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A series of longstanding questions in harmonic analysis ask if the intersection of all prime ``$p$-adic versions" of an object, such as a doubling measure, or a Muckenhoupt or reverse H\"older weight, recovers the full object. Investigation into these questions was reinvigorated in 2019 by work of Boylan-Mills-Ward, culminating in showing that this recovery fails for a finite intersection in work of Anderson-Bellah-Markman-Pollard-Zeitlin. Via generalizing a new number-theoretic construction therein, we answer these questions.

Superconducting qubits are considered as a promising platform for implementing a fault tolerant quantum computing. However, surface defects of superconductors and the substrate leading to qubit state decoherence and fluctuations in qubit parameters constitute a significant problem. The amount and type of defects depend both on the chip materials and fabrication procedure. In this work, transmons produced by two different methods of aluminum etching: wet etching in a solution of weak acids and dry etching using a chlorine-based plasma are experimentally studied. The relaxation and coherence times for dry-etched qubits are more than twice as long as those for wet-etched ones. Additionally, the analysis of time fluctuations of qubit frequencies and relaxation times, which is an effective method to identify the dominant dielectric loss mechanisms, indicates a significantly lower impact of two-level systems in the dry-etched qubits compared to the wet-etched ones., Comment: 7 pages, 6 figures

The task of this work was to design and later produce a low-power (single supply 5 - 30 V, dual supply +-2.5 V and +-15 V) rail-to-rail operational amplifier aRD820 with low voltage noise (<4 uV, p-p. 0.1 to 10 Hz), ultralow input bias current (< 15 pA), and low offset voltage (< 500 uV) characteristics. Similar characteristics are presented by Analog Devices chip AD820. Thus, the task of the design team was to adapt the prototype circuity of AD820 to our technological capabilities, modify the circuit, if necessary, to eliminate any deficiency of the prototype. The input stage module got source followers at the input of the operational amplifier. Second stage module was modified to be more symmetric. The output stage module obtained additional resistors and capacitors to achieve a frequency compensation. One FET transistor in the current reference module was substituted by other elements. Simplified electric schemes of these modules of AR820 and aRD820 are presented. The performance of modified electric schemes of modules was tested in Simulink software. Simulations of the full electric scheme for aRD820 were made and showed that it demonstrates similar characteristics as AD820 data tables. Later production of the aRD820 chip and measurements demonstrated that the planned characteristics of the operational amplifier were met.

The charge asymmetry in the process $e^+e^-\to \pi^+\pi^-\pi^0$ is studied taking into account a longitudinal polarization of electrons (positrons). The asymmetry arises due to interference of amplitudes corresponding to production of pions in C-odd and C-even states. It is a manifestation of $a_1(1260)$ meson in the intermediate state. Polarization leads to additional correlations in the differential cross section, which simplifies the experimental study of the process. It is shown that the charge asymmetry can reach several percent., Comment: 10 pages, 5 figures

Integrating multimodal foundation models has significantly enhanced autonomous agents' language comprehension, perception, and planning capabilities. However, while existing works adopt a \emph{task-centric} approach with minimal human interaction, applying these models to developing assistive \emph{user-centric} robots that can interact and cooperate with humans remains underexplored. This paper introduces ``Bident'', a framework designed to integrate robots seamlessly into shared spaces with humans. Bident enhances the interactive experience by incorporating multimodal inputs like speech and user gaze dynamics. Furthermore, Bident supports verbal utterances and physical actions like gestures, making it versatile for bidirectional human-robot interactions. Potential applications include personalized education, where robots can adapt to individual learning styles and paces, and healthcare, where robots can offer personalized support, companionship, and everyday assistance in the home and workplace environments., Comment: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Workshop: Large Language Models in the RoMan Age

