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The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance., Comment: 8 pages,14 figures, ICUAS 2024

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for \ac{MAV} in real environments subject to perturbations during interaction., Comment: 6 pages, 7 figures, ROBOSOFT 2024

Coupled Wright-Fisher diffusions have been recently introduced to model the temporal evolution of finitely-many allele frequencies at several loci. These are vectors of multidimensional diffusions whose dynamics are weakly coupled among loci through interaction coefficients, which make the reproductive rates for each allele depend on its frequencies at several loci. Here we consider the problem of filtering a coupled Wright-Fisher diffusion with parent-independent mutation, when this is seen as an unobserved signal in a hidden Markov model. We assume individuals are sampled multinomially at discrete times from the underlying population, whose type configuration at the loci is described by the diffusion states, and adapt recently introduced duality methods to derive the filtering and smoothing distributions. These respectively provide the conditional distribution of the diffusion states given past data, and that conditional on the entire dataset, and are key to be able to perform parameter inference on models of this type. We show that for this model these distributions are countable mixtures of tilted products of Dirichlet kernels, and describe their mixing weights and how these can be updated sequentially. The evaluation of the weights involves the transition probabilities of the dual process, which are not available in closed form. We lay out pseudo codes for the implementation of the algorithms, discuss how to handle the unavailable quantities, and briefly illustrate the procedure with synthetic data., Comment: To appear on Journal of Mathematical Biology

We introduce a general approach for the simulation of quantum vibrational states of (symmetric and asymmetric) double-well potentials in molecules and materials for thermodynamic and spectroscopic applications. The method involves solving the nuclear Schr\"odinger equation associated with a one-mode potential of the type $V (Q) = aQ^2 + bQ^3 + cQ^4$ (with $a < 0$ and $c > 0$), and thus explicitly includes nuclear quantum effects. The potential, $V (Q)$, is obtained from density functional theory (DFT) calculations performed at displaced nuclear configurations along the selected normal mode, $Q$. The strategy has been implemented into the CRYSTAL electronic structure package and allows for i) the use of many density functional approximations, including hybrid ones, and ii) integration with a quasi-harmonic module. The method is applied to the spectroscopic characterization of soft lattice modes in two phases of the molecular crystal of thiourea: a low-temperature ferroelectric phase and a high-temperature paraelectric phase. Signature peaks associated to structural changes between the two phases are found in the terahertz region of the electromagnetic spectrum, which exhibit strong anharmonic character in their thermal evolution, as measured by temperature-dependent terahertz time-domain spectroscopy.

Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enhancing accessibility of these technologies. The design and the control of a 6-DoF joystick with 4-DoF haptic feedback is detailed. It is the first haptic device with standard Remote Controller (RC) form factor for APhI. By miniaturizing haptic device, it enhances RC with the sense of touch, increasing physical awareness. The goal is to give operators an extra sense, other than vision and sound, to help to perform safe APhI. To the best of the authors knowledge, this is the first teleoperation system able to decouple each single axis input command. On the omnidirectional quadrotor, by reducing the number of components with a new design, we aim a simplified maintenance, and improved force and thrust to weight ratio. Open-sourced physic based simulation and successful preliminary flight tests highlighted the tool as promising for future APhI applications., Comment: 6 pages, 6 figures

The creation of artificial polyglot voices remains a challenging task, despite considerable progress in recent years. This paper investigates self-supervised learning for voice conversion to create native-sounding polyglot voices. We introduce a novel cross-lingual any-to-one voice conversion system that is able to preserve the source accent without the need for multilingual data from the target speaker. In addition, we show a novel cross-lingual fine-tuning strategy that further improves the accent and reduces the training data requirements. Objective and subjective evaluations with English, Spanish, French and Mandarin Chinese confirm that our approach improves on state-of-the-art methods, enhancing the speech intelligibility and overall quality of the converted speech, especially in cross-lingual scenarios. Audio samples are available at https://giuseppe-ruggiero.github.io/a2o-vc-demo/, Comment: Full paper accepted at EMNLP 2024

Given a smooth Tonelli Hamiltonian on the torus $\mathbb{T}^{n}$ and a $C^{2}$ Lagrangian graph $W \subset T^{*}\mathbb{T}^{n}$ that is invariant under the Hamiltonian flow and contained within a Ma\~n\'e supercritical energy level, we demonstrate the existence of a proper cone in the first real homology group $H_1(\mathbb{T}^n,\mathbb{R})$ that contains the asymptotic homologies of the canonical projections of recurrent orbits in $W$. Additionally, for invariant Lagrangian graphs on $\mathbb{T}^{3}$, drawing on Franks' theory of the rotation set of homeomorphisms of $\mathbb{T}^{2}$ homotopic to the identity, we show that under certain assumptions for an invariant Lagrangian graph on $\mathbb{T}^{3}$, if there exists a rational vector in homology contained in the set of asymptotic homologies of orbits on the Lagrangian graph, then the graph contains a Mather measure supported on a periodic orbit. This result generalizes a well-known fact for Lagrangian graphs on $\mathbb{T}^{2}$. Finally, we exploit these results for three dimensional tori to give a partial answer to a conjecture by Carneiro-Ruggiero about the non-existence of Hedlund Lagrangian tori at supercritical energy levels., Comment: 32 pages, 2 figures

