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We present flux measurements of Uranus observed at phase angles of 43.9{\deg}, 44.0{\deg}, and 52.4{\deg} by the Multispectral Visible Imaging Camera (MVIC) on the New Horizons spacecraft during 2023, 2010, and 2019, respectively. New Horizons imaged Uranus at a distance of about 24-70 AU (2023) in four color filters, with bandpasses of 400-550 nm, 540-700 nm, 780-975 nm, and 860-910 nm. High-phase-angle observations are of interest for studying the energy balance of Uranus, constraining the atmospheric scattering behavior, and understanding the planet as an analog for ice giant exoplanets. The new observations from New Horizons provide access to a wider wavelength range and different season compared to previous observations from both Voyager spacecraft. We performed aperture photometry on the New Horizons observations of Uranus to obtain its brightness in each photometric band. The photometry suggests that Uranus may be darker than predicted by a Lambertian phase curve in the Blue and Red filters. Comparison to simultaneous low-phase Hubble WFC3 and ground-based community-led observations indicates a lack of large-scale features at full-phase that would introduce variation in the rotational light curve. The New Horizons reflectance in the Blue (492 nm) and Red (624 nm) filters does not exhibit statistically significant variation and is consistent with the expected error bars. These results place new constraints on the atmospheric model of Uranus and its reflectivity. The observations are analogous to those from future exoplanet direct-imaging missions, which will capture unresolved images of exoplanets at partial phases. These results will serve as a "ground-truth" with which to interpret exo-ice giant data., Comment: Accepted for publication in the Planetary Science Journal, 11 pages, 6 figures

Jupiter's moon Io is a highly compelling target for future exploration that offers critical insight into tidal dissipation processes and the geology of high heat flux worlds, including primitive planetary bodies, such as the early Earth, that are shaped by enhanced rates of volcanism. Io is also important for understanding the development of volcanogenic atmospheres and mass-exchange within the Jupiter System. However, fundamental questions remain about the state of Io's interior, surface, and atmosphere, as well as its role in the evolution of the Galilean satellites. The Io Volcano Observer (IVO) would address these questions by achieving the following three key goals: (A) Determine how and where tidal heat is generated inside Io; (B) Understand how tidal heat is transported to the surface of Io; and (C) Understand how Io is evolving. IVO was selected for Phase A study through the NASA Discovery program in 2020 and, in anticipation of a New Frontiers 5 opportunity, an enhanced IVO-NF mission concept was advanced that would increase the Baseline mission from 10 flybys to 20, with an improved radiation design; employ a Ka-band communications to double IVO's total data downlink; add a wide angle camera for color and stereo mapping; add a dust mass spectrometer; and lower the altitude of later flybys to enable new science. This study compares and contrasts the mission architecture, instrument suite, and science objectives for Discovery (IVO) and New Frontiers (IVO-NF) missions to Io, and advocates for continued prioritization of Io as an exploration target for New Frontiers., Comment: Submitted to The Planetary Science Journal for peer-review on 14 August 2024

We report the detection of 239 trans-Neptunian Objects discovered through the on-going New Horizons survey for distant minor bodies being performed with the Hyper Suprime-Cam mosaic imager on the Subaru Telescope. These objects were discovered in images acquired with either the r2 or the recently commissioned EB-gri filter using shift and stack routines. Due to the extremely high stellar density of the search region down stream of the spacecraft, new machine learning techniques had to be developed to manage the extremely high false positive rate of bogus candidates produced from the shift and stack routines. We report discoveries as faint as r2$\sim26.5$. We highlight an overabundance of objects found at heliocentric distances $R\gtrsim70$~au compared to expectations from modelling of the known outer Solar System. If confirmed, these objects betray the presence of a heretofore unrecognized abundance of distant objects that can help explain a number of other observations that otherwise remain at odds with the known Kuiper Belt, including detections of serendipitous stellar occultations, and recent results from the Student Dust Counter on-board the New Horizons spacecraft., Comment: Accepted for publication in the Planetary Science Journal, 28 pages, 7 figures, 3 tables

