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Model predictive control (MPC) is a powerful control technique for online optimization using system model-based predictions over a finite time horizon. However, the computational cost MPC requires can be prohibitive in resource-constrained computer systems. This paper presents a fuzzy controller synthesis framework guided by MPC. In the proposed framework, training data is obtained from MPC closed-loop simulations and is used to optimize a low computational complexity controller to emulate the response of MPC. In particular, autoregressive moving average (ARMA) controllers are trained using data obtained from MPC closed-loop simulations, such that each ARMA controller emulates the response of the MPC controller under particular desired conditions. Using a Takagi-Sugeno (T-S) fuzzy system, the responses of all the trained ARMA controllers are then weighted depending on the measured system conditions, resulting in the Fuzzy-Autoregressive Moving Average (F-ARMA) controller. The effectiveness of the trained F-ARMA controllers is illustrated via numerical examples., Comment: 8 pages, 8 figures, submitted to the American Control Conference 2025

Instruments for gamma-ray astronomy at Very High Energies ($E>100\,{\rm GeV}$) have traditionally derived their scientific results through proprietary data and software. Data standardisation has become a prominent issue in this field both as a requirement for the dissemination of data from the next generation of gamma-ray observatories and as an effective solution to realise public data legacies of current-generation instruments. Specifications for a standardised gamma-ray data format have been proposed as a community effort and have already been successfully adopted by several instruments. We present the first production of standardised data from the Major Atmospheric Gamma-ray Imaging Cherenkov (MAGIC) telescopes. We converted $166\,{\rm h}$ of observations from different sources and validated their analysis with the open-source software Gammapy. We consider six data sets representing different scientific and technical analysis cases and compare the results obtained analysing the standardised data with open-source software against those produced with the MAGIC proprietary data and software. Aiming at a systematic production of MAGIC data in this standardised format, we also present the implementation of a database-driven pipeline automatically performing the MAGIC data reduction from the calibrated down to the standardised data level. In all the cases selected for the validation, we obtain results compatible with the MAGIC proprietary software, both for the manual and for the automatic data productions. Part of the validation data set is also made publicly available, thus representing the first large public release of MAGIC data. This effort and this first data release represent a technical milestone toward the realisation of a public MAGIC data legacy., Comment: Accepted for publication in the Journal of High Energy Astrophysics

App reviews in mobile app stores contain useful information which is used to improve applications and promote software evolution. This information is processed by automatic tools which prioritize reviews. In order to carry out this prioritization, reviews are decomposed into features like category and sentiment. Then, a weighted function assigns a weight to each feature and a review ranking is calculated. Unfortunately, in order to extract category and sentiment from reviews, its is required at least a classifier trained in an annotated corpus. Therefore this task is computational demanding. Thus, in this work, we propose Shannon Entropy as a simple feature which can replace standard features. Our results show that a Shannon Entropy based ranking is better than a standard ranking according to the NDCG metric. This result is promising even if we require fairness by means of algorithmic bias. Finally, we highlight a computational limit which appears in the search of the best ranking., Comment: 10 pages

We explore the Schmidt-Kennicutt (SK) relations and the star formation efficiency per free-fall time ($\eff$), mirroring observational studies, in numerical simulations of filamentary molecular clouds undergoing gravitational contraction. We find that {\it a)} collapsing clouds accurately replicate the observed SK relations for galactic clouds and {\it b)} the so-called efficiency per free-fall time ($\eff$) is small and constant in space and in time, with values similar to those found in local clouds. This constancy is a consequence of the similar radial scaling of the free-fall time and the internal mass in density structures with spherically-averaged density profiles near $r^{-2}$. We additionally show that {\it c)} the star formation rate (SFR) increases rapidly in time; {\it d)} the low values of $\eff$ are due to the different time periods over which $\tauff$ and $\tausf$ are evaluated, together with the fast increasing SFR, and {\it e)} the fact that star clusters are significantly denser than the gas clumps from which they form is a natural consequence of the fast increasing SFR, the continuous replenishment of the star-forming gas by the accretion flow, and the near $r^{-2}$ density profile generated by the collapse Finally, we argue that the interpretation of $\eff$ as an efficiency is problematic because its maximum value is not bounded by unity, and because the total gas mass in the clouds is not fixed, but rather depends on the environment where clouds are embedded. In summary, our results show that the SK relation, the typical observed values of $\eff$, and the mass density of clusters arise as a natural consequence of gravitational contraction., Comment: Submitted to MNRAS

The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution has extended ROS's accessibility by facilitating installation across all major operating systems and architectures, integrating seamlessly with scientific tools such as PyTorch and Open3D. This paper presents ROS2WASM, a novel integration of RoboStack with WebAssembly, enabling the execution of ROS 2 and its associated software directly within web browsers, without requiring local installations. This approach significantly enhances reproducibility and shareability of research, lowers barriers to robotics education, and leverages WebAssembly's robust security framework to protect against malicious code. We detail our methodology for cross-compiling ROS 2 packages into WebAssembly, the development of a specialized middleware for ROS 2 communication within browsers, and the implementation of a web platform available at www.ros2wasm.dev that allows users to interact with ROS 2 environments. Additionally, we extend support to the Robotics Toolbox for Python and adapt its Swift simulator for browser compatibility. Our work paves the way for unprecedented accessibility in robotics, offering scalable, secure, and reproducible environments that have the potential to transform educational and research paradigms., Comment: 7 pages, 8 figures, under review