Two-dimensional magnetic materials exhibit strong magneto-optic effects and high tunability by electrostatic gating, making them very attractive for new magneto-photonic devices. Here, we characterize the magneto-optic Kerr effect (MOKE) spectrum of thin Cr$_2$Ge$_2$Te$_6$ from 1.13 to 2.67 eV, and demonstrate electrostatic control over of its magnetic and magneto-optic properties. The MOKE spectrum exhibits a strong feature around 1.43 eV which we attribute to a magnetic exchange-split excitonic state in Cr$_2$Ge$_2$Te$_6$, in agreement with \textit{ab-initio} calculations. The gate dependence of the MOKE signals shows that the magneto-optical efficiency - rather than the saturation magnetization - is affected by electrostatic gating. We demonstrate a modulation of the magneto-optical strength by over 1 mdeg, with some wavelengths showing a modulation of 65% of the total magneto-optical signals, opening the door for efficient electrical control over light polarization through two-dimensional magnets. Our findings bring forward the fundamental understanding of magneto-optic processes in two-dimensional magnets and are highly relevant for the engineering of devices which exploit excitonic resonances for electrically-tunable magneto-photonic devices.

Molecular dynamics triggered by interaction with light often involve the excitation of several electronic, vibrational, and rotational states. Characterizing the resulting coupled electronic and nuclear wave packet motion represents a severe challenge, even for small polyatomic systems. In this Letter, we demonstrate how the interplay between vibrational, rotational, and electronic degrees of freedom governs the evolution of molecular wave packets in the low-lying states of strong-field-ionized sulfur dioxide. Using time-resolved Coulomb explosion imaging (CEI) in combination with quantum mechanical wave packet simulations, we directly map bending vibrations of the molecule, show how the vibrational wave packet is influenced by molecular alignment, and elucidate the role of the coupling between the two lowest electronic states of the cation. A conical intersection between these states couples the bending and asymmetric stretching coordinates, which is clearly reflected in the correlated fragment momenta. Our results suggest that multi-coincident CEI represents an efficient experimental tool for characterizing coupled electronic and nuclear motion in polyatomic molecules.

Coulomb explosion imaging (CEI) with x-ray free electron lasers has recently been shown to be a powerful method for obtaining detailed structural information of gas-phase planar ring molecules [R. Boll et al. Nat. Phys. 18, 423-428 (2022)]. In this Letter, we investigate the potential of CEI driven by a tabletop laser and extend this approach to differentiating three-dimensional (3D) structures. We study the static CEI patterns of planar and nonplanar organic molecules that resemble the structures of typical products formed in ring-opening reactions. Our results reveal that each molecule exhibits a well-localized and distinctive pattern in 3D fragment-ion momentum space. We find that these patterns yield direct information about the molecular structures and can be qualitatively reproduced using a classical Coulomb explosion simulation. Our findings suggest that laser-induced CEI can serve as a robust method for differentiating molecular structures of organic ring and chain molecules. As such, it holds great promise as a method for following ultrafast structural changes, e.g., during ring-opening reactions, by tracking the motion of individual atoms in pump-probe experiments.

We consider the problem of single link failure in an elastic optical network, (also known as flex-grid WDM network). The task is to reroute optical connections that go through the broken link using free capacity of other links of the network. Nowadays, dynamic restoration gains popularity, in which the possiblity of rerouting is only inspected after a link failure is detected. Since the problem of recovery is NP-hard, heuristic algorithms are used to either find such routes, or suggest that the routes do not exist. In order to understand the quality of these heuristics, often mixed integer linear programming is used to obtain exact positive and negative answers. We present a detailed such model that checks whether restoration is possible without the use of additional regenerators. This means, that the new light paths need to satisfy a length constraint. As preprossing we apply a trimming procedure that takes advantage of this length constraint, and significantly speeds up the evaluation of these models. Our model is more general, and besides solving the problem of link restoration, also solves the full problem of wavelength and spectrum assignment., Comment: Accepted for IEEE BlackSeaCom conference, 7 pages