We obtained New Horizons LORRI images to measure the cosmic optical background (COB) intensity integrated over $0.4\lesssim\lambda\lesssim0.9{~\rm\mu m}.$ The survey comprises 16 high Galactic-latitude fields selected to minimize scattered diffuse Galactic light (DGL) from the Milky Way galaxy, as well as scattered light from bright stars. This work supersedes an earlier analysis based on observations of one of the present fields. Isolating the COB contribution to the raw total sky levels measured in the fields requires subtracting the remaining scattered light from bright stars and galaxies, intensity from faint stars within the fields fainter than the photometric detection-limit, and the DGL foreground. DGL is estimated from Planck HFI $350 {~\rm\mu m}$ and $550 {~\rm\mu m}$ intensities, using a new self-calibrated indicator based on the 16 fields augmented with eight additional DGL calibration fields obtained as part of the survey. The survey yields a highly significant detection ($6.8\sigma$) of the COB at ${\rm 11.16\pm 1.65~(1.47~sys,~0.75~ran) ~nW ~m^{-2} ~sr^{-1}}$ at the LORRI pivot wavelength of 0.608 $\mu$m. The estimated integrated intensity from background galaxies, ${\rm 8.17\pm 1.18 ~nW ~m^{-2} ~sr^{-1}},$ can account for the great majority of this signal. The rest of the COB signal, ${\rm 2.99\pm2.03~ (1.75~sys,~1.03~ran) ~nW ~m^{-2} ~sr^{-1}},$ is formally classified as anomalous intensity but is not significantly different from zero. The simplest interpretation is that the COB is completely due to galaxies., Comment: Accepted for publication in the Astrophysical Journal; 30 pages, 14 figures. v3 has updated version of fig 14 to show total error value for Symons et al. 2023 result

Asteroids with diameters less than about 5 km have complex histories because they are small enough for radiative torques, YORP, to be a notable factor in their evolution. (152830) Dinkinesh is a small asteroid orbiting the Sun near the inner edge of the Main Asteroid Belt with a heliocentric semimajor axis of 2.19 AU; its S type spectrum is typical of bodies in this part of the Main Belt. Here we report observations by the Lucy spacecraft as it passed within 431 km of Dinkinesh. Lucy revealed Dinkinesh, which has an effective diameter of only $\sim$720 m, to be unexpectedly complex. Of particular note is the presence of a prominent longitudinal trough overlain by a substantial equatorial ridge, and the discovery of the first confirmed contact binary satellite, now named (152830) Dinkinesh I Selam. Selam consists of two near-equal sized lobes with diameters of $\sim$210 m and $\sim$230 m. It orbits Dinkinesh at a distance of 3.1 km with an orbital period of about 52.7 hr, and is tidally locked. The dynamical state, angular momentum, and geomorphologic observations of the system lead us to infer that the ridge and trough of Dinkinesh are probably the result of mass failure resulting from spin-up by YORP followed by the partial reaccretion of the shed material. Selam probably accreted from material shed by this event., Comment: 25 pages, 5 figures

Between 2001 and 2023, we obtained high spectral resolution mid-infrared observations of Io using the TEXES instrument at NASA's Infrared Telescope Facility. These observations were centered at 529.8 cm-1 (18.88 {\mu}m) and include several SO2 absorption lines. By modeling the shapes and strengths of these absorption lines, we are able to determine how Io's SO2 atmospheric density varies over the 22-year time period, covering nearly two Jovian years. Previous analysis has shown that the density of Io's atmosphere on the anti-Jovian hemisphere exhibits clear seasonal temporal variability, which can be modeled as the sum of a seasonally-varying frost sublimation component and a constant component, assumed to be volcanic. The new data show that the seasonal pattern repeats during the second Jovian year, confirming the importance of sublimation support. The considerable longitudinal variability in Io's atmospheric density found in previous work is also stable over the second Jovian year with the SO2 column density on the Jupiter-facing hemisphere being 5--8 times lower than the anti-Jovian hemisphere. For the first time, we detect seasonal variability on the Jupiter-facing hemisphere as well. This can also be modeled as a combination of sublimation and a small constant source. The lower atmospheric density on the Jupiter-facing hemisphere can plausibly be explained by the daily Jupiter eclipses, which decrease the surface temperature and therefore reduce the sublimation-driven component of the atmosphere, combined with a lower level of volcanic activity directly emitting SO2 into the atmosphere., Comment: Accepted in Icarus