In this work, we analysed young stellar clusters with spatial and kinematic coherence in the Orion star-forming complex. For this study, we selected a sample of pre-main sequence candidates using parallaxes, proper motions and positions on the colour-magnitude diagram. After applying a hierarchical clustering algorithm in the 5D parameter space provided by Gaia DR3, we divided the recovered clusters into two regimes: Big Structures and Small Structures, defined by the number of detected stars per cluster. In the first regime, we found 13 stellar groups distributed along the declination axis in the regions where there is a high density of stars. In the second regime, we recovered 34 clusters classified into two types: 14 as small groups completely independent from the larger structures, including four candidates of new clusters, and 12 classified as sub-structures embedded within five larger clusters. Additionally, radial velocity data from APOGEE-2 and GALAH DR3 was included to study the phase space in some regions of the Orion complex. From the Big Structure regime, we found evidence of a general expansion in the Orion OB1 association over a common centre, giving a clue about the dynamical effects the region is undergoing. Likewise, in the Small Structure regime, the projected kinematics shows the ballistic expansion in the $\lambda$ Orionis association and the detection of likely events of clusters' close encounters in the OB1 association., Comment: 19 pages, 17 figures, 3 tables, accepted in MNRAS

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as moving trains, ships, and airplanes. This paper introduces a real-time, provably stabilizing control approach for underactuated humanoid walking on periodically swaying rigid surface. The first key contribution is the analytical extension of the classical angular momentum-based linear inverted pendulum model from static to swaying grounds. This extension results in a time-varying, nonhomogeneous robot model, which is fundamentally different from the existing pendulum models. We synthesize a discrete footstep control law for the model and derive a new set of sufficient stability conditions that verify the controller's stabilizing effect. Another key contribution is the development of a hierarchical control framework that incorporates the proposed footstep control law as its higher-layer planner to ensure the stability of underactuated walking. The closed-loop stability of the complete hybrid, full-order robot dynamics under this control framework is provably analyzed based on nonlinear control theory. Finally, experiments conducted on a Digit humanoid robot, both in simulations and with hardware, demonstrate the framework's effectiveness in addressing underactuated bipedal locomotion on swaying ground, even in the presence of uncertain surface motions and unknown external pushes., Comment: 20 pages, 18 figures

Ionic liquids have been suggested as new engineering fluids, namely in the area of heat transfer, as alternatives to current biphenyl and diphenyl oxide, alkylated aromatics and dimethyl polysiloxane oils, which degrade above 200 {\deg}C and pose some environmental problems. Recently, we have proposed 1-ethyl-3-methylimidazolium methanesulfonate, [$C_{2}mim$][$CH_{3}SO_{3}$], as a new heat transfer fluid, because of its thermophysical and toxicological properties. However, there are some interesting points raised in this work, namely the possibility of the existence of liquid metastability below the melting point (303 K) or second order-disorder transitions ($\lambda$-type) before reaching the calorimetric freezing point. This paper analyses in more detail this zone of the phase diagram of the pure fluid, by reporting accurate thermal-conductivity measurements between 278 and 355 K with an estimated uncertainty of 2% at a 95% confidence level. A new value of the melting temperature is also reported, $T_{melt}$ = 307.8 $\pm$ 1 K. Results obtained support liquid metastability behaviour in the solid-phase region and permit the use of this ionic liquid at a heat transfer fluid at temperatures below its melting point. Thermal conductivity models based on Bridgman theory and estimation formulas were also used in this work, failing to predict the experimental data within its uncertainty.

Ionic liquids have proved to be excellent heat transfer fluids and alternatives to common HTFs used in industries for heat exchangers and other heat transfer equipment. However, its industrial utilization depends on the cost per kg of its production, to be competitive for industrial applications with biphenyl and diphenyl oxide, alkylated aromatics, and dimethyl polysiloxane oils, which degrade above 200 {\deg}C and possess some environmental problems. The efficiency of a heat transfer fluid depends on the fundamental thermophysical properties influencing convective heat transfer (density, heat capacity, thermal conductivity, and viscosity), as these properties are necessary to calculate the heat transfer coefficients for different heat exchanger geometries. In Part 1, the thermophysical properties of pure 1-ethyl-3-methylimidazolium methanesulfonate $[C_{2}mim][CH_{3}SO_{3}]$ (CAS no. 145022-45-3), (ECOENG 110), produced by BASF, under the trade name of Basionics ST35, with an assay $\geq$97% with $\leq$0.5% water and $\leq$2% chloride ($Cl^{-}$), were presented, for temperatures slightly below room temperature and up to 355 K. In this paper, we report the thermophysical properties of mixtures of [C2mim][CH3SO3] with water, in the whole concentration range, at $P$ = 0.1 MPa. The properties measured were density and speed of sound (293.15 < $T$/K < 343.15), viscosity, electrical and thermal conductivities, refractive index (293.15 < $T$/K < 353.15), and infinite dilution diffusion coefficient of the ionic liquid in water (298.15 K).

