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Ice conditions often require ships to reduce speed and deviate from their main course to avoid damage to the ship. In addition, broken ice fields are becoming the dominant ice conditions encountered in the Arctic, where the effects of collisions with ice are highly dependent on where contact occurs and on the particular features of the ice floes. In this paper, we present AUTO-IceNav, a framework for the autonomous navigation of ships operating in ice floe fields. Trajectories are computed in a receding-horizon manner, where we frequently replan given updated ice field data. During a planning step, we assume a nominal speed that is safe with respect to the current ice conditions, and compute a reference path. We formulate a novel cost function that minimizes the kinetic energy loss of the ship from ship-ice collisions and incorporate this cost as part of our lattice-based path planner. The solution computed by the lattice planning stage is then used as an initial guess in our proposed optimization-based improvement step, producing a locally optimal path. Extensive experiments were conducted both in simulation and in a physical testbed to validate our approach., Comment: 20 pages, 18 figures

The X-ray polarization observations made possible with the Imaging X-ray Polarimetry Explorer (IXPE) offer new ways of probing high-energy emission processes in astrophysical jets from blazars. Here we report on the first X-ray polarization observation of the blazar S4 0954+65 in a high optical and X-ray state. During our multi-wavelength campaign on the source, we detected an optical flare whose peak coincided with the peak of an X-ray flare. This optical-X-ray flare most likely took place in a feature moving along the parsec-scale jet, imaged at 43 GHz by the Very Long Baseline Array. The 43 GHz polarization angle of the moving component underwent a rotation near the time of the flare. In the optical band, prior to the IXPE observation, we measured the polarization angle to be aligned with the jet axis. In contrast, during the optical flare the optical polarization angle was perpendicular to the jet axis; after the flare, it reverted to being parallel to the jet axis. Due to the smooth behavior of the optical polarization angle during the flare, we favor shocks as the main acceleration mechanism. We also infer that the ambient magnetic field lines in the jet were parallel to the jet position angle. The average degree of optical polarization during the IXPE observation was (14.3$\pm$4.1)%. Despite the flare, we only detected an upper limit of 14% (at 3$\sigma$ level) on the X-ray polarization degree; although a reasonable assumption on the X-ray polarization angle results in an upper limit of 8.8% ($3\sigma$). We model the spectral energy distribution (SED) and spectral polarization distribution (SPD) of S4 0954+65 with leptonic (synchrotron self-Compton) and hadronic (proton and pair synchrotron) models. The constraints we obtain with our combined multi-wavelength polarization observations and SED modeling tentatively disfavor hadronic models for the X-ray emission in S4 0954+65., Comment: Submitted to A&A, 16 pages, 5 figures, and 7 tables

Synchrotron X-ray emission has been detected from nearly a dozen young supernova remnants (SNRs). X-rays of synchrotron origin exhibit linear polarization in a regular, non-randomly oriented magnetic field. The significant polarized X-ray emission from four such SNRs has already been reported on the basis of observations with the Imaging X-ray Polarimetry Explorer (IXPE). The magnetic-field structure as derived from IXPE observations is radial for Cassiopeia A, Tycho's SNR, and SN 1006, and tangential for RX J1713.7-3946. The latter together with the recent detection of a tangential magnetic field in SNR 1E 0102.2-7219 by the Australia Telescope Compact Array in the radio band shows that tangential magnetic fields can also be present in young SNRs. Thus, the dichotomy in polarization between young and middle-aged SNRs (radial magnetic fields in young SNRs, but tangential magnetic fields in middle-aged SNRs), previously noticed in the radio band, deserves additional attention. The present analysis of IXPE observations determines, for the first time, a magnetic-field structure in the northwestern rim of Vela Jr, also known as RX J0852.0-4622, and provides a new example of a young SNR with a tangential magnetic field., Comment: Accepted for publication in Astronomy and Astrophysics

X-ray polarization is a unique new probe of the particle acceleration in astrophysical jets made possible through the Imaging X-ray Polarimetry Explorer. Here we report on the first dense X-ray polarization monitoring campaign on the blazar Mrk 421. Our observations were accompanied by an even denser radio and optical polarization campaign. We find significant short-timescale variability in both X-ray polarization degree and angle, including a $\sim90^\circ$ angle rotation about the jet axis. We attribute this to random variations of the magnetic field, consistent with the presence of turbulence but also unlikely to be explained by turbulence alone. At the same time, the degree of lower-energy polarization is significantly lower and shows no more than mild variability. Our campaign provides further evidence for a scenario in which energy-stratified shock-acceleration of relativistic electrons, combined with a turbulent magnetic field, is responsible for optical to X-ray synchrotron emission in blazar jets., Comment: 23 pages, including 8 pages of appendices. 12 figures, 3 tables. Submitted to ApJ