Following the Pluto fly-by of the New Horizons spacecraft, the mission provided a unique opportunity to explore the Kuiper Belt in-situ. The possibility existed to fly-by a Kuiper Belt object (KBO) as well as to observe additional objects at distances closer than are feasible from earth-orbit facilities. However, at the time of launch no KBOs were known about that were accessible by the spacecraft. In this paper we present the results of 10 years of observations and three uniquely dedicated efforts -- two ground-based using the Subaru Suprime Camera, the Magellan MegaCam and IMACS Cameras, and one with the Hubble Space Telescope -- to find such KBOs for study. In this paper we overview the search criteria and strategies employed in our work and detail the analysis efforts to locate and track faint objects in the galactic plane. We also present a summary of all of the KBOs that were discovered as part of our efforts and how spacecraft targetability was assessed, including a detailed description of our astrometric analysis which included development of an extensive secondary calibration network. Overall, these efforts resulted in the discovery of 89 KBOs including 11 which became objects for distant observation by New Horizons and (486958) Arrokoth which became the first post-Pluto fly-by destination., Comment: Accepted to PSJ. 40 pages, 10 figures, 10 tables

This study analyzes near-infrared measurements of Io, Jupiter's moon, observed over 170 nights from 2016 to early 2022 using the NASA Infrared Telescope Facility (IRTF). During this period, seven new volcanic outbursts, the most energetic volcanic events on Io, were discovered and characterized, increasing the total number of observed outburst events from 18 to 25. We also present simplified criteria for the thermal detection of an outburst, requiring it to be both confined to a specific location of Io and above a threshold intensity in the Lp-band (3.8 micron). Our measurements use 2 to 5 micron photometry in eclipse, Jupiter occultation, and reflected sunlight. In addition to extending the observational dataset of Io's dynamic activity, these data provide insights into the temporal and spatial distribution of outbursts on Io. Notably, all seven outbursts were detected in Io's trailing hemisphere. These include Pillan Patera and a newly discovered repeating outburst location at Acala Fluctus. We add these events to the rare category of recurring outbursts, before which Tvashtar was the only known example. We observed that another outburst at UP 254W decreased in Lp-band intensity by a factor of two in 4.5 hours. In August 2021, Io exhibited high volcanic activity when two powerful outbursts rapidly appeared, propagating East. Our findings underscore IRTF's ongoing contributions to the study of Io.

Decline and recovery timescales surrounding eclipse are indicative of the controlling physical processes in Io's atmosphere. Recent studies have established that the majority of Io's molecular atmosphere, SO2 and SO, condenses during its passage through Jupiter's shadow. The eclipse response of Io's atomic atmosphere is less certain, having been characterized solely by ultraviolet aurorae. Here we explore the response of optical aurorae for the first time. We find oxygen to be indifferent to the changing illumination, with [O I] brightness merely tracking the plasma density at Io's position in the torus. In shadow, line ratios confirm sparse SO2 coverage relative to O, since their collisions would otherwise quench the emission. Io's sodium aurora mostly disappears in eclipse and e-folding timescales, for decline and recovery differ sharply: ~10 minutes at ingress and nearly 2 hr at egress. Only ion chemistry can produce such a disparity; Io's molecular ionosphere is weaker at egress due to rapid recombination. Interruption of a NaCl+ photochemical pathway best explains Na behavior surrounding eclipse, implying that the role of electron impact ionization is minor relative to photons. Auroral emission is also evident from potassium, confirming K as the major source of far red emissions seen with spacecraft imaging at Jupiter. In all cases, direct electron impact on atomic gas is sufficient to explain the brightness without invoking significant dissociative excitation of molecules. Surprisingly, the nonresponse of O and rapid depletion of Na is opposite the temporal behavior of their SO2 and NaCl parent molecules during Io's eclipse phase.