We explain the large variety of star formation laws in terms of one single, simple law that can be inferred from the definition of the star formation rate and basic algebra. The resulting equation, $\SFR = \eff\ \Mcollapsing/\tauff$, although it has been presented elsewhere, is interpreted in terms of clouds undergoing collapse { rather than being turbulence-supported, an idea that different groups have pursued this century}. Under such assumption, one can explain the constancy of $\eff$, the different intra-cloud correlations observed in Milky Way's molecular clouds, as well as the resolved and unresolved extragalactic relationships between SFR and a measurement of the mass in CO, HCN, and CO+HI. We also explain why the slope of the correlation changes when the orbital time $\tauorb$ is considered instead of the free-fall time, and why estimations of the free-fall time from extragalactic observations skew the correlation, providing a false sublinear correlation. We furthermore show that the apparent nearly linear correlation between the star formation rate and the dynamical equilibrium pressure in the midplane of the galaxies, $\PDE$, is just a consequence of $\PDE$ values being dominated by the variation of the column density of molecular gas. All in all, we argue that the star formation law is driven by the collapse of cold, dense gas, which happens to be primarily molecular in the present Universe, and that the role of stellar feedback is just to shut down the star formation process, not to shape the star formation law., Comment: 17 pages, one figure. Accepted by MNRAS

We provide a detailed comparison between the ``gravoturbulent'' (GT) and ``global hierarchical collapse'' (GHC) models for molecular clouds and star formation, their respective interpretations of the observational data, the features they share, and suggested tests and observations to discern between them. Also, we clarify common misconceptions in recent literature about the global and hierarchical nature of the GHC scenario, and briefly discuss the evolution of some aspects of both models toward convergence. GT assumes that molecular clouds and their substructures are in approximate virial equilibrium and are in a near-stationary state, interprets the linewidth-derived nonthermal motions exclusively as turbulence, which provides additional pressure against self-gravity. Conversely, GHC assumes that most star-forming molecular clouds and their substructures are part of a continuous gravitationally-driven flow, each accreting from their parent structure. Thus, the clouds and their star formation rate evolve in time. GHC interprets nonthermal motions as a mixture of infall and turbulent components, with the relative importance of the former increasing as the objects become denser and/or more massive. Tests that may provide clues to distinguishing between GT and GHC must take into account that the innermost parts of globally gravitationally bound structures may not locally appear bound, and thus the binding may have to be searched for at the largest scale of the structure., Comment: Submitted to MNRAS. Comments welcome. Animation for Fig. 3 available at https://www.irya.unam.mx/gente/g.gomez/publica/24-GT_vs_GHC-f3.mpg

The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two assumptions: (1) the robot has point-contact feet or passive ankles, and (2) the angular momentum around the center of mass, known as centroidal angular momentum, is negligible. This paper addresses the question of whether the ALIP paradigm can be applied to more general bipedal systems with complex foot geometry (e.g., flat feet) and nontrivial torso/limb inertia and mass distribution (e.g., non-centralized arms). In such systems, the dynamics introduce non-negligible centroidal momentum and contact wrenches at the feet, rendering the assumptions of the ALIP model invalid. This paper presents the ALIP planner for general bipedal robots with non-point-contact feet through the use of a task-space whole-body controller that regulates centroidal momentum, thereby ensuring that the robot's behavior aligns with the desired template dynamics. To demonstrate the effectiveness of our proposed approach, we conduct simulations using the Sarcos Guardian XO robot, which is a hybrid humanoid/exoskeleton with large, offset feet. The results demonstrate the practicality and effectiveness of our approach in achieving stable and versatile bipedal locomotion., Comment: 7 pages, 9 figures

Long range dipolar effects in 1D systems either in free or inhomogeneous space are the basis of the state preparation protocol here proposed. Under the presence of an external time-dependent magnetic field, dipole-dipole interactions in the binary ultracold $^{166}$Er -$^{164}$Dy system were tuned from repulsive to attractive to access either, the droplet regime, or the extended one where individual species can be found in mixed or demixed phases. A thorough exploration of weak contact and dipole-dipole effective interactions parameters leads us to determine the phase diagrams of the 1D Bose clouds affected by three different external fields; free homogeneous, harmonic, and optical lattice confining potentials. These results were used to propose long-life states composed of alternate assemblies of individual species confined in optical lattices that mimics magnetic domains, whose size can be adjusted. Our analysis based on numerical experiments within a mean field scheme considered large enough systems as those commonly used in experimental platforms.

Automatic generation of discharge summaries presents significant challenges due to the length of clinical documentation, the dispersed nature of patient information, and the diverse terminology used in healthcare. This paper presents a hybrid solution for generating discharge summary sections as part of our participation in the "Discharge Me!" Challenge at the BioNLP 2024 Shared Task. We developed a two-stage generation method using both extractive and abstractive techniques, in which we first apply name entity recognition (NER) to extract key clinical concepts, which are then used as input for a prompt-tuning-based GatorTronGPT model to generate coherent text for two important sections including "Brief Hospital Course" and "Discharge Instructions". Our system was ranked 5th in this challenge, achieving an overall score of 0.284. The results demonstrate the effectiveness of our hybrid solution in improving the quality of automated discharge section generation., Comment: BIONLP 2024 and Shared Tasks @ ACL 2024

