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Quasi-periodic eruptions (QPEs) are an extreme X-ray variability phenomenon associated with low-mass supermassive black holes. First discovered in the nucleus of the galaxy GSN 069, they have been so far securely detected in five other galaxies, including RX J1301.9+2747. When detected, the out-of-QPE emission (quiescence) is consistent with the high-energy tail of thermal emission from an accretion disk. We present the X-ray and radio properties of RX J1301.9+2747, both in quiescence and during QPEs. We analyse X-ray data taken during five XMM-Newton observations between 2000 and 2022. The last three observations were taken in coordination with radio observations with the Karl G. Jansky Very Large Array. We also make use of EXOSAT, ROSAT, and Chandra archival observations taken between 1983 and 2009. XMM-Newton detected 34 QPEs of which 8 have significantly lower amplitudes than the others. No correlated radio/X-ray variability was observed during QPEs. In terms of timing properties, the QPEs in RX J1301.9+2747 do not exhibit the striking regularity observed in the discovery source GSN 069. In fact there is no clear repetition pattern between QPEs: the average time separation between their peaks is about four hours, but it can be as short as one, and as long as six hours. The QPE spectral properties of RX J1301.9+2747 as a function of energy are however very similar to those of GSN 069 and of other QPE sources. The quiescent emission of RX J1301.9+2747 is more complex than that of GSN 069, as it requires a soft X-ray excess-like component in addition to the thermal emission from the accretion disk. Its long-term X-ray quiescent flux variations are of low-amplitude and not strictly monotonic, with a general decay over $\sim 22$ years. We discuss our observational results in terms of some of the ideas and models that have been proposed so far for the physical origin of QPEs., Comment: Accepted for publication in Astronomy & Astrophysics. 22 pages and 17 figures in the main text; 11 pages, 5 tables, and 4 figures in the Appendix. Abstract shortened to comply with arXiv requirements

We present the first X-ray polarization measurements of GX 339-4. IXPE observed this source twice during its 2023-2024 outburst, once in the soft-intermediate state and again during a soft state. The observation taken during the intermediate state shows significant ($4\sigma$) polarization degree P = $1.3\% \pm 0.3\%$ and polarization angle $\theta$ = -74\degree $\pm$ 7\degree only in the 3 - 8 keV band. FORS2 at VLT observed the source simultaneously detecting optical polarization in the B, V, R, I bands (between $0.1%$ and $0.7\%$), all roughly aligned with the X-ray polarization. We also detect a discrete jet knot from radio observations taken later in time; this knot would have been ejected from the system around the same time as the hard-to-soft X-ray state transition and a bright radio flare occurred $\sim$3 months earlier. The proper motion of the jet knot provides a direct measurement of the jet orientation angle on the plane of the sky at the time of the ejection. We find that both the X-ray and optical polarization angles are aligned with the direction of the ballistic jet., Comment: Submitted to ApJ

We report on two epochs of simultaneous near-infrared (IR) and X-ray observations with a sub-second time resolution of the low mass X-ray binary black hole candidate Swift J1753.5--0127 during its long 2005--2016 outburst. Data were collected strictly simultaneously with VLT/ISAAC (K$_{S}$ band, 2.2 $\mu m$) and RXTE (2-15 keV) or \textit{XMM-Newton} (0.7-10 keV). A clear correlation between the X-ray and the IR variable emission is found during both epochs but with very different properties. In the first epoch, the near-IR variability leads the X-ray by $ \sim 130 \, ms$. This is the opposite of what is usually observed in similar systems. The correlation is more complex in the second epoch, with both anti-correlation and correlations at negative and positive lags. Frequency-resolved Fourier analysis allows us to identify two main components in the complex structure of the phase lags: the first component, characterised by a few seconds near-IR lag at low frequencies, is consistent with a combination of disc reprocessing and a magnetised hot flow; the second component is identified at high frequencies by a near-IR lag of $\approx$0.7 s. Given the similarities of this second component with the well-known constant optical/near-IR jet lag observed in other black hole transients, we tentatively interpret this feature as a signature of a longer-than-usual jet lag. We discuss the possible implications of measuring such a long jet lag in a radio-quiet black hole transient., Comment: 10 pages, 7 figures, accepted for publication in A&A

We present mid-infrared (MIR) spectral-timing measurements of the prototypical Galactic microquasar GRS 1915+105. The source was observed with the Mid-Infrared Instrument (MIRI) onboard JWST in June 2023 at a MIR luminosity L(MIR)~10^{36} erg/s exceeding past IR levels by about a factor of 10. By contrast, the X-ray flux is much fainter than the historical average, in the source's now-persistent 'obscured' state. The MIRI low-resolution spectrum shows a plethora of emission lines, the strongest of which are consistent with recombination in the hydrogen Pfund (Pf) series and higher. Low amplitude (~1%) but highly significant peak-to-peak photometric variability is found on timescales of ~1,000 s. The brightest Pf(6-5) emission line lags the continuum. Though difficult to constrain accurately, this lag is commensurate with light-travel timescales across the outer accretion disc or with expected recombination timescales inferred from emission line diagnostics. Using the emission line as a bolometric indicator suggests a moderate (~5-30% Eddington) intrinsic accretion rate. Multiwavelength monitoring shows that JWST caught the source close in-time to unprecedentedly bright MIR and radio long-term flaring. Assuming a thermal bremsstrahlung origin for the MIRI continuum suggests an unsustainably high mass-loss rate during this time unless the wind remains bound, though other possible origins cannot be ruled out. PAH features previously detected with Spitzer are now less clear in the MIRI data, arguing for possible destruction of dust in the interim. These results provide a preview of new parameter space for exploring MIR spectral-timing in XRBs and other variable cosmic sources on rapid timescales., Comment: Dedicated to the memory of our colleague, Tomaso Belloni. Submitted 2024 June 21; Comments welcome