This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive control laws that are updated using retrospective cost adaptive control. In order to investigate the performance of the adaptive autopilot, the default gains of the fixed-gain autopilot are scaled to degrade its performance. This scenario provides a venue for determining the ability of the adaptive autopilot to compensate for the degraded fixed-gain autopilot. Next, the performance of the adaptive autopilot is examined under failure conditions by simulating a scenario where one of the control surfaces is assumed to be stuck at an unknown angle. The adaptive autopilot is also tested in physical flight experiments under degraded-nominal conditions, and the resulting performance improvement is examined., Comment: 8 pages, submitted to 2023 American Control Conference (ACC). arXiv admin note: substantial text overlap with arXiv:2110.11390

FASER, the ForwArd Search ExpeRiment, is an experiment dedicated to searching for light, extremely weakly-interacting particles at CERN's Large Hadron Collider (LHC). Such particles may be produced in the very forward direction of the LHC's high-energy collisions and then decay to visible particles inside the FASER detector, which is placed 480 m downstream of the ATLAS interaction point, aligned with the beam collisions axis. FASER also includes a sub-detector, FASER$\nu$, designed to detect neutrinos produced in the LHC collisions and to study their properties. In this paper, each component of the FASER detector is described in detail, as well as the installation of the experiment system and its commissioning using cosmic-rays collected in September 2021 and during the LHC pilot beam test carried out in October 2021. FASER will start taking LHC collision data in 2022, and will run throughout LHC Run 3., Comment: 92 pages, 72 Figures

The New Horizons spacecraft returned images and compositional data showing that terrains on Pluto span a variety of ages, ranging from relatively ancient, heavily cratered areas to very young surfaces with few-to-no impact craters. One of the regions with very few impact craters is dominated by enormous rises with hummocky flanks. Similar features do not exist anywhere else in the imaged solar system. Here we analyze the geomorphology and composition of the features and conclude this region was resurfaced by cryovolcanic processes, of a type and scale so far unique to Pluto. Creation of this terrain requires multiple eruption sites and a large volume of material (>104 km^3) to form what we propose are multiple, several-km-high domes, some of which merge to form more complex planforms. The existence of these massive features suggests Pluto's interior structure and evolution allows for either enhanced retention of heat or more heat overall than was anticipated before New Horizons, which permitted mobilization of water-ice-rich materials late in Pluto's history., Comment: 22 pages, including both main paper and supplement as one pdf

We used New Horizons LORRI images to measure the optical-band ($0.4\lesssim\lambda\lesssim0.9{\rm\mu m}$) sky brightness within a high galactic-latitude field selected to have reduced diffuse scattered light from the Milky Way galaxy (DGL), as inferred from the IRIS all-sky $100~\mu$m map. We also selected the field to significantly reduce the scattered light from bright stars (SSL) outside the LORRI field. Suppression of DGL and SSL reduced the large uncertainties in the background flux levels present in our earlier New Horizons COB results. The raw total sky level, measured when New Horizons was 51.3 AU from the Sun, is $24.22\pm0.80{\rm ~nW ~m^{-2} ~sr^{-1}}.$ Isolating the COB contribution to the raw total required subtracting scattered light from bright stars and galaxies, faint stars below the photometric detection-limit within the field, and the hydrogen plus ionized-helium two-photon continua. This yielded a highly significant detection of the COB at ${\rm 16.37\pm 1.47 ~nW ~m^{-2} ~sr^{-1}}$ at the LORRI pivot wavelength of 0.608 $\mu$m. This result is in strong tension with the hypothesis that the COB only comprises the integrated light of external galaxies (IGL) presently known from deep HST counts. Subtraction of the estimated IGL flux from the total COB level leaves a flux component of unknown origin at ${\rm 8.06\pm1.92 ~nW ~m^{-2} ~sr^{-1}}.$ Its amplitude is equal to the IGL., Comment: Accepted for publication in the Astrophysical Journal Letters

FASER is a new experiment designed to search for new light weakly-interacting long-lived particles (LLPs) and study high-energy neutrino interactions in the very forward region of the LHC collisions at CERN. The experimental apparatus is situated 480 m downstream of the ATLAS interaction-point aligned with the beam collision axis. The FASER detector includes four identical tracker stations constructed from silicon microstrip detectors. Three of the tracker stations form a tracking spectrometer, and enable FASER to detect the decay products of LLPs decaying inside the apparatus, whereas the fourth station is used for the neutrino analysis. The spectrometer has been installed in the LHC complex since March 2021, while the fourth station is not yet installed. FASER will start physics data taking when the LHC resumes operation in early 2022. This paper describes the design, construction and testing of the tracking spectrometer, including the associated components such as the mechanics, readout electronics, power supplies and cooling system.