Predicting the end-of-life (EOL) of lithium-ion batteries across different manufacturers presents significant challenges due to variations in electrode materials, manufacturing processes, cell formats, and a lack of generally available data. Methods that construct features solely on voltage-capacity profile data typically fail to generalize across cell chemistries. This study introduces a methodology that combines traditional voltage-capacity features with Direct Current Internal Resistance (DCIR) measurements, enabling more accurate and generalizable EOL predictions. The use of early-cycle DCIR data captures critical degradation mechanisms related to internal resistance growth, enhancing model robustness. Models are shown to successfully predict the number of cycles to EOL for unseen manufacturers of varied electrode composition with a mean absolute error (MAE) of 150 cycles. This cross-manufacturer generalizability reduces the need for extensive new data collection and retraining, enabling manufacturers to optimize new battery designs using existing datasets. Additionally, a novel DCIR-compatible dataset is released as part of ongoing efforts to enrich the growing ecosystem of cycling data and accelerate battery materials development., Comment: 17 pages, 7 figures

Some X-ray binaries containing an energetic pulsar in orbit around a normal star accelerate particles to high energies in the shock cone formed where the pulsar and stellar winds collide. The magnetic field geometry in the acceleration region in such binaries is unknown. We performed the first measurement of the polarization of the X-ray synchrotron emission from a gamma-ray emitting binary system. We observed PSR B1259-63 with the Imaging X-ray Polarimetry Explorer (IXPE) during an X-ray bright phase following the periastron passage in June 2024. X-ray polarization is detected with a polarization degree of $8.3\% \pm 1.5\%$ at a significance of $5.3 \sigma$. The X-ray polarization angle is aligned with the axis of the shock cone at the time of the observation. This indicates that the predominant component of the magnetic field in the acceleration region is oriented perpendicular to the shock cone axis., Comment: 5 pages, to appear in the Astrophysical Journal Letters

Autonomous navigation in ice-covered waters poses significant challenges due to the frequent lack of viable collision-free trajectories. When complete obstacle avoidance is infeasible, it becomes imperative for the navigation strategy to minimize collisions. Additionally, the dynamic nature of ice, which moves in response to ship maneuvers, complicates the path planning process. To address these challenges, we propose a novel deep learning model to estimate the coarse dynamics of ice movements triggered by ship actions through occupancy estimation. To ensure real-time applicability, we propose a novel approach that caches intermediate prediction results and seamlessly integrates the predictive model into a graph search planner. We evaluate the proposed planner both in simulation and in a physical testbed against existing approaches and show that our planner significantly reduces collisions with ice when compared to the state-of-the-art. Codes and demos of this work are available at https://github.com/IvanIZ/predictive-asv-planner.

We consider the problem of direct data-driven predictive control for unknown stochastic linear time-invariant (LTI) systems with partial state observation. Building upon our previous research on data-driven stochastic control, this paper (i) relaxes the assumption of Gaussian process and measurement noise, and (ii) enables optimization of the gain matrix within the affine feedback policy. Output safety constraints are modelled using conditional value-at-risk, and enforced in a distributionally robust sense. Under idealized assumptions, we prove that our proposed data-driven control method yields control inputs identical to those produced by an equivalent model-based stochastic predictive controller. A simulation study illustrates the enhanced performance of our approach over previous designs., Comment: 8 pages, 1 figure, 2 tables, the extended version of an accepted paper in Conference on Decision and Control (CDC). arXiv admin note: text overlap with arXiv:2312.15177

This article gives an integrative review of research using projective methods in the consumer research domain. We give a general historical overview of the use of projective methods, both in psychology and in consumer research applications, and discuss the reliability and validity aspects and measurement for projective techniques. We review the literature on projective techniques in the areas of marketing, hospitality & tourism, and consumer & food science, with a mixed methods research focus on the interplay of qualitative and quantitative techniques. We review the use of several quantitative techniques used for structuring and analyzing projective data and run an empirical reanalysis of previously gathered data. We give recommendations for improved rigor and for potential future work involving mixed methods in projective techniques.

In this paper, we investigate the problem of decomposing 2D environments for robot coverage planning. Coverage path planning (CPP) involves computing a cost-minimizing path for a robot equipped with a coverage or sensing tool so that the tool visits all points in the environment. CPP is an NP-Hard problem, so existing approaches simplify the problem by decomposing the environment into the minimum number of sectors. Sectors are sub-regions of the environment that can each be covered using a lawnmower path (i.e., along parallel straight-line paths) oriented at an angle. However, traditional methods either limit the coverage orientations to be axis-parallel (horizontal/vertical) or provide no guarantees on the number of sectors in the decomposition. We introduce an approach to decompose the environment into possibly overlapping rectangular sectors. We provide an approximation guarantee on the number of sectors computed using our approach for a given environment. We do this by leveraging the submodular property of the sector coverage function, which enables us to formulate the decomposition problem as a submodular set cover (SSC) problem with well-known approximation guarantees for the greedy algorithm. Our approach improves upon existing coverage planning methods, as demonstrated through an evaluation using maps of complex real-world environments., Comment: Extended version of the 2024 IEEE CDC paper, 8 pages, 3 figures

