistical inferences, particularly in spatial and temporal analyses. Here we propose a framework for detecting anomalies in sensor data recorded in stream networks, which takes advantage of spatial and temporal autocorrelation to improve detection rates. The proposed framework involves the implementation of effective data imputation to handle missing data, alignment of time-series to address temporal disparities, and the identification of water quality events. We explore the effectiveness of a suite of state-of-the-art statistical methods including posterior predictive distributions, finite mixtures, and Hidden Markov Models (HMM). We showcase the practical implementation of automated anomaly detection in near-real time by employing a Bayesian recursive approach. This demonstration is conducted through a comprehensive simulation study and a practical application to a substantive case study situated in the Herbert River, located in Queensland, Australia, which flows into the Great Barrier Reef. We found that methods such as posterior predictive distributions and HMM produce the best performance in detecting multiple types of anomalies. Utilizing data from multiple sensors deployed relatively near one another enhances the ability to distinguish between water quality events and technical anomalies, thereby significantly improving the accuracy of anomaly detection. Thus, uncertainty and biases in water quality reporting, interpretation, and modelling are reduced, and the effectiveness of subsequent management actions improved.

Our understanding of the assembly timeline of the Milky Way has been transforming along with the dramatic increase in astrometric and spectroscopic data available over the past several years. Many substructures in chemo-dynamical space have been discovered and identified as the remnants of various galactic mergers. To investigate the timeline of these mergers we select main sequence turn off & subgiant stars (MSTOs) from the H3 survey, finding members in seven metal poor components of the halo: GSE, the Helmi Streams, Thamnos, Sequoia, Wukong/LMS-1, Arjuna, and I'itoi. We also select out the metal poor in situ disk to facilitate comparison to the evolution of the Milky Way itself at these early epochs. We fit individual isochrone ages to the MSTOs in each of these substructures and use the resulting age distributions to infer simple star formation histories. For GSE we resolve an extended star formation history that truncates $\approx10$ Gyr ago, as well as a clear age -- metallicity relation. From this age distribution and measured star formation history we infer that GSE merged with the Milky Way at a time $9.5-10.2$ Gyr ago, in agreement with previous estimates. We infer that the other mergers occurred at various times ranging from $9-13$ Gyr ago, and that the metal poor component of the disk built up within only a few billion years. These results reinforce the emerging picture that both the disk and halo of the Milky Way experienced a rapid assembly., Comment: 27 pages, 17 figures

Using co-homogeneity one symmetries, we construct a two-parameter family of non-abelian $G_2$-instantons on every member of the asymptotically locally conical $\mathbb{B}_7$-family of $G_2$-metrics on $S^3 \times \mathbb{R}^4 $, and classify the resulting solutions. These solutions can be described as perturbations of a one-parameter family of abelian instantons, arising from the Killing vector-field generating the asymptotic circle fibre. Generically, these perturbations decay exponentially to the model, but we find a one-parameter family of instantons with polynomial decay. Moreover, we relate the two-parameter family to a lift of an explicit two-parameter family of anti-self-dual instantons on Taub-NUT $\mathbb{R}^4$, fibred over $S^3$ in an adiabatic limit., Comment: 28 pages, 1 figure

Measurements of B-mode polarization in the CMB sourced from primordial gravitational waves would provide information on the energy scale of inflation and its potential form. To achieve these goals, one must carefully characterize the Galactic foregrounds, which can be distinguished from the CMB by conducting measurements at multiple frequencies. BICEP Array is the latest-generation multi-frequency instrument of the BICEP/Keck program, which specifically targets degree-scale primordial B-modes in the CMB. In its final configuration, this telescope will consist of four small-aperture receivers, spanning frequency bands from 30 to 270 GHz. The 220/270 GHz receiver designed to characterize Galactic dust is currently undergoing commissioning at Stanford University and is scheduled to deploy to the South Pole during the 2024--2025 austral summer. Here, we will provide an overview of this high-frequency receiver and discuss the integration status and test results as it is being commissioned.

Quasi-periodic Eruptions (QPEs) are luminous bursts of soft X-rays from the nuclei of galaxies, repeating on timescales of hours to weeks. The mechanism behind these rare systems is uncertain, but most theories involve accretion disks around supermassive black holes (SMBHs), undergoing instabilities or interacting with a stellar object in a close orbit. It has been suggested that this disk could be created when the SMBH disrupts a passing star, implying that many QPEs should be preceded by observable tidal disruption events (TDEs). Two known QPE sources show long-term decays in quiescent luminosity consistent with TDEs, and two observed TDEs have exhibited X-ray flares consistent with individual eruptions. TDEs and QPEs also occur preferentially in similar galaxies. However, no confirmed repeating QPEs have been associated with a spectroscopically confirmed TDE or an optical TDE observed at peak brightness. Here we report the detection of nine X-ray QPEs with a mean recurrence time of approximately 48 hours from AT2019qiz, a nearby and extensively studied optically-selected TDE. We detect and model the X-ray, ultraviolet and optical emission from the accretion disk, and show that an orbiting body colliding with this disk provides a plausible explanation for the QPEs.

When light primordial black holes (PBHs) evaporate in the early Universe, they locally reheat the surrounding plasma, creating hot spots with temperatures that can be significantly higher than the average plasma temperature. In this work, we provide a general framework for calculating the probability that a particle interacting with the Standard Model can escape the hot spot. More specifically, we consider how these hot spots influence the generation of the baryon asymmetry of the Universe (BAU) in leptogenesis scenarios, as well as the production of dark matter (DM). For leptogenesis, we find that PBH-produced right-handed neutrinos can contribute to the BAU even if the temperature of the Universe is below the electroweak phase transition temperature, since sphaleron processes may still be active within the hot spot. For DM, particles emitted by PBHs may thermalise with the heated plasma within the hot spot, effectively preventing them from contributing to the observed relic abundance. Our work highlights the importance of including hot spots in the interplay of PBHs and early Universe observables

Minority-serving institutions (MSIs) are considered models of excellence to support underrepresented racial and ethnic students; however, multiple definitions of MSIs complicate the consumption and production of research on these critical institutions. The U.S. Department of Education (ED) uses set criteria to define MSIs, based primarily on enrollment. However, scholars and practitioners have argued for considering factors beyond enrollment, such as equitable student outcomes and institutional markers of a serving culture. This study used descriptive analyses of IPEDS data to explore the extent to which MSIs served their target population. We use national weighted averages to report results on each MSI category compared to all other institutions. We found that MSIs enrolled higher percentages of MSI-aligned students and employed more-significant percentages of MSI-aligned instructional staff. Most MSIs generally retained higher percentages of MSI-aligned students. Most MSIs showed higher completion proportions, though nearly all MSI categories had lower graduation rates among MSI-aligned students. Some MSIs provided institutional aid to higher proportions of students; others provided lower proportions. Findings confirm that enrollment alone cannot be a proxy for servingness. We encourage researchers, practitioners, and government agencies to use more-holistic definitions. We make recommendations for government agencies to remove burdens to researching MSIs.