Let $(M,g)$ be a compact connected $C^{\infty}$ surface without conjugate points of genus greater than one. We show that set of geodesics without strips forms a dense set of orbits in the unit tangent bundle. This fact was known assuming no focal points as a consequence of a result of Coud\`ene and Shapira. They showed that flat strips are periodic and hence form a set of zero measure in the unit tangent bundle., Comment: 21 pages

Fleming-Viot diffusions are widely used stochastic models for population dynamics which extend the celebrated Wright-Fisher diffusions. They describe the temporal evolution of the relative frequencies of the allelic types in an ideally infinite panmictic population, whose individuals undergo random genetic drift and at birth can mutate to a new allelic type drawn from a possibly infinite potential pool, independently of their parent. Recently, Bayesian nonparametric inference has been considered for this model when a finite sample of individuals is drawn from the population at several discrete time points. Previous works have fully described the relevant estimators for this problem, but current software is available only for the Wright-Fisher finite-dimensional case. Here we provide software for the general case, overcoming some non trivial computational challenges posed by this setting. The R package FVDDPpkg efficiently approximates the filtering and smoothing distribution for Fleming-Viot diffusions, given finite samples of individuals collected at different times. A suitable Monte Carlo approximation is also introduced in order to reduce the computational cost., Comment: To appear on Journal of Computational Biology

Planar semiconductor heterostructures offer versatile device designs and are promising candidates for scalable quantum computing. Notably, heterostructures based on strained germanium have been extensively studied in recent years, with emphasis on their strong and tunable spin-orbit interaction, low effective mass, and high hole mobility. However, planar systems are still limited by the fact that the shape of the confinement potential is directly related to the density. In this work, we present the successful implementation of a backgate for a planar germanium heterostructure. The backgate, in combination with a topgate, enables independent control over the density and the electric field, which determines important state properties such as the effective mass, the $g$-factor and the quantum lifetime. This unparalleled degree of control paves the way towards engineering qubit properties and facilitates the targetted tuning of bilayer quantum wells, which promise denser qubit packing., Comment: 14 pages plus 2 pages supplementary information, 5 figures in main text

We study the interaction between gravitational waves and a quantum two-level system consisting of a spin 1/2 particle using the formalism of the proper detector frame. This approach highlights the effects of gravitational waves on both the particles and the observer, emphasizing that only relative measurements can be made. Specifically, within this framework, the gravitational field of the waves is described using the gravitoelectromagnetic analogy. The interaction of the system is then determined by the gravitomagnetic field of the wave, which induces a time-dependent perturbation. We analyze this perturbation for both generic frequencies and resonance conditions, and discuss its implications., Comment: 14 pages, LaTeX

We focus on the interaction of a plane gravitational wave with electromagnetic fields and we describe this interaction in the proper detector frame where, thanks to the introduction of Fermi coordinates, it is possible to refer to directly measurable quantities. The presence of a gravitational field can be addressed in terms of an effective electromagnetic medium and, within this framework, we show that the coupling of pre-existing electromagnetic fields with the gravitational field of the wave gives rise to new effective currents. To assess the impact of these effects, we solve Maxwell's equations for some standard configurations of the electric and magnetic fields., Comment: 20 pages, 2 figures

The sPHENIX Time Projection Chamber Outer Tracker (TPOT) is a Micromegas based detector. It is a part of the sPHENIX experiment that aims to facilitate the calibration of the Time Projection Chamber, in particular the correction of the time-averaged and beam-induced distortions of the electron drift. This paper describes the detector mission, setup, construction, installation, commissioning and performance during the first year of sPHENIX data taking., Comment: 35 pages, 36 figures

In the hypertrophic and uncharted information world, recommender systems are gatekeepers of knowledge. The evolution of these algorithms is usually an opaque process, but in February 2023, the recommender system of X, formerly Twitter, was altered by its chairman (Elon Musk) transparently, offering a unique study opportunity. This paper analyses the cross-platform impact of adjusting the platform's recommender system on public discourse. We focus on the account of Elon Musk and, for comparison, the account of the President of the United States (Joe Biden). Our results highlight how algorithm adjustments can boost content visibility, user engagement, and community involvement without increasing the engagement or involvement probabilities. We find that higher visibility can increase the influence on social dialogue but also backfire, triggering negative community reactions. Finally, our analysis offers insights to detect future less transparent changes to recommender systems.