The human gaze is an important cue to signal intention, attention, distraction, and the regions of interest in the immediate surroundings. Gaze tracking can transform how robots perceive, understand, and react to people, enabling new modes of robot control, interaction, and collaboration. In this paper, we use gaze tracking data from a rich dataset of human motion (TH\"OR-MAGNI) to investigate the coordination between gaze direction and head rotation of humans engaged in various indoor activities involving navigation, interaction with objects, and collaboration with a mobile robot. In particular, we study the spread and central bias of fixations in diverse activities and examine the correlation between gaze direction and head rotation. We introduce various human motion metrics to enhance the understanding of gaze behavior in dynamic interactions. Finally, we apply semantic object labeling to decompose the gaze distribution into activity-relevant regions., Comment: This is the final version of the accepted version of the manuscript that will be published in the 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN). Copyright 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses

The presence of spin-polarized charge carriers in metallic magnets provides a mechanism for spin-lattice interactions mediated by electron-phonon coupling. Here, we present a theory of this mechanism used to estimate its effect on the exchange interactions in 2D magnets. Starting from a square lattice model at half filling, we show that the presence of electron-phonon coupling with equilibrium phonon distribution leads to a notable suppression of exchange interactions with temperature. We then apply our approach to the prototypical 2D metallic ferromagnet, Fe$_3$GeTe$_2$, with moderate electron-phonon coupling. We find that the exchange interactions undergo a renormalization, leading to a softening of the magnon modes, and suppression of the Curie temperature by $\sim$10\%. We expect that this effect can be further enhanced in systems with strong electron-phonon coupling, as well as for non-equilibrium distribution of phonons induced by strong laser fields or charge currents., Comment: 6 pages, 3 figures

Molecular photoabsorption results in an electronic excitation/ionization which couples to the rearrangement of the nuclei. The resulting intertwined change of nuclear and electronic degrees of freedom determines the conversion of photoenergy into other molecular energy forms. Nucleobases are excellent candidates for studying such dynamics, and great effort has been taken in the past to observe the electronic changes induced by the initial excitation in a time-resolved manner using ultrafast electron spectroscopy. The linked geometrical changes during nucleobase photorelaxation have so far not been observed directly in time-resolved experiments. Here, we present a study on a thionucleobase, where we extract comprehensive information on the molecular rearrangement using Coulomb explosion imaging. Our measurement links the extracted deplanarization of the molecular geometry to the previously studied temporal evolution of the electronic properties of the system. In particular, the protons of the exploded molecule are well-suited messengers carrying rich information on the molecule's geometry at distinct times after the initial electronic excitation. The combination of ultrashort laser pulses to trigger molecular dynamics, intense X-ray free-electron laser pulses for the explosion of the molecule, and multi-particle coincidence detection opens new avenues for time-resolved studies of complex molecules in the gas phase., Comment: 19 pages, 8 figures

A permanently available molecular-beam injection setup for controlled molecules (COMO) was installed and commissioned at the small quantum systems (SQS) instrument at the European x-ray free-electron laser (EuXFEL). A $b$-type electrostatic deflector allows for pure state-, size-, and isomer-selected samples of polar molecules and clusters. The source provides a rotationally cold ($T\approx1$~K) and dense ($\rho\approx10^8$~cm$^{-3}$) molecular beam with pulse durations up to 100~\us generated by a new version of the Even-Lavie valve. Here, a performance overview of the COMO setup is presented along with characterization experiments performed both, with an optical laser at the Center for Free-Electron-Laser Science and with x-rays at EuXFEL under burst-mode operation. COMO was designed to be attached to different instruments at the EuXFEL, in particular at the small quantum systems (SQS) and single particles, clusters, and biomolecules (SPB) instruments. This advanced controlled-molecules injection setup enables XFEL studies using highly defined samples with soft and hard x-ray FEL radiation for applications ranging from atomic, molecular, and cluster physics to elementary processes in chemistry and biology.