Context: There are currently three pulsars firmly detected by imaging atmospheric Cherenkov telescopes (IACTs), two of them reaching TeV energies, challenging models of very-high-energy (VHE) emission in pulsars. More precise observations are needed to better characterize pulsar emission at these energies. The LST-1 is the prototype of the Large-Sized Telescope, that will be part of the Cherenkov Telescope Array Observatory (CTAO). Its improved performance over previous IACTs makes it well suited for studying pulsars. Aims: To study the Crab pulsar emission with the LST-1, improving and complementing the results from other telescopes. These observations can also be used to characterize the potential of the LST-1 to study other pulsars and detect new ones. Methods: We analyzed a total of $\sim$103 hours of gamma-ray observations of the Crab pulsar conducted with the LST-1 in the period from September 2020 to January 2023. The observations were carried out at zenith angles less than 50 degrees. A new analysis of the Fermi-LAT data was also performed, including $\sim$14 years of observations. Results: The Crab pulsar phaseogram, long-term light-curve, and phase-resolved spectra are reconstructed with the LST-1 from 20 GeV to 450 GeV for P1 and up to 700 GeV for P2. The pulsed emission is detected with a significance of 15.2$\sigma$. The two characteristic emission peaks of the Crab pulsar are clearly detected (>10$\sigma$), as well as the so-called bridge emission (5.7$\sigma$). We find that both peaks are well described by power laws, with spectral indices of $\sim$3.44 and $\sim$3.03 respectively. The joint analysis of Fermi-LAT and LST-1 data shows a good agreement between both instruments in the overlapping energy range. The detailed results obtained in the first observations of the Crab pulsar with LST-1 show the potential that CTAO will have to study this type of sources., Comment: Accepted by A&A

It is well-known that exciton effects are determinant to understand the optical absorption spectrum of low-dimensional materials. However, the role of excitons in nonlinear optical responses has been much less investigated at an experimental level. Additionally, computational methods to calculate nonlinear conductivities in real materials are still not widespread, particularly taking into account excitonic interactions. We present a methodology to calculate the excitonic second-order optical responses in 2D materials relying on: (i) ab initio tight-binding Hamiltonians obtained by Wannier interpolation and (ii) the Bethe-Salpeter equation with effective electron-hole interactions. Here, in particular, we explore the role of excitons in the shift current of monolayer materials. Focusing on MoS$_2$ and GeS monolayer systems, our results show that $2p$-like excitons, which are dark in the linear response regime, yield a contribution to the photocurrent comparable to that of $1s$-like excitons. Under radiation with intensity $\sim 10^{4} $W/cm$^2$, the excitonic theory predicts in-gap photogalvanic currents of almost $\sim 10$ nA in sufficiently clean samples, which is typically one order of magnitude higher than the value predicted by independent-particle theory near the band edge., Comment: 12 pages, 5 figures

Interactions between quasiparticles mediated by a surrounding environment are ubiquitous and lead to a range of important effects from collective modes of low temperature quantum gases, superconductivity, to the interaction between elementary particles at high energies. This perspective article is motivated by experimental progress in the fields of quantum degenerate atomic gases, cavity QED, and two-dimensional (2D) semi-conductors, which enable a systematic exploration of mediated interactions in new settings and regimes. We first describe how to microscopically calculate the quasiparticle interaction using perturbation theory, diagrammatics, and the path integral, highlighting the key role played by the quantum statistics of the quasiparticles. Recent theoretical and experimental insights into quasiparticle and mediated interactions in general obtained from atomic gases are then discussed, after which we focus on hybrid light-atom systems where a remarkable long range photon mediated interaction can be realised. Next, we describe new and puzzling results regarding the interaction between quasiparticles in 2D semiconductors. We then discuss how mediated interactions open up ways to realise new quantum phases in atomic and hybrid atom-photon systems as well as 2D semiconductors, and the perspective ends by posing some open questions and outlook.

The Lorentz Invariance Violation (LIV), a proposed consequence of certain quantum gravity (QG) scenarios, could instigate an energy-dependent group velocity for ultra-relativistic particles. This energy dependence, although suppressed by the massive QG energy scale $E_\mathrm{QG}$, expected to be on the level of the Planck energy $1.22 \times 10^{19}$ GeV, is potentially detectable in astrophysical observations. In this scenario, the cosmological distances traversed by photons act as an amplifier for this effect. By leveraging the observation of a remarkable flare from the blazar Mrk\,421, recorded at energies above 100 GeV by the MAGIC telescopes on the night of April 25 to 26, 2014, we look for time delays scaling linearly and quadratically with the photon energies. Using for the first time in LIV studies a binned-likelihood approach we set constraints on the QG energy scale. For the linear scenario, we set $95\%$ lower limits $E_\mathrm{QG}>2.7\times10^{17}$ GeV for the subluminal case and $E_\mathrm{QG}> 3.6 \times10^{17}$ GeV for the superluminal case. For the quadratic scenario, the $95\%$ lower limits for the subluminal and superluminal cases are $E_\mathrm{QG}>2.6 \times10^{10}$ GeV and $E_\mathrm{QG}>2.5\times10^{10}$ GeV, respectively.

Project managers need to manage risks throughout the project lifecycle and, thus, need to know how changes in activity durations influence project duration and risk. We propose a new indicator (the Activity Risk Index, ARI) that measures the contribution of each activity to the total project risk while it is underway. In particular, the indicator informs us about what activities contribute the most to the project's uncertainty so that project managers can pay closer attention to the performance of these activities. The main difference between our indicator and other activity sensitivity metrics in the literature (e.g. cruciality, criticality, significance, or schedule sensitivity indices) is that our indicator is based on the Schedule Risk Baseline concept instead of on cost or schedule baselines. The new metric not only provides information at the beginning of the project, but also while it is underway. Furthermore, the ARI is the only one to offer a normalized result: if we add its value for each activity, the total sum is 100%., Comment: 22 pages

