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Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We show for the first time that using 3D Gaussians for map representation with unposed camera images and inertial measurements can enable accurate SLAM. Our method, MM3DGS, addresses the limitations of prior neural radiance field-based representations by enabling faster rendering, scale awareness, and improved trajectory tracking. Our framework enables keyframe-based mapping and tracking utilizing loss functions that incorporate relative pose transformations from pre-integrated inertial measurements, depth estimates, and measures of photometric rendering quality. We also release a multi-modal dataset, UT-MM, collected from a mobile robot equipped with a camera and an inertial measurement unit. Experimental evaluation on several scenes from the dataset shows that MM3DGS achieves 3x improvement in tracking and 5% improvement in photometric rendering quality compared to the current 3DGS SLAM state-of-the-art, while allowing real-time rendering of a high-resolution dense 3D map. Project Webpage: https://vita-group.github.io/MM3DGS-SLAM, Comment: Project Webpage: https://vita-group.github.io/MM3DGS-SLAM

Using $2.93~\mathrm{fb}^{-1}$ of $e^+e^-$ collision data collected with the BESIII detector at the center-of-mass energy of 3.773 GeV, we investigate the semileptonic decays $D^+\to \pi^+\pi^- \ell^+\nu_\ell$ ($\ell=e$ and $\mu$). The $D^+\to f_0(500)\mu^+\nu_\mu$ decay is observed for the first time. By analyzing simultaneously the differential decay rates of $D^+\to f_0(500) \mu^+\nu_\mu$ and $D^+\to f_0(500) e^+\nu_e$ in different $\ell^+\nu_\ell$ four-momentum transfer intervals, the product of the relevant hadronic form factor $f^{f_0}_{+}(0)$ and the magnitude of the $c\to d$ Cabibbo-Kobayashi-Maskawa matrix element $|V_{cd}|$ is determined to be $f_{+}^{f_0} (0)|V_{cd}|=0.0787\pm0.0060_{\rm stat}\pm0.0033_{\rm syst}$ for the first time. With the input of $|V_{cd}|$ from the global fit in the standard model, we determine $f_{+}^{f_0} (0)=0.350\pm0.027_{\rm stat}\pm0.015_{\rm syst}$. The absolute branching fractions of $D^+\to f_0(500)_{(\pi^+\pi^-)}\mu^+\nu_\mu$ and $D^+\to \rho^0_{(\pi^+\pi^-)} \mu^+\nu_\mu$ are determined as $(0.72\pm0.13_{\rm stat}\pm0.10_{\rm syst})\times10^{-3}$ and $(1.64\pm0.13_{\rm stat}\pm0.11_{\rm syst})\times 10^{-3}$. Combining these results with those of previous BESIII measurements on their semielectronic counterparts from the same data sample, we test lepton flavor universality by measuring the branching fraction ratios ${\mathcal B}_{D^+\to \rho^0 \mu^+\nu_\mu}/{\mathcal B}_{D^+\to \rho^0 e^+\nu_e}=0.88\pm0.10$ and ${\mathcal B}_{D^+\to f_0(500) \mu^+\nu_\mu}/{\mathcal B}_{D^+\to f_0(500) e^+\nu_e}=1.14\pm0.28$, which are compatible with the standard model expectation., Comment: Supplemental Materials added in this version

For a subset $D$ of boxes in an $n\times n$ square grid, let $\chi_{D}(x)$ denote the dual character of the flagged Weyl module associated to $D$. It is known that $\chi_{D}(x)$ specifies to a Schubert polynomial (resp., a key polynomial) in the case when $D$ is the Rothe diagram of a permutation (resp., the skyline diagram of a composition). One can naturally define a lower and an upper bound of $\chi_{D}(x)$. M{\'e}sz{\'a}ros, St. Dizier and Tanjaya conjectured that $\chi_{D}(x)$ attains the upper bound if and only if $D$ avoids a certain subdiagram. We provide a proof of this conjecture.

Gravitational-wave high-energy Electromagnetic Counterpart All-sky Monitor (GECAM) is a space-borne instrument dedicated to monitoring high-energy transients, including Terrestrial Gamma-ray Flashes (TGFs) and Terrestrial Electron Beams (TEBs). We implemented a TGF/TEB search algorithm for GECAM, with which 147 bright TGFs, 2 typical TEBs and 2 special TEB-like events are identified during an effective observation time of $\sim$9 months. We show that, with gamma-ray and charged particle detectors, GECAM can effectively identify and distinguish TGFs and TEBs, and measure their temporal and spectral properties in detail. A very high TGF-lightning association rate of $\sim$80\% is obtained between GECAM and GLD360 in east Asia region., Comment: The paper was accepted by Geophysical Research Letters on June 16th, 2023