Social robots, owing to their embodied physical presence in human spaces and the ability to directly interact with the users and their environment, have a great potential to support children in various activities in education, healthcare and daily life. Child-Robot Interaction (CRI), as any domain involving children, inevitably faces the major challenge of designing generalized strategies to work with unique, turbulent and very diverse individuals. Addressing this challenging endeavor requires to combine the standpoint of the robot-centered perspective, i.e. what robots technically can and are best positioned to do, with that of the child-centered perspective, i.e. what children may gain from the robot and how the robot should act to best support them in reaching the goals of the interaction. This article aims to help researchers bridge the two perspectives and proposes to address the development of CRI scenarios with insights from child psychology and child development theories. To that end, we review the outcomes of the CRI studies, outline common trends and challenges, and identify two key factors from child psychology that impact child-robot interactions, especially in a long-term perspective: developmental stage and individual characteristics. For both of them we discuss prospective experiment designs which support building naturally engaging and sustainable interactions., Comment: Pre-print submitted to the International Journal of Social Robotics, accepted March 2024

Long-term human motion prediction (LHMP) is essential for safely operating autonomous robots and vehicles in populated environments. It is fundamental for various applications, including motion planning, tracking, human-robot interaction and safety monitoring. However, accurate prediction of human trajectories is challenging due to complex factors, including, for example, social norms and environmental conditions. The influence of such factors can be captured through Maps of Dynamics (MoDs), which encode spatial motion patterns learned from (possibly scattered and partial) past observations of motion in the environment and which can be used for data-efficient, interpretable motion prediction (MoD-LHMP). To address the limitations of prior work, especially regarding accuracy and sensitivity to anomalies in long-term prediction, we propose the Laminar Component Enhanced LHMP approach (LaCE-LHMP). Our approach is inspired by data-driven airflow modelling, which estimates laminar and turbulent flow components and uses predominantly the laminar components to make flow predictions. Based on the hypothesis that human trajectory patterns also manifest laminar flow (that represents predictable motion) and turbulent flow components (that reflect more unpredictable and arbitrary motion), LaCE-LHMP extracts the laminar patterns in human dynamics and uses them for human motion prediction. We demonstrate the superior prediction performance of LaCE-LHMP through benchmark comparisons with state-of-the-art LHMP methods, offering an unconventional perspective and a more intuitive understanding of human movement patterns., Comment: Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA)

We present a new large dataset of indoor human and robot navigation and interaction, called TH\"OR-MAGNI, that is designed to facilitate research on social navigation: e.g., modelling and predicting human motion, analyzing goal-oriented interactions between humans and robots, and investigating visual attention in a social interaction context. TH\"OR-MAGNI was created to fill a gap in available datasets for human motion analysis and HRI. This gap is characterized by a lack of comprehensive inclusion of exogenous factors and essential target agent cues, which hinders the development of robust models capable of capturing the relationship between contextual cues and human behavior in different scenarios. Unlike existing datasets, TH\"OR-MAGNI includes a broader set of contextual features and offers multiple scenario variations to facilitate factor isolation. The dataset includes many social human-human and human-robot interaction scenarios, rich context annotations, and multi-modal data, such as walking trajectories, gaze tracking data, and lidar and camera streams recorded from a mobile robot. We also provide a set of tools for visualization and processing of the recorded data. TH\"OR-MAGNI is, to the best of our knowledge, unique in the amount and diversity of sensor data collected in a contextualized and socially dynamic environment, capturing natural human-robot interactions., Comment: Submitted to The International Journal of Robotics Research (IJRR) on 28 of February 2024

Among a huge variety of known two-dimensional materials, some of them have anisotropic crystal structures; examples include so different systems as a few-layer black phoshphorus (phosphorene), beryllium nitride BeN$_4$, van der Waals magnet CrSBr, rhenium dichalgogenides ReX$_2$. As a consequence, their optical and electronic properties turn out to be highly anisotropic as well. In some cases, the anisotropy results not just in a smooth renormalization of observable properties in comparison with the isotropic case but in the appearance of dramatically new physics. The examples are hyperbolic plasmons and excitons, strongly anisotropic ordering of adatoms at the surface of two-dimensional or van der Waals materials, essential change of transport and superconducting properties. Here, we present a systematic review of electronic structure, transport and optical properties of several representative groups of anisotropic two-dimensional materials including semiconductors, anisotropic Dirac and semi-Dirac materials, as well as superconductors., Comment: Review article, 30 pages, 10 figures. Final version

We describe the results in the trigonometry of tetrahedra obtained by Joseph Wolstenholme in the last few years of his life. 'The late Professor Wolstenholme, M.A., Sc.D., shortly before his death, handed to me a scrap of paper, on which he had hastily scratched the following equation in tetrahedra, saying he had proved it ...' (Richardson, 1897).