Obtaining a viable schedule baseline that meets all project constraints is one of the main issues for project managers. The literature on this topic focuses mainly on methods to obtain schedules that meet resource restrictions and, more recently, financial limitations. The methods provide different viable schedules for the same project, and the solutions with the shortest duration are considered the best-known schedule for that project. However, no tools currently select which schedule best performs in project risk terms. To bridge this gap, this paper aims to propose a method for selecting the project schedule with the highest probability of meeting the deadline of several alternative schedules with the same duration. To do so, we propose integrating aleatory uncertainty into project scheduling by quantifying the risk of several execution alternatives for the same project. The proposed method, tested with a well-known repository for schedule benchmarking, can be applied to any project type to help managers to select the project schedules from several alternatives with the same duration, but the lowest risk., Comment: 11 pages

Large companies are fully engaged in their digital transformation, specifically in developing strategic Business Intelligence (BI) projects. They have a Digital Strategy and top-level executives managing the change. BI projects are also being carried out in SMEs. In this paper, we present the results of an interpretative study conducted on a sample of SMEs from different sectors carrying out BI projects. We study whether BI maturity models are valid for SMEs and their usefulness for analysing the projects and evaluating the results at the end of the project., Comment: 15 pages, in Spanish language

Purpose: The new competitive environment characterized by innovation and constant change is forcing a new organizational behavior. This requires a digital transformation of SMEs based on collective performance determinants. SMEs have particular characteristics that differentiate them from large companies and a model that allows them to identify, leverage and develop their digital capabilities can help them to advance in digital maturity. Design/methodology/approach: An in-depth review of the existing literature on digital transformation and organizational competence was carried out on Scopus and Web of Science to identify the digital challenges faced by SMEs, and what digital capabilities they have to develop to face these challenges. In order to obtain the necessary information for the refinement of organizational competence for digital transformation model, six experts were interviewed; three of them are academics and the other three are professionals with management responsibilities in SMEs. We used semi-structured interviews, to keep the interviews focused and facilitate cross-data analysis between experts. In addition, it allowed us the possibility of analyzing new relevant aspects that could arise during the interview. Findings: As a result of this study we have developed a refined model of organizational competence for digital transformation that allows SMEs to identify and develop the digital capabilities necessary to advance in the digital transformation, refined with the opinions of six experts consulted. We were able to observe the importance of organizational learning and organizational knowledge to advance the digital transformation of SMEs., Comment: 10 pages

Earned duration management (EDM) is a methodology for project schedule management (PSM) that can be considered an alternative to earned value management (EVM). EDM provides an estimation of deviations in schedule and a final project duration estimation. There is a key difference between EDM and EVM: In EDM, the value of activities is expressed as work periods; whereas in EVM, value is expressed in terms of cost. In this paper, we present how EDM can be applied to monitor and control stochastic projects. To explain the methodology, we use a real case study with a project that presents a high level of uncertainty and activities with random durations. We analyze the usability of this approach according to the activities network topology and compare the EVM and earned schedule methodology (ESM) for PSM., Comment: 14 pages

The project managers who deal with risk management are often faced with the difficult task of determining the relative importance of the various sources of risk that affect the project. This prioritisation is crucial to direct management efforts to ensure higher project profitability. Risk matrices are widely recognised tools by academics and practitioners in various sectors to assess and rank risks according to their likelihood of occurrence and impact on project objectives. However, the existing literature highlights several limitations to use the risk matrix. In response to the weaknesses of its use, this paper proposes a novel approach for prioritising project risks. Monte Carlo Simulation (MCS) is used to perform a quantitative prioritisation of risks with the simulation software MCSimulRisk. Together with the definition of project activities, the simulation includes the identified risks by modelling their probability and impact on cost and duration. With this novel methodology, a quantitative assessment of the impact of each risk is provided, as measured by the effect that it would have on project duration and its total cost. This allows the differentiation of critical risks according to their impact on project duration, which may differ if cost is taken as a priority objective. This proposal is interesting for project managers because they will, on the one hand, know the absolute impact of each risk on their project duration and cost objectives and, on the other hand, be able to discriminate the impacts of each risk independently on the duration objective and the cost objective., Comment: 13 pages

We study the consequences for top-quark physics of having electron and positron beams available at the LHeC and FCC-he, as was the case in HERA. We show that the asymmetry between top production in $pe^+$ collisions and antitop production in $pe^-$ reactions is sensitive to $|V_{td}|$. By means of detailed parton-level Monte Carlo simulations of single $t$ and $\bar{t}$ production and its backgrounds, we parametrize the asymmetry dependence on $|V_{td}|$ and estimate its uncertainties. We thus obtain limits on $|V_{td}|$ that are substantially stronger than current ones, and also smaller than current projections for the HL-LHC. We have $|V_{td}| < 1.6\times |V_{td}^\mathrm{PDG}|$ at the LHeC, at 68\% C.L.\ with $L_\mathrm{int}=2$/ab., Comment: 10 pages

We present a calculation for the masses of the first radially excited states of forty mesons and diquarks made up of $u,d,s,c$ and $b$ quarks, including states that contain one or both heavy quarks. To this end, we employ a combined analysis of the Bethe-Salpeter and Schwinger-Dyson equations within a self-consistent and symmetry preserving vector-vector contact interaction. The same set of parameters describe ground and excited states of mesons and their diquark partners. The wave-function of the first radial excitation contains a zero whose location is correlated with an additional parameter $d_F$ which is a function of dressed quark masses. Our results satisfy the equal spacing rules given by the Gell-Mann Okubo mass relations. Wherever possible, we make comparisons of our findings with known experimental observations as well as theoretical predictions of several other models and approaches including lattice quantum chromodynamics, finding a very good agreement. We report predictions for a multitude of radial excitations not yet observed in experiments., Comment: 13 pages, 6 figures