Quasi-periodic eruptions (QPEs) are repeated X-ray flares from galactic nuclei. Despite some diversity in the recurrence and amplitude of eruptions, their striking regularity has motivated theorists to associate QPEs with orbital systems. Among the known QPE sources, eRO-QPE2 has shown the most regular flare timing and luminosity since its discovery. We report here on its long-term evolution over $\sim3.3\,$yr from discovery and find that: i) the average QPE recurrence time per epoch has decreased over time, albeit not at a uniform rate; ii) the distinct alternation between consecutive long and short recurrence times found at discovery has not been significant since; iii) the spectral properties, namely flux and temperature of both eruptions and quiescence components, have remained remarkably consistent within uncertainties. We attempted to interpret these results as orbital period and eccentricity decay coupled with orbital and disk precession. However, since gaps between observations are too long, we are not able to distinguish between an evolution dominated by just a decreasing trend, or by large modulations (e.g. due to the precession frequencies at play). In the former case, the observed period decrease is roughly consistent with that of a star losing orbital energy due to hydrodynamic gas drag from disk collisions, although the related eccentricity decay is too fast and additional modulations have to contribute too. In the latter case, no conclusive remarks are possible on the orbital evolution and the nature of the orbiter due to the many effects at play. However, these two cases come with distinctive predictions for future X-ray data: in the former, we expect all future observations to show a shorter recurrence time than the latest epoch, while in the latter we expect some future observations to be found with a larger recurrence, hence an apparent temporary period increase., Comment: Version updated after re-submission to A&A with minor revisions. Appendix B in v1 was moved to the main text

There is an upward trend of deploying distributed energy resource management systems (DERMS) to control modern power grids. However, DERMS controller communication lines are vulnerable to cyberattacks that could potentially impact operational reliability. While a data-driven intrusion detection system (IDS) can potentially thwart attacks during deployment, also known as the evasion attack, the training of the detection algorithm may be corrupted by adversarial data injected into the database, also known as the poisoning attack. In this paper, we propose the first framework of IDS that is robust against joint poisoning and evasion attacks. We formulate the defense mechanism as a bilevel optimization, where the inner and outer levels deal with attacks that occur during training time and testing time, respectively. We verify the robustness of our method on the IEEE-13 bus feeder model against a diverse set of poisoning and evasion attack scenarios. The results indicate that our proposed method outperforms the baseline technique in terms of accuracy, precision, and recall for intrusion detection.

For cyber-physical systems (CPS), including robotics and autonomous vehicles, mass deployment has been hindered by fatal errors that occur when operating in rare events. To replicate rare events such as vehicle crashes, many companies have created logging systems and employed crash reconstruction experts to meticulously recreate these valuable events in simulation. However, in these methods, "what if" questions are not easily formulated and answered. We present ScenarioNL, an AI System for creating scenario programs from natural language. Specifically, we generate these programs from police crash reports. Reports normally contain uncertainty about the exact details of the incidents which we represent through a Probabilistic Programming Language (PPL), Scenic. By using Scenic, we can clearly and concisely represent uncertainty and variation over CPS behaviors, properties, and interactions. We demonstrate how commonplace prompting techniques with the best Large Language Models (LLM) are incapable of reasoning about probabilistic scenario programs and generating code for low-resource languages such as Scenic. Our system is comprised of several LLMs chained together with several kinds of prompting strategies, a compiler, and a simulator. We evaluate our system on publicly available autonomous vehicle crash reports in California from the last five years and share insights into how we generate code that is both semantically meaningful and syntactically correct., Comment: 17 pages, 2 figures

In reinforcement learning (RL), exploiting environmental symmetries can significantly enhance efficiency, robustness, and performance. However, ensuring that the deep RL policy and value networks are respectively equivariant and invariant to exploit these symmetries is a substantial challenge. Related works try to design networks that are equivariant and invariant by construction, limiting them to a very restricted library of components, which in turn hampers the expressiveness of the networks. This paper proposes a method to construct equivariant policies and invariant value functions without specialized neural network components, which we term equivariant ensembles. We further add a regularization term for adding inductive bias during training. In a map-based path planning case study, we show how equivariant ensembles and regularization benefit sample efficiency and performance., Comment: Accepted at IROS 2024. A video can be found here: https://youtu.be/L6NOdvU7n7s. The code is available at https://github.com/theilem/uavSim