Mass segregation is seen in many star clusters, but whether massive stars form in the center of a cluster or migrate there dynamically is still debated. N-body simulations have shown that early dynamical mass segregation is possible when sub-clusters merge to form a dense core with a small crossing time. However, the effect of gas dynamics on both the formation and dynamics of the stars could inhibit the formation of the dense core. We aim to study the dynamical mass segregation of star cluster models that include gas dynamics and self-consistently form stars from the dense substructure in the gas. Our models use the Torch framework, which is based on AMUSE and includes stellar and magnetized gas dynamics, as well as stellar evolution and feedback from radiation, stellar winds, and supernovae. Our models consist of three star clusters forming from initial turbulent spherical clouds of mass $10^{4,5,6}\rm~M_\odot$ and radius $11.7\rm~pc$ that have final stellar masses of $3.6\times10^3\rm~M_\odot$, $6.5\times10^4\rm~M_\odot$, and $8.9\times10^5\rm~M_\odot$, respectively. There is no primordial mass segregation in the model by construction. All three clusters become dynamically mass segregated at early times via collapse confirming that this mechanism occurs within sub-clusters forming directly out of the dense substructure in the gas. The dynamics of the embedded gas and stellar feedback do not inhibit the collapse of the cluster. We find that each model cluster becomes mass segregated within $2~$Myr of the onset of star formation, reaching the levels observed in young clusters in the Milky Way. However, we note that the exact values are highly time-variable during these early phases of evolution. Massive stars that segregate to the center during core collapse are likely to be dynamically ejected, a process that can decrease the overall level of mass segregation again., Comment: Submitted to A&A. 8 pages, 4 figures

We present Crab X-ray polarization measurements using IXPE data with a total exposure of 300ks, three times more than the initial 2022 discovery paper. Polarization is detected in three times more pulsar phase bins, revealing an S-shaped $+40^\circ$ polarization angle sweep in the main pulse and ${>}1\sigma$ departures from the OPTIMA optical polarization in both pulses, suggesting different radiation mechanisms or sites for the polarized emission at the two wavebands. Our polarization map of the inner nebula reveals a toroidal magnetic field, as seen in prior IXPE analyses. Along the southern jet, the magnetic field orientation relative to the jet axis changes from perpendicular to parallel and the polarization degree decreases by ${\sim}6\%$. These observations may be explained by kink instabilities along the jet or a collision with a dense, jet-deflecting medium at the tip. Using spectropolarimetric analysis, we find asymmetric polarization in the four quadrants of the inner nebula, as expected for a toroidal field geometry, and a spatial correlation between polarization degree and photon index., Comment: 14 pages, 7 figures, 3 tables. Accepted by The Astrophysical Journal

We present multiwavelength polarization measurements of the luminous blazar Mrk~501 over a 14-month period. The 2--8 keV X-ray polarization was measured with the Imaging X-ray Polarimetry Explorer (IXPE) with six 100-ks observations spanning from 2022 March to 2023 April. Each IXPE observation was accompanied by simultaneous X-ray data from NuSTAR, Swift/XRT, and/or XMM-Newton. Complementary optical-infrared polarization measurements were also available in the B, V, R, I, and J bands, as were radio polarization measurements from 4.85 GHz to 225.5 GHz. Among the first five IXPE observations, we did not find significant variability in the X-ray polarization degree and angle with IXPE. However, the most recent sixth observation found an elevated polarization degree at $>3\sigma$ above the average of the other five observations. The optical and radio measurements show no apparent correlations with the X-ray polarization properties. Throughout the six IXPE observations, the X-ray polarization degree remained higher than, or similar to, the R-band optical polarization degree, which remained higher than the radio value. This is consistent with the energy-stratified shock scenario proposed to explain the first two IXPE observations, in which the polarized X-ray, optical, and radio emission arises from different regions., Comment: Accepted for publication in ApJ

We present the first X-ray spectropolarimetric results for Cygnus X-1 in its soft state from a campaign of five IXPE observations conducted during 2023 May-June. Companion multiwavelength data during the campaign are likewise shown. The 2-8 keV X-rays exhibit a net polarization degree PD=1.99%+/-0.13% (68% confidence). The polarization signal is found to increase with energy across IXPE's 2-8 keV bandpass. The polarized X-rays exhibit an energy-independent polarization angle of PA=-25.7+/-1.8 deg. East of North (68% confidence). This is consistent with being aligned to Cyg X-1's AU-scale compact radio jet and its pc-scale radio lobes. In comparison to earlier hard-state observations, the soft state exhibits a factor of 2 lower polarization degree, but a similar trend with energy and a similar (also energy-independent) position angle. When scaling by the natural unit of the disk temperature, we find the appearance of a consistent trendline in the polarization degree between soft and hard states. Our favored polarimetric model indicates Cyg X-1's spin is likely high (a* above ~0.96). The substantial X-ray polarization in Cyg X-1's soft state is most readily explained as resulting from a large portion of X-rays emitted from the disk returning and reflecting off the disk surface, generating a high polarization degree and a polarization direction parallel to the black hole spin axis and radio jet. In IXPE's bandpass, the polarization signal is dominated by the returning reflection emission. This constitutes polarimetric evidence for strong gravitational lensing of X-rays close to the black hole., Comment: 20 pages, accepted for publication in ApJL