The FASER experiment is a new small and inexpensive experiment that is placed 480 meters downstream of the ATLAS experiment at the CERN LHC. FASER is designed to capture decays of new long-lived particles, produced outside of the ATLAS detector acceptance. These rare particles can decay in the FASER detector together with about 500-1000 Hz of other particles originating from the ATLAS interaction point. A very high efficiency trigger and data acquisition system is required to ensure that the physics events of interest will be recorded. This paper describes the trigger and data acquisition system of the FASER experiment and presents performance results of the system acquired during initial commissioning.

During its departure from Pluto, New Horizons used its LORRI camera to image a portion of Pluto's southern hemisphere that was in a decades-long seasonal winter darkness, but still very faintly illuminated by sunlight reflected by Charon. Recovery of this faint signal was technically challenging. The bright ring of sunlight forward-scattered by haze in the Plutonian atmosphere encircling the nightside hemisphere was severely overexposed, defeating the standard smeared-charge removal required for LORRI images. Reconstruction of the overexposed portions of the raw images, however, allowed adequate corrections to be accomplished. The small solar elongation of Pluto during the departure phase also generated a complex scattered-sunlight background in the images that was three orders of magnitude stronger than the estimated Charon-light flux (the Charon-light flux is similar to the flux of moonlight on Earth a few days before first quarter). A model background image was constructed for each Pluto image based on principal component analysis (PCA) applied to an ensemble of scattered-sunlight images taken at identical Sun-spacecraft geometry to the Pluto images. The recovered Charon-light image revealed a high-albedo region in the southern hemisphere. We argue that this may be a regional deposit of N_2 or CH_4 ice. The Charon-light image also shows that the south polar region currently has markedly lower albedo than the north polar region of Pluto, which may reflect the sublimation of N_2 ice or the deposition of haze particulates during the recent southern summer., Comment: 24 pages, 10 figures, published in the Planetary Science Journal

This paper develops an adaptive digital autopilot for a fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive digital autopilot is constructed by augmenting the autopilot architecture implemented in PX4 flight stack with adaptive digital control laws that are updated using the retrospective cost adaptive control algorithm. In order to investigate the performance of the adaptive digital autopilot, the default gains of the fixed-gain autopilot are scaled down to degrade its performance. This scenario provides a venue for determining the ability of the adaptive digital autopilot to compensate for the detuned fixed-gain autopilot. Next, the performance of the adaptive autopilot is examined under failure conditions by simulating a scenario where one of the control surfaces is assumed to be stuck at an unknown angular position. The adaptive digital autopilot is tested in simulation, and the resulting performance improvements are examined., Comment: 6 pages, 11 figures, submitted to ACC 2022

This paper develops an adaptive PID autotuner for multicopters, and presents simulation and experimental results. The autotuner consists of adaptive digital control laws based on retrospective cost adaptive control implemented in the PX4 flight stack. A learning trajectory is used to optimize the autopilot during a single flight. The autotuned autopilot is then compared with the default PX4 autopilot by flying a test trajectory constructed using the second-order Hilbert curve. In order to investigate the sensitivity of the autotuner to the quadcopter dynamics, the mass of the quadcopter is varied, and the performance of the autotuned and default autopilot is compared. It is observed that the autotuned autopilot outperforms the default autopilot., Comment: Submitted to ICRA 2022, 7 pages, 10 figures

FASER$\nu$ at the CERN Large Hadron Collider (LHC) is designed to directly detect collider neutrinos for the first time and study their cross sections at TeV energies, where no such measurements currently exist. In 2018, a pilot detector employing emulsion films was installed in the far-forward region of ATLAS, 480 m from the interaction point, and collected 12.2 fb$^{-1}$ of proton-proton collision data at a center-of-mass energy of 13 TeV. We describe the analysis of this pilot run data and the observation of the first neutrino interaction candidates at the LHC. This milestone paves the way for high-energy neutrino measurements at current and future colliders., Comment: Auxiliary materials are available at https://faser.web.cern.ch/fasernu-first-neutrino-interaction-candidates