Vulnerable populations are disproportionately impacted by natural hazards like wildfires. It is crucial to develop equitable and effective evacuation strategies to meet their unique needs. While existing studies offer valuable insights, we need to improve our understanding of how vulnerabilities affect wildfire evacuation decision-making, as well as how this varies spatially. The goal of this study is to conduct an in-depth analysis of the impacts of social vulnerabilities on aggregated evacuation decisions, including evacuation rates, delay in departure time, and evacuation destination distances by leveraging large-scale GPS data. Specifically, we inferred evacuation decisions at the census block group level, utilizing GPS data. We then employed ordinary least squares and geographically weighted regression models to investigate the impacts of social vulnerabilities on evacuation decisions. We also used Moran's I to test if these impacts were consistent across different block groups. The 2019 Kincade Fire in Sonoma County, California, was used as the case study. The impacts of social vulnerabilities on evacuation rates show significant spatial variations across block groups, whereas their effects on the other two decision types do not. Additionally, unemployment, a factor under-explored in previous studies, was found to negatively impact both the delay in departure time and destination distances of evacuees at the aggregate level. Furthermore, upon comparing the significant factors across different models, we observed that some of the vulnerabilities influencing evacuation rates for all residents differed from those affecting the delay in departure time and destination distances, which only applied to evacuees. These new insights can guide emergency managers and transportation planners to enhance equitable wildfire evacuation planning and operations.

The increasing pervasiveness of fruitless disagreement poses a considerable risk to social cohesion and constructive public discourse. While polarised discussions can exhibit significant distrust in the news, it is still largely unclear whether disagreement is somehow linked to misinformation. In this work, we exploit the results of `Cartesio', an online experiment to rate the trustworthiness of Italian news articles annotated for reliability by expert evaluators. We developed a metric for disagreement that allows for correct comparisons between news with different mean trust values. Our findings indicate that, though misinformation receives lower trust ratings than accurate information, it does not appear to be more controversial. Additionally, we examined the relationship between these findings and Facebook user engagement with news articles. Our results show that disagreement correlates with an increased likelihood of commenting, probably linked to inconclusive and long discussions. The emerging scenario is one in which fighting disinformation seems ineffective in countering polarisation. Disagreement focuses more on the divergence of opinions, trust, and their effects on social cohesion. This study offers a foundation for unsupervised news item analysis independent of expert annotation. Incorporating similar principles into the design of news distribution platforms and social media systems can enhance online interactions and foster the development of a less divisive news ecosystem.

Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is crucial to prevent incidents that can significantly affect public safety and the environment. This is especially pertinent in the context of electrical power networks, which, while essential for energy provision, can also be sources of forest fires. Intelligent drones have the potential to revolutionize inspection and maintenance, eliminating the risks for human operators, increasing productivity, reducing inspection time, and improving data collection quality. However, most of the current methods and technologies in aerial robotics have been trialed primarily in indoor testbeds or outdoor settings under strictly controlled conditions, always within the line of sight of human operators. Additionally, these methods and technologies have typically been evaluated in isolation, lacking comprehensive integration. This paper introduces the first autonomous system that combines various innovative aerial robots. This system is designed for extended-range inspections beyond the visual line of sight, features aerial manipulators for maintenance tasks, and includes support mechanisms for human operators working at elevated heights. The paper further discusses the successful validation of this system on numerous electrical power lines, with aerial robots executing flights over 10 kilometers away from their ground control stations.

The RADiCAL Collaboration is conducting R\&D on high performance electromagnetic (EM) calorimetry to address the challenges expected in future collider experiments under conditions of high luminosity and/or high irradiation (FCC-ee, FCC-hh and fixed target and forward physics environments). Under development is a sampling calorimeter approach, known as RADiCAL modules, based on scintillation and wavelength-shifting (WLS) technologies and photosensor, including SiPM and SiPM-like technology. The modules discussed herein consist of alternating layers of very dense (W) absorber and scintillating crystal (LYSO:Ce) plates, assembled to a depth of 25 $X_0$. The scintillation signals produced by the EM showers in the region of EM shower maximum (shower max) are transmitted to SiPM located at the upstream and downstream ends of the modules via quartz capillaries which penetrate the full length of the module. The capillaries contain DSB1 organic plastic WLS filaments positioned within the region of shower max, where the shower energy deposition is greatest, and fused with quartz rod elsewhere. The wavelength shifted light from this spatially-localized shower max region is then propagated to the photosensors. This paper presents the results of an initial measurement of the time resolution of a RADiCAL module over the energy range 25 GeV $\leq$ E $\leq$ 150 GeV using the H2 electron beam at CERN. The data indicate an energy dependence of the time resolution that follows the functional form: $\sigma_{t} = a/\sqrt{E} \oplus b$, where a = 256 $\sqrt{GeV}$~ps and b = 17.5 ps. The time resolution measured at the highest electron beam energy for which data was currently recorded (150 GeV) was found to be $\sigma_{t}$ = 27 ps.

We prove the dynamical Manin-Mumford conjecture for regular polynomial maps of A^2 and irreducible curves avoiding super-attracting orbits at infinity, over any field of characteristic 0.