The causal mechanism between climate and political violence is fraught with complex mechanisms. Current quantitative causal models rely on one or more assumptions: (1) the climate drivers persistently generate conflict, (2) the causal mechanisms have a linear relationship with the conflict generation parameter, and/or (3) there is sufficient data to inform the prior distribution. Yet, we know conflict drivers often excite a social transformation process which leads to violence (e.g., drought forces agricultural producers to join urban militia), but further climate effects do not necessarily contribute to further violence. Therefore, not only is this bifurcation relationship highly non-linear, there is also often a lack of data to support prior assumptions for high resolution modeling. Here, we aim to overcome the aforementioned causal modeling challenges by proposing a neural forward-intensity Poisson process (NFIPP) model. The NFIPP is designed to capture the potential non-linear causal mechanism in climate induced political violence, whilst being robust to sparse and timing-uncertain data. Our results span 20 recent years and reveal an excitation-based causal link between extreme climate events and political violence across diverse countries. Our climate-induced conflict model results are cross-validated against qualitative climate vulnerability indices. Furthermore, we label historical events that either improve or reduce our predictability gain, demonstrating the importance of domain expertise in informing interpretation.

(Quasi-)one-dimensional systems exhibit various fascinating properties such as Luttinger liquid behavior, Peierls transition, novel topological phases, and the accommodation of unique quasiparticles (e.g., spinon, holon, and soliton, etc.). Here we study molybdenum blue bronze A0.3MoO3 (A = K, Rb), a canonical quasi-one-dimensional charge-density-wave material, using laser-based angle-resolved photoemission spectroscopy. Our experiment suggests that the normal phase of A0.3MoO3 is a prototypical Luttinger liquid, from which the charge-density-wave emerges with decreasing temperature. Prominently, we observe strong renormalizations of band dispersions, which is recognized as the spectral function of Holstein polaron derived from band-selective electron-phonon coupling in the system. We argue that the strong electron-phonon coupling plays a dominant role in electronic properties and the charge-density-wave transition in blue bronzes. Our results not only reconcile the long-standing heavy debates on the electronic properties of blue bronzes but also provide a rare platform to study novel composite quasiparticles in Luttinger liquid materials., Comment: 19 pages, 4 figures, accepted by Nature Communications

Despite several decades of multi-wavelength and multi-messenger spectral observations, Gamma-Ray Bursts (GRBs) remain one of the big mysteries of modern astrophysics. Polarization measurements are essential to gain a more clear and complete picture of the emission processes at work in these extremely powerful transient events. In this regard, a first generation of dedicated gamma-ray polarimeters, POLAR and GAP, were launched into space in the last decade. After 6 months of operation, the POLAR mission detected 55 GRBs, among which 14 have been analyzed in detail, reporting a low polarization degree and a hint of a temporal evolution of the polarization angle. Starting early 2024 and based on the legacy of the POLAR results, the POLAR-2 instrument will aim to provide a catalog of high quality measurements of the energy and temporal evolution of the GRB polarization thanks to its large and efficient polarimeter. Several spectrometer modules will additionally allow to perform joint spectral and polarization analyzes. The mission is foreseen to make high precision polarization measurements of about 50 GRBs every year on board of the China Space Station (CSS). The technical design of the polarimeter modules will be discussed in detail, as well as the expected scientific performances based on the first results of the developed prototype modules., Comment: Proceeding from the 37th International Cosmic Ray Conference (ICRC2021), 9 pages, 5 figures

Despite over 50 years of Gamma-Ray Burst (GRB) observations many open questions remain about their nature and the environments in which the emission takes place. Polarization measurements of the GRB prompt emission have long been theorized to be able to answer most of these questions. The POLAR detector was a dedicated GRB polarimeter developed by a Swiss, Chinese and Polish collaboration. The instrument was launched, together with the second Chinese Space Lab, the Tiangong-2, in September 2016 after which it took 6 months of scientific data. During this period POLAR detected 55 GRBs as well as several pulsars. From the analysis of the GRB polarization catalog we see that the prompt emission is lowly polarized or fully unpolarized. There is, however, the caveat that within single pulses there are strong hints of an evolving polarization angle which washes out the polarization degree in the time integrated analysis. Building on the success of the POLAR mission, the POLAR-2 instrument is currently under development. POLAR-2 is a Swiss, Chinese, Polish and German collaboration and was recently approved for launch in 2024. Thanks to its large sensitivity POLAR-2 will produce polarization measurements of at least 50 GRBs per year with a precision equal or higher than the best results published by POLAR. POLAR-2 thereby aims to make the prompt polarization a standard observable and produce catalogs of the gamma-ray polarization of GRBs. Here we will present an overview of the POLAR mission and all its scientific measurement results. Additionally, we will present an overview of the future POLAR-2 mission, and how it will answer some of the questions raised by the POLAR results., Comment: Presented at the 37th International Cosmic Ray Conference (ICRC 2021)