Random defects do not constitute the unique source of electron localization in two dimensions. Lattice quasidisorder generated from two inplane superimposed rotated, main and secondary, square lattices, namely monolayers where moir\'e patterns are formed, leads to a sharp localized to delocalized single-particle transition. This is demostrated here for both, discrete and continuum models of moir\'e patterns that arise as the twisting angle $\theta$ between main and secondary lattices is varied in the interval $[0, \pi/4]$. Localized to delocalized transition is recognized as the moir\'e patterns depart from being perfect square crystals to non-crystalline structures. Extended single-particle states were found for rotation angles associated with Pythagorean triples that produce perfectly periodic structures. Conversely, angles not arising from such Pythagorean triples lead to non-commensurate or quasidisordered structures, thus originating localized states. These conclusions are drawn from a stationary analysis where the standard IPR parameter measuring localization allowed us to detect the transition. While both, ground state and excited states were analyzed for the discrete model, where the secondary lattice was considered as a perturbation of the main one, the sharp transition was tracked back for the fundamental state in the continuous scenario where the secondary lattice is not a perturbation any more., Comment: 9 pages, 9 figures

For a reaction-dominated diffusion problem we study a primal and a dual hybrid finite element method where weak continuity conditions are enforced by Lagrange multipliers. Uniform robustness of the discrete methods is achieved by enriching the local discretization spaces with modified face bubble functions which decay exponentially in the interior of an element depending on the ratio of the singular perturbation parameter and the local mesh-size. A posteriori error estimators are derived using Fortin operators. They are robust with respect to the singular perturbation parameter. Numerical experiments are presented that show that oscillations, if present, are significantly smaller then those observed in common finite element methods.

Absolute stability is a technique for analyzing the stability of Lur'e systems, which arise in diverse applications, such as oscillators with nonlinear damping or nonlinear stiffness. A special class of Lur'e systems consists of self-excited systems (SES), in which bounded oscillations arise from constant inputs. In many cases, SES can be stabilized by linear controllers, which motivates the present work, where the goal is to evaluate the effectiveness of adaptive model predictive control for Lur'e systems. In particular, the present paper considers predictive cost adaptive control (PCAC), which is equivalent to a linear, time-variant (LTV) controller. A closed-loop Lur'e system comprised of the positive feedback interconnection of the Lur'e system and the PCAC-based controller can thus be derived at each step. In this work, the circle and Tsypkin criteria are used to evaluate the absolute stability of the closed-loop Lur'e system, where the adaptive controller is viewed as instantaneously linear time-invariant. When the controller converges, the absolute stability criteria guarantee global asymptotic stability of the asymptotic closed-loop dynamics., Comment: 8 pages. arXiv admin note: text overlap with arXiv:2402.00346

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements due to neglecting the physical constraints of walking robots. A safety-critical path must not only avoid obstacles but also ensure that the robot's gaits are subject to its dynamic and kinematic constraints. This work presents a novel approach that unifies path planning and gait planning via a Model Predictive Control (MPC) using the Linear Inverted Pendulum (LIP) model representing bipedal locomotion. This approach considers environmental constraints, such as obstacles, and the robot's kinematics and dynamics constraints. By using discrete-time Control Barrier Functions for obstacle avoidance, our approach generates the next foot landing position, ensuring robust walking gaits and a safe navigation path within clustered environments. We validated our proposed approach in simulation using a Digit robot in 20 randomly created environments. The results demonstrate improved performance in terms of safety and robustness when compared to hierarchical path and gait planning frameworks., Comment: 8 pages

Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a novel multi-step preview foot placement planning algorithm based on the step-to-step discrete evolution of the Divergent Component of Motion (DCM) of walking robots. Our proposed approach adaptively changes the step duration and the swing foot trajectory for optimal foot placement under constraints, thereby enhancing the long-term stability of the robot and significantly improving its ability to navigate environments with tight constraints on viable footholds. We demonstrate its effectiveness through various simulation scenarios with complex stepping-stone configurations and external perturbations. These tests underscore its improved performance for navigating foothold-restricted terrains, even with external disturbances., Comment: 7 pages, 7 figures, submitted to ICRA 2025, for associated simulation video, see https://youtu.be/DjH69m1kbnM

Monochromatic gamma-ray signals constitute a potential smoking gun signature for annihilating or decaying dark matter particles that could relatively easily be distinguished from astrophysical or instrumental backgrounds. We provide an updated assessment of the sensitivity of the Cherenkov Telescope Array (CTA) to such signals, based on observations of the Galactic centre region as well as of selected dwarf spheroidal galaxies. We find that current limits and detection prospects for dark matter masses above 300 GeV will be significantly improved, by up to an order of magnitude in the multi-TeV range. This demonstrates that CTA will set a new standard for gamma-ray astronomy also in this respect, as the world's largest and most sensitive high-energy gamma-ray observatory, in particular due to its exquisite energy resolution at TeV energies and the adopted observational strategy focussing on regions with large dark matter densities. Throughout our analysis, we use up-to-date instrument response functions, and we thoroughly model the effect of instrumental systematic uncertainties in our statistical treatment. We further present results for other potential signatures with sharp spectral features, e.g.~box-shaped spectra, that would likewise very clearly point to a particle dark matter origin., Comment: 44 pages JCAP style (excluding author list and references), 19 figures; minor changes to match published version