Identifying multiple rival reaction products and transient species formed during ultrafast photochemical reactions and determining their time-evolving relative populations are key steps towards understanding and predicting photochemical outcomes. Yet, most contemporary ultrafast studies struggle with clearly identifying and quantifying competing molecular structures/species amongst the emerging reaction products. Here, we show that mega-electronvolt ultrafast electron diffraction in combination with ab initio molecular dynamics calculations offer a powerful route to determining time-resolved populations of the various isomeric products formed after UV (266 nm) excitation of the five-membered heterocyclic molecule 2(5H)-thiophenone. This strategy provides experimental validation of the predicted high (~50%) yield of an episulfide isomer containing a strained 3-membered ring within ~1 ps of photoexcitation and highlights the rapidity of interconversion between the rival highly vibrationally excited photoproducts in their ground electronic state.

Following the changes in molecular structure throughout the entirety of a chemical reaction with atomic resolution is a long-term goal in femtochemistry. Although the development of a plethora of ultrafast technique has enabled detailed investigations of the electronic and nuclear dynamics on femtosecond time scales, direct and unambiguous imaging of the nuclear motion during a reaction is still a major challenge. Here, we apply time-resolved Coulomb explosion imaging with femtosecond near-infrared pulses to visualize the ultraviolet-induced ultrafast molecular dynamics of gas-phase furan. Widely contradicting predictions and observations for this molecule have been reported in the literature. By combining the experimental Coulomb explosion imaging data with ab initio molecular dynamics and Coulomb explosion simulations, we reveal the presence of a strong ultrafast ring-opening pathway upon excitation at 198 nm that occurs within 100 fs., Comment: 18 pages, 4 figures

Topological semimetals with massless Dirac and Weyl fermions represent the forefront of quantum materials research. In two dimensions, a peculiar class of fermions that are massless in one direction and massive in the perpendicular direction was predicted fifteen years ago. These highly exotic quasiparticles - the semi-Dirac fermions - ignited intense theoretical interest but remain undetected. Using magneto-optical spectroscopy, we demonstrate the defining feature of semi-Dirac fermions - B^(2/3) scaling of Landau levels - in a prototypical nodal-line metal ZrSiS. In topological metals, including ZrSiS, nodal-lines extend the band degeneracies from isolated points to lines, loops or even chains in the momentum space. With ab initio calculations and theoretical modeling, we pinpoint the observed semi-Dirac spectrum to the crossing points of nodal-lines in ZrSiS. Crossing nodal-lines exhibit a continuum absorption spectrum but with singularities that scale as B^(2/3) at the crossing. Our work sheds light on the hidden quasiparticles emerging from the intricate topology of crossing nodal-lines.

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can, e.g., assess collision risks and plan ahead. In this paper, we propose to exploit maps of dynamics (MoDs, a class of general representations of place-dependent spatial motion patterns, learned from prior observations) for long-term human motion prediction (LHMP). We present a new MoD-informed human motion prediction approach, named CLiFF-LHMP, which is data efficient, explainable, and insensitive to errors from an upstream tracking system. Our approach uses CLiFF-map, a specific MoD trained with human motion data recorded in the same environment. We bias a constant velocity prediction with samples from the CLiFF-map to generate multi-modal trajectory predictions. In two public datasets we show that this algorithm outperforms the state of the art for predictions over very extended periods of time, achieving 45% more accurate prediction performance at 50s compared to the baseline., Comment: Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)