Recent observations of X-ray pulsars (XRPs) performed by the Imaging X-ray Polarimetry Explorer (IXPE) have made it possible to investigate the intricate details of these objects in a new way, thanks to the added value of X-ray polarimetry. Here we present the results of the IXPE observations of SMC X-1, a member of the small group of XRPs displaying super-orbital variability. SMC X-1 was observed by IXPE three separate times during the high state of its super-orbital period. The observed luminosity in the 2-8 keV energy band of $L=2\times10^{38}$ erg/s makes SMC X-1 the brightest XRP ever observed by IXPE. We detect significant polarization in all three observations, with values of the phase-averaged polarization degree (PD) and polarization angle (PA) of $3.2\pm0.8$% and $97\deg\pm8\deg$ for Observation 1, $3.0\pm0.9$% and $90\deg\pm8\deg$ for Observation 2, and $5.5\pm1.1$% and $80\deg\pm6\deg$ for Observation 3, for the spectro-polarimetric analysis. The observed PD shows an increase over time with decreasing luminosity, while the PA decreases in decrements of 10\deg. The phase-resolved spectro-polarimetric analysis reveals significant detection of polarization in three out of seven phase bins, with the PD ranging between 2% and 10%, and a corresponding range in the PA from $\sim$70\deg\ to $\sim$100\deg. The pulse-phase resolved PD displays an apparent anti-correlation with the flux. Using the rotating vector model, we obtain constraints on the pulsar's geometrical properties for the individual observations. The position angle of the pulsar displays an evolution over time supporting the idea that we observe changes related to different super-orbital phases. Scattering in the wind of the precessing accretion disk may be responsible for the behavior of the polarimetric properties observed during the high-state of SMC X-1's super-orbital period., Comment: 11 pages, 11 figures, submitted to A&A

We report the X-ray polarization properties of the high-synchrotron-peaked (HSP) blazar PKS 2155$-$304 based on observations with the Imaging X-ray Polarimetry Explorer (IXPE). We observed the source between Oct 27 and Nov 7, 2023. We also conducted an extensive contemporaneous multiwavelength (MW) campaign. We find that during the first half ($T_1$) of the IXPE pointing, the source exhibited the highest X-ray polarization degree detected for an HSP blazar thus far, (30.7$\pm$2.0)%, which dropped to (15.3$\pm$2.1)% during the second half ($T_2$). The X-ray polarization angle remained stable during the IXPE pointing at 129.4$^\circ$$\pm$1.8$^\circ$ and 125.4$^\circ$$\pm$3.9$^\circ$ during $T_1$ and $T_2$, respectively. Meanwhile, the optical polarization degree remained stable during the IXPE pointing, with average host-galaxy-corrected values of (4.3$\pm$0.7)% and (3.8$\pm$0.9)% during the $T_1$ and $T_2$, respectively. During the IXPE pointing, the optical polarization angle changed achromatically from $\sim$140$^\circ$ to $\sim$90$^\circ$ and back to $\sim$130$^\circ$. Despite several attempts, we only detected (99.7% conf.) the radio polarization once (during $T_2$, at 225.5 GHz): with degree (1.7$\pm$0.4)% and angle 112.5$^\circ$$\pm$5.5$^\circ$. The direction of the broad pc-scale jet is rather ambiguous and has been found to point to the east and south at different epochs; however, on larger scales (> 1.5 pc) the jet points toward the southeast ($\sim$135$^\circ$), similar to all of the MW polarization angles. Moreover, the X-ray to optical polarization degree ratios of $\sim$7 and $\sim$4 during $T_1$ and $T_2$, respectively, are similar to previous IXPE results for several HSP blazars. These findings, combined with the lack of correlation of temporal variability between the MW polarization properties, agree with an energy-stratified shock-acceleration scenario in HSP blazars., Comment: 17 pages, 10 figures, 4 tables, Accepted for publication in A&A

It is often asserted that to control for the effects of confounders, one should include the confounding variables of concern in a statistical model as a covariate. Conversely, it is also asserted that control can only be concluded by design, where the results from an analysis can only be interpreted as evidence of an effect because the design controlled for the cause. To suggest otherwise is said to be a fallacy of cum hoc ergo propter hoc. Obviously, these two assertions create a conundrum: How can the effect of confounder be controlled for with analysis instead of by design without committing cum hoc ergo propter hoc? The present manuscript answers this conundrum., Comment: 30 pages, 6 Figures, r code

We present new Chandra X-ray observations of TAP 26, a ~17 Myr old magnetically-active weak-lined T Tauri star that has been reported to host a massive planet in a 10.8 day orbit. At a separation of a = 0.097 AU the planet will be exposed to intense X-ray and UV radiation from the star. The first observation caught the star in a state of elevated X-ray emission with variability on a timescale of a few hours and an X-ray temperature kTx ~ 2 - 4 keV. Two subsequent observations 5-10 days later showed slow variability and a lower X-ray flux and temperature (kTx ~ 1 keV). We characterize the X-ray emission and estimate the X-ray ionization and heating rates that will need to be incorporated into realistic models of the planet's atmosphere., Comment: 12 pages, 2 tables, 3 figures