We demonstrate microwave measurements of the Andreev bound state (ABS) spectrum in planar Josephson junctions (JJs) defined in Ge high mobility two-dimensional hole gases contacted by superconducting PtSiGe. The JJs and readout circuitry are located on separate chips and inductively coupled via flip-chip bonding. For a device with $350~\mathrm{nm}$ junction length, spectroscopic signatures were consistent with the short-junction limit, with an induced superconducting gap $\Delta^{*}\approx48~\mathrm{\mu eV}$ and transmission $\tau \approx 0.94$. The interaction between the highest-transmission ABS and the resonator was well described by a Jaynes-Cummings model with a vacuum Rabi splitting of approximately $6~\mathrm{MHz}$. A device with junction length of $1~\mu m$ showed an ABS spectrum consistent with a long junction model. Time-resolved monitoring of the readout resonator in the dispersive regime revealed gate-voltage tunable junction parity fluctuations on the timescale of seconds. Our work indicates a viable path towards hybrid quantum devices based on planar Ge.

PG 1553+113 is one of the few blazars with a convincing quasi-periodic emission in the gamma-ray band. The source is also a very high-energy (VHE; >100 GeV) gamma-ray emitter. To better understand its properties and identify the underlying physical processes driving its variability, the MAGIC Collaboration initiated a multiyear, multiwavelength monitoring campaign in 2015 involving the OVRO 40-m and Medicina radio telescopes, REM, KVA, and the MAGIC telescopes, Swift and Fermi satellites, and the WEBT network. The analysis presented in this paper uses data until 2017 and focuses on the characterization of the variability. The gamma-ray data show a (hint of a) periodic signal compatible with literature, but the X-ray and VHE gamma-ray data do not show statistical evidence for a periodic signal. In other bands, the data are compatible with the gamma-ray period, but with a relatively high p-value. The complex connection between the low and high-energy emission and the non-monochromatic modulation and changes in flux suggests that a simple one-zone model is unable to explain all the variability. Instead, a model including a periodic component along with multiple emission zones is required., Comment: Accepted for publication in Monthly Notices of the Royal Astronomical Society. 19 pages, 9 figures. Corresponding authors: Elisa Prandini, Antonio Stamerra, Talvikki Hovatta

The current kinematic state of young stellar clusters can give clues on their actual dynamical state and origin. In this contribution, we use Gaia DR3 data of the Lagoon Nebula Cluster (LNC) to show that the cluster is composed of two expanding groups, likely formed from different molecular cloud clumps. We find no evidence of massive stars having larger velocity dispersion than low-mass stars or being spatially segregated across the LNC, as a whole, or within the Primary group. However, the Secondary group, with 1/5th of the stars, exhibits intriguing features. On the one hand, it shows a bipolar nature, with an aspect ratio of $\sim$3:1. In addition, the massive stars in this group exhibit larger velocity dispersion than the low-mass stars, although they are not concentrated towards the center of the group. This suggests that this group may have undergone dynamical relaxation, first, and some explosive event afterward. However, further observations and numerical work have to be performed to confirm this hypothesis. The results of this work suggest that, although stellar clusters may form by the global and hierarchical collapse of their parent clump, still some dynamical relaxation may take place., Comment: Accepted for publication in MNRAS

A key challenge in realizing fault-tolerant quantum computers is circuit optimization. Focusing on the most expensive gates in fault-tolerant quantum computation (namely, the T gates), we address the problem of T-count optimization, i.e., minimizing the number of T gates that are needed to implement a given circuit. To achieve this, we develop AlphaTensor-Quantum, a method based on deep reinforcement learning that exploits the relationship between optimizing T-count and tensor decomposition. Unlike existing methods for T-count optimization, AlphaTensor-Quantum can incorporate domain-specific knowledge about quantum computation and leverage gadgets, which significantly reduces the T-count of the optimized circuits. AlphaTensor-Quantum outperforms the existing methods for T-count optimization on a set of arithmetic benchmarks (even when compared without making use of gadgets). Remarkably, it discovers an efficient algorithm akin to Karatsuba's method for multiplication in finite fields. AlphaTensor-Quantum also finds the best human-designed solutions for relevant arithmetic computations used in Shor's algorithm and for quantum chemistry simulation, thus demonstrating it can save hundreds of hours of research by optimizing relevant quantum circuits in a fully automated way., Comment: 25 pages main paper + 19 pages appendix

Motion detection is a primary task required for robotic systems to perceive and navigate in their environment. Proposed in the literature bioinspired neuromorphic Time-Difference Encoder (TDE-2) combines event-based sensors and processors with spiking neural networks to provide real-time and energy-efficient motion detection through extracting temporal correlations between two points in space. However, on the algorithmic level, this design leads to loss of direction-selectivity of individual TDEs in textured environments. Here we propose an augmented 3-point TDE (TDE-3) with additional inhibitory input that makes TDE-3 direction-selectivity robust in textured environments. We developed a procedure to train the new TDE-3 using backpropagation through time and surrogate gradients to linearly map input velocities into an output spike count or an Inter-Spike Interval (ISI). Our work is the first instance of training a spiking neuron to have a specific ISI. Using synthetic data we compared training and inference with spike count and ISI with respect to changes in stimuli dynamic range, spatial frequency, and level of noise. ISI turns out to be more robust towards variation in spatial frequency, whereas the spike count is a more reliable training signal in the presence of noise. We performed the first in-depth quantitative investigation of optical flow coding with TDE and compared TDE-2 vs TDE-3 in terms of energy-efficiency and coding precision. Results show that on the network level both detectors show similar precision (20 degree angular error, 88% correlation with ground truth). Yet, due to the more robust direction-selectivity of individual TDEs, TDE-3 based network spike less and hence is more energy-efficient. Reported precision is on par with model-based methods but the spike-based processing of the TDEs provides allows more energy-efficient inference with neuromorphic hardware.