The Lucy Mission accomplishes its science during a series of five flyby encounters with seven Trojan asteroid targets. This mission architecture drives a concept of operations design that maximizes science return, provides redundancy in observations where possible, features autonomous fault protection and utilizes onboard target tracking near closest approach. These design considerations reduce risk during the relatively short time-critical periods when science data is collected. The payload suite consists of a color camera and infrared imaging spectrometer, a high-resolution panchromatic imager, and a thermal infrared spectrometer. The mission design allows for concurrent observations of all instruments. Additionally, two spacecraft subsystems will also contribute to the science investigations: the Terminal Tracking Cameras will obtain wide field-of-view imaging near closest approach to determine the shape of each of the Trojan targets and the telecommunication subsystem will carry out Doppler tracking of the spacecraft to determine the mass of each of the Trojan targets.

Persephone is a NASA concept mission study that addresses key questions raised by New Horizons' encounters with Kuiper Belt objects (KBOs), with arguably the most important being "Does Pluto have a subsurface ocean?". More broadly, Persephone would answer four significant science questions: (1) What are the internal structures of Pluto and Charon? (2) How have the surfaces and atmospheres in the Pluto system evolved? (3) How has the KBO population evolved? (4) What are the particles and magnetic field environments of the Kuiper Belt? To answer these questions, Persephone has a comprehensive payload, and would both orbit within the Pluto system and encounter other KBOs. The nominal mission is 30.7 years long, with launch in 2031 on a Space Launch System (SLS) Block 2 rocket with a Centaur kick stage, followed by a 27.6 year cruise powered by existing radioisotope electric propulsion (REP) and a Jupiter gravity assist to reach Pluto in 2058. En route to Pluto, Persephone would have one 50- to 100-km-class KBO encounter before starting a 3.1 Earth-year orbital campaign of the Pluto system. The mission also includes the potential for an 8-year extended mission, which would enable the exploration of another KBO in the 100- to 150-km-size class. The mission payload includes 11 instruments: Panchromatic and Color High-Resolution Imager; Low-Light Camera; Ultra-Violet Spectrometer; Near-Infrared (IR) Spectrometer; Thermal IR Camera; Radio Frequency Spectrometer; Mass Spectrometer; Altimeter; Sounding Radar; Magnetometer; and Plasma Spectrometer. The nominal cost of this mission is $3.0B, making it a large strategic science mission.

We present thermal observations of Ganymede from the Atacama Large Millimeter Array (ALMA) in 2016-2019 at a spatial resolution of 300-900 km (0.1-0.2'' angular resolution) and frequencies of 97.5, 233, and 343.5 GHz (wavelengths of 3, 1.3, and 0.87 mm); the observations collectively covered all Ganymede longitudes. We determine the global thermophysical properties using a thermal model that considers subsurface emission and depth- and temperature-dependent thermophysical and dielectric properties, in combination with a retrieval algorithm. The data are sensitive to emission from the upper $\sim$0.5 meter of the surface, and we find a millimeter emissivity of 0.75-0.78 and (sub)surface porosities of 10-40%, corresponding to effective thermal inertias of 400-800 J m^{-2} K^{-1} s^{-1/2}. Combined with past infrared results, as well as modeling presented here of a previously-unpublished Galileo PPR nighttime infrared observation, the multi-wavelength constraints are consistent with a compaction profile whereby the porosity drops from ~85% at the surface to 10{+30/-10}% at depth over a compaction length scale of tens of cm. We present maps of temperature residuals from the best-fit global models which indicate localized variations in thermal surface properties at some (but not all) dark terrains and at impact craters, which appear 5-8 K colder than the model. Equatorial regions are warmer than predicted by the model, in particular near the centers of the leading and trailing hemispheres, while the mid-latitudes (~30-60 degrees) are generally colder than predicted; these trends are suggestive of an exogenic origin., Comment: Fixed typo in Eqn 1; article published in Planetary Science Journal, Vol 2, Issue 1, id.5 (Feb 2021)