Two main mechanisms have classically been proposed for the formation of runaway stars. In the binary supernova scenario (BSS), a massive star in a binary explodes as a supernova, ejecting its companion. In the dynamical ejection scenario, a star is ejected during a strong dynamical encounter between multiple stars. We propose a third mechanism for the formation of runaway stars: the subcluster ejection scenario (SCES), where a subset of stars from an infalling subcluster is ejected out of the cluster via a tidal interaction with the contracting gravitational potential of the assembling cluster. We demonstrate the SCES in a star-by-star simulation of the formation of a young massive cluster from a $10^6\rm~M_\odot$ gas cloud using the Torch framework. This star cluster forms hierarchically through a sequence of subcluster mergers determined by the initial turbulent, spherical conditions of the gas. We find that these mergers drive the formation of runaway stars in our model. Late-forming subclusters fall into the central potential, where they are tidally disrupted, forming tidal tails of runaway stars that are distributed highly anisotropically. Runaways formed in the same SCES have similar ages, velocities, and ejection directions. Surveying observations, we identify several SCES candidate groups with anisotropic ejection directions. The SCES is capable of producing runaway binaries: two wide dynamical binaries in infalling subclusters were tightened through ejection. This allows for another velocity kick via subsequent via a subsequent BSS ejection. An SCES-BSS ejection is a possible avenue for the creation of hypervelocity stars unbound to the Galaxy. We expect nonspherical initial gas distributions to increase the number of calculated runaway stars. The observation of groups of runaway stars formed via the SCES can thus reveal the assembly history of their natal clusters., Comment: 11 pages, 10 figures. Accepted for publication in A&A. Abstract abridged for arXiv

Discovery of pulsations from a number of ULXs proved that accretion onto neutron stars can produce luminosities exceeding the Eddington limit by several orders of magnitude. The conditions necessary to achieve such high luminosities as well as the exact geometry of the accretion flow in the neutron star vicinity are, however, a matter of debate. The pulse phase-resolved polarization measurements that became possible with the launch of the Imaging X-ray Polarimetry Explorer (IXPE) can be used to determine the pulsar geometry and its orientation relative to the orbital plane. They provide an avenue to test different theoretical models of ULX pulsars. In this paper we present the results of three IXPE observations of the first Galactic ULX pulsar Swift J0243.6+6124 during its 2023 outburst. We find strong variations in the polarization characteristics with the pulsar phase. The average polarization degree increases from about 5% to 15% as the flux dropped by a factor of three in the course of the outburst. The polarization angle (PA) as a function of the pulsar phase shows two peaks in the first two observations, but changes to a characteristic sawtooth pattern in the remaining data set. This is not consistent with a simple rotating vector model. Assuming the existence of an additional constant polarized component, we were able to fit the three observations with a common rotating vector model and obtain constraints on the pulsar geometry. In particular, we find the pulsar angular momentum inclination with respect to the line of sight of 15-40 deg, the magnetic obliquity of 60-80 deg, and the pulsar spin position angle of -50 deg, which significantly differs from the constant component PA of about 10 deg. Combining these X-ray measurements with the optical PA, we find evidence for at least a 30 deg misalignment between the pulsar angular momentum and the binary orbital axis., Comment: 13 pages, 10 figures, version published in A&A

Supernova remnants (SNRs) provide insights into cosmic-ray acceleration and magnetic field dynamics at shock fronts. Recent X-ray polarimetric measurements by the Imaging X-ray Polarimetry Explorer (IXPE) have revealed radial magnetic fields near particle acceleration sites in young SNRs, including Cassiopeia A, Tycho, and SN 1006. We present here the spatially-resolved IXPE X-ray polarimetric observation of the northwestern rim of SNR RX J1713.7-3946. For the first time, our analysis shows that the magnetic field in particle acceleration sites of this SNR is oriented tangentially with respect to the shock front. Because of the lack of precise Faraday-rotation measurements in the radio band, this was not possible before. The average measured polarization degree (PD) of the synchtrotron emission is 12.5 {\pm} 3.3%, lower than the one measured by IXPE in SN 1006, comparable to the Tycho one, but notably higher than the one in Cassiopeia A. On sub-parsec scales, localized patches within RX J1713.7-3946 display PD up to 41.5 {\pm} 9.5%. These results are compatible with a shock-compressed magnetic field. However, in order to explain the observed PD, either the presence of a radial net magnetic field upstream of the shock, or partial reisotropization of the turbulence downstream by radial magneto-hydrodynamical instabilities, can be invoked. From comparison of PD and magnetic field distribution with {\gamma}-rays and 12 CO data, our results provide new inputs in favor of a leptonic origin of the {\gamma}-ray emission., Comment: 18 pages, 6 figures, 2 tables, published in ApJ Letters

Visibility is a crucial aspect of planning and control of autonomous vehicles (AV), particularly when navigating environments with occlusions. However, when an AV follows a trajectory with multiple occlusions, existing methods evaluate each occlusion individually, calculate a visibility cost for each, and rely on the planner to minimize the overall cost. This can result in conflicting priorities for the planner, as individual occlusion costs may appear to be in opposition. We solve this problem by creating an alternate perspective cost map that allows for an aggregate view of the occlusions in the environment. The value of each cell on the cost map is a measure of the amount of visual information that the vehicle can gain about the environment by visiting that location. Our proposed method identifies observation locations and occlusion targets drawn from both map data and sensor data. We show how to estimate an alternate perspective for each observation location and then combine all estimates into a single alternate perspective cost map for motion planning., Comment: This work has been submitted to the IEEE-RAL for possible publication