In recent years, a new generation of optical intensity interferometers has emerged, leveraging the existing infrastructure of Imaging Atmospheric Cherenkov Telescopes (IACTs). The MAGIC telescopes host the MAGIC-SII system (Stellar Intensity Interferometer), implemented to investigate the feasibility and potential of this technique on IACTs. After the first successful measurements in 2019, the system was upgraded and now features a real-time, dead-time-free, 4-channel, GPU-based correlator. These hardware modifications allow seamless transitions between MAGIC's standard very-high-energy gamma-ray observations and optical interferometry measurements within seconds. We establish the feasibility and potential of employing IACTs as competitive optical Intensity Interferometers with minimal hardware adjustments. The measurement of a total of 22 stellar diameters are reported, 9 corresponding to reference stars with previous comparable measurements, and 13 with no prior measurements. A prospective implementation involving telescopes from the forthcoming Cherenkov Telescope Array Observatory's northern hemisphere array, such as the first prototype of its Large-Sized Telescopes, LST-1, is technically viable. This integration would significantly enhance the sensitivity of the current system and broaden the UV-plane coverage. This advancement would enable the system to achieve competitive sensitivity with the current generation of long-baseline optical interferometers over blue wavelengths., Comment: 18 pages, 13 figures, submitted to MNRAS

Extremum seeking control (ESC) constitutes a powerful technique for online optimization with theoretical guarantees for convergence to the neighborhood of the optimizer under well-understood conditions. However, ESC requires a nonconstant perturbation signal to provide persistent excitation to the target system to yield convergent results, which usually results in steady state oscillations. While certain techniques have been proposed to eliminate perturbations once the neighborhood of the minimizer is reached, system modifications and environmental perturbations can suddenly change the minimizer and nonconstant perturbations would once more be required to convergence to the new minimizer. Hence, this paper develops a retrospective cost-based ESC(RC/ESC) technique for online output minimization with a vanishing perturbation, that is, a perturbation that becomes zero as time increases independently from the state of the controller or the controlled system. The performance of the proposed algorithm is illustrated via numerical examples.

The SAT problem is a prototypical NP-complete problem of fundamental importance in computational complexity theory with many applications in science and engineering; as such, it has long served as an essential benchmark for classical and quantum algorithms. This study shows numerical evidence for a quadratic speedup of the Grover Quantum Approximate Optimization Algorithm (G-QAOA) over random sampling for finding all solutions to 3-SAT problems (All-SAT). G-QAOA is less resource-intensive and more adaptable for 3-SAT and Max-SAT than Grover's algorithm, and it surpasses conventional QAOA in its ability to sample all solutions. We show these benefits by classical simulations of many-round G-QAOA on thousands of random 3-SAT instances. We also observe G-QAOA advantages on the IonQ Aria quantum computer for small instances, finding that current hardware suffices to determine and sample all solutions. Interestingly, a single-angle-pair constraint that uses the same pair of angles at each G-QAOA round greatly reduces the classical computational overhead of optimizing the G-QAOA angles while preserving its quadratic speedup. We also find parameter clustering of the angles. The single-angle-pair protocol and parameter clustering significantly reduce obstacles to classical optimization of the G-QAOA angles.

Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then pieced together using gain scheduling. For applications in which the aerodynamics are unmodeled, the present paper proposes an autopilot based on predictive cost adaptive control (PCAC). As an indirect adaptive control extension of model predictive control, PCAC uses recursive least squares (RLS) with variable-rate forgetting for online, closed-loop system identification. At each time step, RLS-based system identification updates the coefficients of an input-output model whose order is a hyperparameter specified by the user. For MPC, the receding-horizon optimization can be performed by either the backward-propagating Riccati equation or quadratic programming. The present paper investigates the performance of PCAC for fixed-wing aircraft without the use of any aerodynamic modeling or offline/prior data collection.

Model predictive control (MPC) has been used successfully in diverse applications. As its name suggests, MPC requires a model for predictive optimization. The present paper focuses on the application of MPC to a Rijke tube, in which a heating source and acoustic dynamics interact to produce self-excited oscillations. Since the dynamics of a Rijke tube are difficult to model to a high level of accuracy, the implementation of MPC requires leveraging data from the physical setup as well as knowledge about thermoacoustics, which is labor intensive and requires domain expertise. With this motivation, the present paper uses predictive cost adaptive control (PCAC) for sampled-data control of an experimental Rijke-tube setup. PCAC performs online closed-loop linear model identification for receding-horizon optimization based on the backward propagating Riccati equation. In place of analytical modeling, open-loop experiments are used to create a simple emulation model, which is used for choosing PCAC hyperparameters. PCAC is applied to the Rijke-tube setup under various experimental scenarios.