Increased drone proliferation in civilian and professional settings has created new threat vectors for airports and national infrastructures. The economic damage for a single major airport from drone incursions is estimated to be millions per day. Due to the lack of diverse drone training data, accurate training of deep learning detection algorithms under scarce data is an open challenge. Existing methods largely rely on collecting diverse and comprehensive experimental drone footage data, artificially induced data augmentation, transfer and meta-learning, as well as physics-informed learning. However, these methods cannot guarantee capturing diverse drone designs and fully understanding the deep feature space of drones. Here, we show how understanding the general distribution of the drone data via a Generative Adversarial Network (GAN) and explaining the missing features using Topological Data Analysis (TDA) - can allow us to acquire missing data to achieve rapid and more accurate learning. We demonstrate our results on a drone image dataset, which contains both real drone images as well as simulated images from computer-aided design. When compared to random data collection (usual practice - discriminator accuracy of 94.67\% after 200 epochs), our proposed GAN-TDA informed data collection method offers a significant 4\% improvement (99.42\% after 200 epochs). We believe that this approach of exploiting general data distribution knowledge form neural networks can be applied to a wide range of scarce data open challenges., Comment: 9 pages, 6 figures

Third-order approximate solutions for surface gravity waves in the finite water depth are studied in the context of potential flow theory. This solution provides explicit expressions for the surface elevation, free-surface velocity potential and velocity potential. The amplitude dispersion relation is also provided. Two approaches are used to derive the third order analytical solution, resulting in two types of approximate solutions: the perturbation solution and the Hamiltonian solution. The perturbation solution is obtained by classical perturbation technique in which the time variable is expanded in multiscale to eliminate secular terms. The Hamiltonian solution is derived from the canonical transformation in the Hamiltonian theory of water waves. By comparing the two types of solutions, it is found that they are completely equivalent for the first to second order solutions and the nonlinear dispersion, but for the third order part only the sum-sum terms are the same. Due to the canonical transformation that could completely separate the dynamic and bound harmonics, the Hamiltonian solutions break through the difficulty that the perturbation theory breaks down due to singularities in the transfer functions when quartet resonance criterion is satisfied. Furthermore, it is also found that some time-averaged quantities based on the Hamiltonian solution, such as mean potential energy and mean kinetic energy, are equal to those in the initial state in which sea surface is assumed to be a Gaussian random process. This is because there are associated conserved quantities in the Hamiltonian form. All of these show that the Hamiltonian solution is more reasonable and accurate to describe the third order steady-state wave field. Finally, based on the Hamiltonian solution, some statistics are given such as the volume flux, skewness, and excess kurtosis.

We present results from an analysis of $\sim$ 29,000 RR Lyrae stars located in the Large Magellanic Cloud (LMC). For these objects, near-infrared time-series photometry from the VISTA survey of the Magellanic Clouds system (VMC) and optical data from the OGLE (Optical Gravitational Lensing Experiment) IV survey and the Gaia Data Release 2 catalogue of confirmed RR Lyrae stars were exploited. Using VMC and OGLE IV magnitudes we derived period-luminosity (PL), period-luminosity-metallicity (PLZ), period-Wesenheit (PW) and period-Wesenheit-metallicity (PWZ) relations in all available bands. More that ~7,000 RR Lyrae were discarded from the analysis because they appear to be overluminous with respect to the PL relations. The $PL_{K_{\mathrm{s}}}$ relation was used to derive individual distance to $\sim 22,000$ RR Lyrae stars, and study the three-dimensional structure of the LMC. The distribution of the LMC RR Lyrae stars is ellipsoidal with the three axis $S_1$=6.5 kpc, $S_2$=4.6 kpc and $S_3$=3.7 kpc, inclination i=$22\pm4^{\circ }$ relative to the plane of the sky and position angle of the line of nodes $\theta=167\pm7^{\circ }$ (measured from north to east). The north-eastern part of the ellipsoid is closer to us and no particular associated substructures are detected as well as any metallicity gradient., Comment: accepted for publication in MNRAS

We used data from the near-infrared VISTA survey of the Magellanic Cloud system (VMC) to measure proper motions (PMs) of stars within the Small Magellanic Cloud (SMC). The data analysed in this study comprise 26 VMC tiles, covering a total contiguous area on the sky of ~40 deg$^2$. Using multi-epoch observations in the Ks band over time baselines between 13 and 38 months, we calculated absolute PMs with respect to ~130,000 background galaxies. We selected a sample of ~2,160,000 likely SMC member stars to model the centre-of-mass motion of the galaxy. The results found for three different choices of the SMC centre are in good agreement with recent space-based measurements. Using the systemic motion of the SMC, we constructed spatially resolved residual PM maps and analysed for the first time the internal kinematics of the intermediate-age/old and young stellar populations separately. We found outward motions that point either towards a stretching of the galaxy or stripping of its outer regions. Stellar motions towards the North might be related to the "Counter Bridge" behind the SMC. The young populations show larger PMs in the region of the SMC Wing, towards the young Magellanic Bridge. In the older populations, we further detected a coordinated motion of stars away from the SMC in the direction of the Old Bridge as well as a stream towards the SMC., Comment: 20 pages, 20 figures, accepted for publication in MNRAS