We report on X-ray polarization measurements of the extra-galactic Crab-like PSR B0540-69 and its Pulsar Wind Nebula (PWN) in the Large Magellanic Cloud (LMC), using a ~850 ks Imaging X-ray Polarimetry Explorer (IXPE) exposure. The PWN is unresolved by IXPE. No statistically significant polarization is detected for the image-averaged data, giving a 99% confidence polarization upper limit (MDP99) of 5.3% in 2-8 keV energy range. However, a phase-resolved analysis detects polarization for both the nebula and pulsar in the 4-6 keV energy range. For the PWN defined as the off-pulse phases, the polarization degree (PD) of (24.5 ${\pm}$ 5.3)% and polarization angle (PA) of (78.1 ${\pm}$ 6.2){\deg} is detected at 4.6${\sigma}$ significance level, consistent with the PA observed in the optical band. In a single on-pulse window, a hint of polarization is measured at 3.8${\sigma}$ with polarization degree of (50.0 ${\pm}$ 13.1)% and polarization angle of (6.2 ${\pm}$ 7.4){\deg}. A 'simultaneous' PSR/PWN analysis finds two bins at the edges of the pulse exceeding 3${\sigma}$ PD significance, with PD of (68 ${\pm}$ 20)% and (62 ${\pm}$ 20)%; intervening bins at 2-3${\sigma}$ significance have lower PD, hinting at additional polarization structure., Comment: 10 pages, 7 figures, 4 tables, author's version of the paper accepted for publication in ApJ

Weakly magnetized neutron stars in X-ray binaries show complex phenomenology with several spectral components that can be associated with the accretion disk, boundary and/or spreading layer, a corona, and a wind. Spectroscopic information alone is, however, not enough to disentangle these components. Additional information about the nature of the spectral components and in particular the geometry of the emission region can be provided by X-ray polarimetry. One of the objects of the class, a bright, persistent, and rather peculiar galactic Type I X-ray burster was observed with the Imaging X-ray Polarimetry Explorer (IXPE) and the X-ray Multi-Mirror Mission Newton (XMM-Newton). Using the XMM-Newton data we estimated the current state of the source as well as detected strong absorption lines associated with the accretion disk wind. IXPE data showed the source to be significantly polarized in the 2-8 keV energy band with the overall polarization degree (PD) of 1.4% at a polarization angle (PA) of -2 degrees (errors at 68% confidence level). During the two-day long observation, we detected rotation of the PA by about 70 degrees with the corresponding changes in the PD from 2% to non-detectable and then up to 5%. These variations in polarization properties are not accompanied by visible changes in spectroscopic characteristics. The energy-resolved polarimetric analysis showed a significant change in polarization, from being strongly dependent on energy at the beginning of the observation to being almost constant with energy in the later parts of the observation. As a possible interpretation, we suggest the presence of a constant component of polarization, strong wind scattering, or different polarization of the two main spectral components with individually peculiar behavior. The rotation of the PA suggests a 30-degree misalignment of the neutron star spin from the orbital axis., Comment: 12 pages, 12 figures

Observations of linear polarization in the 2-8 keV energy range with the Imaging X-ray Polarimetry Explorer (IXPE) explore the magnetic field geometry and dynamics of the regions generating non-thermal radiation in relativistic jets of blazars. These jets, particularly in blazars whose spectral energy distribution peaks at X-ray energies, emit X-rays via synchrotron radiation from high-energy particles within the jet. IXPE observations of the X-ray selected BL Lac-type blazar 1ES 1959+650 in 2022 May 3-4 showed a significant linear polarization degree of $\Pi_\mathrm{x} = 8.0\% \pm 2.3\%$ at an electric-vector position angle $\psi_\mathrm{x} = 123^\circ \pm 8^\circ$. However, in 2022 June 9-12, only an upper limit of $\Pi_\mathrm{x} \leq 5.1\%$ could be derived (at the 99% confidence level). The degree of optical polarization at that time $\Pi_\mathrm{O} \sim 5\%$ is comparable to the X-ray measurement. We investigate possible scenarios for these findings, including temporal and geometrical depolarization effects. Unlike some other X-ray selected BL Lac objects, there is no significant chromatic dependence of the measured polarization in 1ES 1959+650, and its low X-ray polarization may be attributed to turbulence in the jet flow with dynamical timescales shorter than 1 day., Comment: 16 pages, 4 figures, accepted for publication in The Astrophysical Journal

Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance, specifically focusing on task allocation and scheduling in collaborative settings. We present a proactive task allocation approach with three primary objectives: enhancing team performance, incorporating human preferences, and upholding a positive human perception of the robot and the collaborative experience. Through a user study, involving an autonomous mobile manipulator robot working alongside participants in a collaborative scenario, we confirm that the task planning framework successfully attains all three intended goals, thereby contributing to the advancement of adaptive task planning in human-robot collaboration. This paper mainly focuses on the first two objectives, and we discuss the third objective, participants' perception of the robot, tasks, and collaboration in a companion paper.

Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the proposed task planning framework to realize these objectives by integrating human leading/following preferences and performance into its task allocation and scheduling processes. We designed a collaborative scenario wherein the robot autonomously collaborates with participants. The outcomes of the user study indicate that the proactive task planning framework successfully attains the aforementioned goals. We also explore the impact of participants' leadership and followership styles on their collaboration. The results reveal intriguing relationships between these factors which warrant further investigation in future studies.

We propose a data-driven receding-horizon control method dealing with the chance-constrained output-tracking problem of unknown stochastic linear time-invariant (LTI) systems with partial state observation. The proposed method takes into account the statistics of the process noise, the measurement noise and the uncertain initial condition, following an analogous framework to Stochastic Model Predictive Control (SMPC), but does not rely on the use of a parametric system model. As such, our receding-horizon algorithm produces a sequence of closed-loop control policies for predicted time steps, as opposed to a sequence of open-loop control actions. Under certain conditions, we establish that our proposed data-driven control method produces identical control inputs as that produced by the associated model-based SMPC. Simulation results on a grid-connected power converter are provided to illustrate the performance benefits of our methodology., Comment: 20 pages, 4 figures. The extended version of a submission to IEEE Transactions on Automatic Control

We present the first X-ray polarimetric study of the dipping accreting neutron star 4U 1624$-$49 with the Imaging X-ray Polarimetry Explorer (IXPE). We report a detection of polarization in the non-dip time intervals with a confidence level of 99.99%. We find an average polarization degree (PD) of $3.1\pm0.7$% and a polarization angle of $81\pm6$ degrees east of north in the 2-8 keV band. We report an upper limit on the PD of 22% during the X-ray dips with 95% confidence. The PD increases with energy, reaching from $3.0\pm0.9$% in the 4-6 keV band to $6\pm2$% in the 6-8 keV band. This indicates the polarization likely arises from Comptonization. The high PD observed is unlikely to be produced by Comptonization in the boundary layer or spreading layer alone. It can be produced by the addition of an extended geometrically thin slab corona covering part of the accretion disk, as assumed in previous models of dippers, and/or a reflection component from the accretion disk.

When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across many applications is to use a weighted sum of relevant objective functions and then carefully adapt the weights. However, this approach may not find all relevant trade-offs even in simple planning problems. Thus, we study an alternative method based on a weighted maximum of objectives. Such a cost function is more expressive than the weighted sum, and we show how it can be deployed in both continuous- and discrete-space motion planning problems. We propose a novel path planning algorithm for the proposed cost function and establish its correctness, and present heuristic adaptations that yield a practical runtime. In extensive simulation experiments, we demonstrate that the proposed cost function and algorithm are able to find a wider range of trade-offs between objectives (i.e., Pareto-optimal solutions) for various planning problems, showcasing its advantages in practice.

The mode of star formation that results in the formation of globular clusters and young massive clusters is difficult to constrain through observations. We present models of massive star cluster formation using the Torch framework, which uses AMUSE to couple distinct multi-physics codes that handle star formation, stellar evolution and dynamics, radiative transfer, and magnetohydrodynamics. We upgrade Torch by implementing the N-body code PeTar, thereby enabling Torch to handle massive clusters forming from $10^6\rm\, M_\odot$ clouds with $\ge10^5$ individual stars. We present results from Torch simulations of star clusters forming from $10^4, 10^5$, and $10^6\rm M_\odot$ turbulent, spherical gas clouds (named M4, M5, M6) of radius $R=11.7$ pc. We find that star formation is highly efficient and becomes more so at higher cloud mass and surface density. For M4, M5, and M6 with initial surface densities $2.325\times 10^{1,2,3}\rm\, M_\odot\, pc^{-2}$, after a free-fall time of $t_{ff}=6.7,2.1,0.67$ Myr, we find that $\sim30\%$, 40%, and 60% of the cloud mass has formed into stars, respectively. The final integrated star formation efficiency is $32\%,\, 65\%$, and 85\% for M4, M5, and M6. Observations of nearby clusters similar to M4 have similar integrated star formation efficiencies of $\leq30\%$. The M5 and M6 models represent a different regime of cluster formation that is more appropriate for the conditions in starburst galaxies and gas-rich galaxies at high redshift, and that leads to a significantly higher efficiency of star formation. We argue that young massive clusters build up through short efficient bursts of star formation in regions that are sufficiently dense ($\ge 10^2 \rm\,M_\odot\,pc^{-2}$) and massive ($\ge10^5\rm\, M_\odot$). In such environments, the dynamical time of the cloud becomes short enough that stellar feedback cannot act quickly enough to slow star formation., Comment: Submitted to A&A

Robotic-based compact storage and retrieval systems provide high-density storage in distribution center and warehouse applications. In the system, items are stored in bins, and the bins are organized inside a three-dimensional grid. Robots move on top of the grid to retrieve and deliver bins. To retrieve a bin, a robot removes all bins above one by one with its gripper, called bin digging. The closer the target bin is to the top of the grid, the less digging is required to retrieve the bin. In this paper, we propose a policy to optimally arrange the bins in the grid while processing bin requests so that the most frequently accessed bins remain near the top of the grid. This improves the performance of the system and makes it responsive to changes in bin demand. Our solution approach identifies the optimal bin arrangement in the storage facility, initiates a transition to this optimal set-up, and subsequently ensures the ongoing maintenance of this arrangement for optimal performance. We perform extensive simulations on a custom-built discrete event model of the system. Our simulation results show that under the proposed policy more than half of the bins requested are located on top of the grid, reducing bin digging compared to existing policies. Compared to existing approaches, the proposed policy reduces the retrieval time of the requested bins by over 30% and the number of bin requests that exceed certain time thresholds by nearly 50%., Comment: 35 pages, 16 figures, submitted to Transportation Science (INFORMS)

We report the discovery of X-ray polarization from the X-ray-bright filament. G0.13-0.11 in the Galactic center (GC) region. This filament features a bright, hard X-ray source that is most plausibly a pulsar wind nebula (PWN) and an extended and structured diffuse component. Combining the polarization signal from IXPE with the imaging/spectroscopic data from Chandra, we find that X-ray emission of G0.13-0.11 is highly polarized PD=$57(\pm18)$% in the 3-6 keV band, while the polarization angle is PA=$21^\circ(\pm9^\circ)$. This high degree of polarization proves the synchrotron origin of the X-ray emission from G0.13-0.11. In turn, the measured polarization angle implies that the X-ray emission is polarized approximately perpendicular to a sequence of nonthermal radio filaments that may be part of the GC Radio Arc. The magnetic field on the order of $100\,{\rm\mu G}$ appears to be preferentially ordered along the filaments. The above field strength is the fiducial value that makes our model self-consistent, while the other conclusions are largely model independent., Comment: Accepted for publication in A&A

Theta Mus is a remarkable spectroscopic binary (SB) consisting of a carbon-type Wolf-Rayet star and OV companion (WC6+O6-7V) in a 19-day orbit. In addition an O-supergiant is visually detected at a small offset of 46 mas and if gravitationally bound to the SB system would have an orbital period of many decades. Theta Mus is X-ray bright and a nonthermal radio source as commonly observed in massive colliding wind (CW) binaries. We present new Chandra X-ray observations of Theta Mus which complement previous XMM-Newton observations. The X-ray emission consists of a cool nearly steady weakly-absorbed plasma component with broad redshifted emission lines located in an extended region far from the SB system. Hotter plasma is also present traced by Fe XXV emission. The observed flux in the 2-5 keV range dropped significantly on a timescale of less than 5 years. The flux decrease can be attributed to an increase in absorption toward the hotter plasma which is likely located in the confined wind interaction region of the short-period SB system. The X-ray emission of Theta Mus is remarkably similar to the WC+O binary gamma^2 Vel including carbon recombination spectral lines but both systems show unusual line centroid properties that challenge CW models., Comment: 22 pages, 4 figures, 3 tables

In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage lines (straight-line paths). However, recomputing such paths online can be computationally expensive resulting in robot stoppages that increase coverage time. A naive alternative is greedy detour replanning, i.e., replanning with minimum deviation from the initial path, which is efficient to compute but may result in unnecessary detours. In this work, we propose an anytime coverage replanning approach named OARP-Replan that performs near-optimal replans to an interrupted coverage path within a given time budget. We do this by solving linear relaxations of integer linear programs (ILPs) to identify sections of the interrupted path that can be optimally replanned within the time budget. We validate OARP-Replan in simulation and perform comparisons against a greedy detour replanner and other state-of-the-art coverage planners. We also demonstrate OARP-Replan in experiments using an industrial-level autonomous robot., Comment: 16 pages, 18 figures, Paper submitted to IEEE T-RO

The Imaging X-ray Polarimetry Explorer (IXPE) measured with high significance the X-ray polarization of the brightest Z-source Scorpius X-1, resulting in the nominal 2-8 keV energy band in a polarization degree of 1.0(0.2)% and a polarization angle of 8(6){\deg} at 90% of confidence level. This observation was strictly simultaneous with observations performed by NICER, NuSTAR, and Insight-HXMT, which allowed for a precise characterization of its broad-band spectrum from soft to hard X-rays. The source has been observed mainly in its soft state, with short periods of flaring. We also observed low-frequency quasi-periodic oscillations. From a spectro-polarimetric analysis, we associate a polarization to the accretion disk at <3.2% at 90% of confidence level, compatible with expectations for an electron-scattering dominated optically thick atmosphere at the Sco X-1 inclination of 44{\deg}; for the higher-energy Comptonized component, we obtain a polarization of 1.3(0.4)%, in agreement with expectations for a slab of Thomson optical depth of ~7 and an electron temperature of ~3 keV. A polarization rotation with respect to previous observations by OSO-8 and PolarLight, and also with respect to the radio-jet position angle, is observed. This result may indicate a variation of the polarization with the source state that can be related to relativistic precession or to a change in the corona geometry with the accretion flow.