Swift J1357.2-0933 is a black hole transient of particular interest due to the optical, recurrent dips found during its first two outbursts (in 2011 and 2017), with no obvious X-ray equivalent. We present fast optical photometry during its two most recent outbursts, in 2019 and 2021. Our observations reveal that the optical dips were present in every observed outburst of the source, although they were shallower and showed longer recurrence periods in the two most recent and fainter events. We perform a global study of the dips properties in the four outbursts, and find that they do not follow a common temporal evolution. In addition, we discover a correlation with the X-ray and optical fluxes, with dips being more profound and showing shorter recurrence periods for brighter stages. This trend seems to extend even to the faintest, quiescent states of the source. Finally, we discuss these results in the context of the possible connection between optical dips and outflows found in previous works., Comment: Accepted for publication in A&A

Among the sample of Galactic transient X-ray binaries (SXTs) discovered to date, about 70 have been proposed as likely candidates to host a black hole. Yet, only 19 have been dynamically confirmed. Such a reliable confirmation requires phase-resolved spectroscopy of their companion stars, which is generally feasible when the system is in a quiescent state. However, since most of the SXT population lies in the galactic plane, which is strongly affected by interstellar extinction, their optical brightness during quiescence usually falls beyond the capabilities of the current instrumentation ($R\gtrsim22$). To overcome these limitations and thereby increase the number of confirmed Galactic black holes, a correlation between the full-width at half maximum (FWHM) of the H$\alpha$ line and the semi-amplitude of the donor's radial velocity curve ($K_2$) was presented in the past. Here, we extend the FWHM-$K_2$ correlation to the near-infrared (NIR), exploiting disc lines such as He I $\lambda$10830, Pa$\gamma$, and Br$\gamma$, in a sample of dynamically confirmed black-hole SXTs. We obtain $K_2 = 0.22(3) ~\textrm{FWHM}$, in good agreement with the optical correlation derived using H$\alpha$. The similarity of the two correlations seems to imply that the widths of H$\alpha$ and the NIR lines are consistent in quiescence. When combined with information on orbital periods, the NIR correlation allows us to constrain the mass of the compact object of systems in quiescence by using single-epoch spectroscopy. We anticipate that this new correlation will give access to highly reddened black-hole SXTs, which cannot be otherwise studied at optical wavelengths., Comment: Accepted for publication in A&A Letters

The evolution of accreting X-ray binary systems is closely coupled to the properties of their donor stars. As a result, we can constrain the evolutionary track a system is by establishing the nature of its donor. Here, we present far-UV spectroscopy of the transient neutron-star low-mass X-ray binary Swift J1858 in three different accretion states (low-hard, high-hard and soft). All of these spectra exhibit anomalous N\,{\sc v}, C\,{\sc iv}, Si\,{\sc iv} and He\,{\sc ii} lines, suggesting that its donor star has undergone CNO processing. We also determine the donor's effective temperature, $T_{d} \simeq 5700$~K, and radius, $R_d \simeq 1.7~R_{\odot}$, based on photometric observations obtained during quiescence. Lastly, we leverage the transient nature of the system to set an upper limit of $\dot{M}_{\rm acc} \lesssim 10^{-8.5}~M_{\odot}~yr^{-1}$ on the present-day mass-transfer rate. Combining all these with the orbital period of the system, $P_{\rm orb} = 21.3$~hrs, we search for viable evolution paths. The initial donor masses in the allowed solutions span the range $1~M_{\odot} \lesssim M_{d,i} \lesssim 3.5~M_{\odot}$. All but the lowest masses in this range are consistent with the strong CNO-processing signature in the UV line ratios. The present-day donor mass in the permitted tracks are $0.5~M_{\odot}\lesssim M_{d,obs} \lesssim 1.3~M_{\odot}$, higher than suggested by recent eclipse modelling. Since $P_{\rm orb}$ is close to the so-called bifurcation period, both converging and diverging binary tracks are permitted. If Swift J1858 is on a converging track, it will end its life as an ultra-compact system with a sub-stellar donor star., Comment: Accepted for publication in MNRAS

We present the algebra of assume-guarantee (AG) contracts. We define contracts, provide new as well as known operations, and show how these operations are related. Contracts are functorial: any Boolean algebra has an associated contract algebra. We study monoid and semiring structures in contract algebra -- and the mappings between such structures. We discuss the actions of a Boolean algebra on its contract algebra.

Accreting white dwarfs are known to show signatures of wind-type outflows in the ultraviolet. At optical wavelengths, however, wind detections have only been reported for a few sources. We present GTC-10.4m optical spectroscopy of four accreting white dwarfs (BZ Cam, V751 Cyg, MV Lyr, and V425 Cas) observed during luminous epochs, when their optical emission is expected to be dominated by the accretion disc. We focused the analysis on four emission lines: H$\alpha$ and He I $\lambda$5876, $\lambda$6678, $\lambda$7065. Line profiles are complex and variable on short (minutes) and long (days to weeks) time scales, with transient absorption and emission components. Among them, we detect strong blue-shifted absorptions at $\gtrsim 1000$ km s$^{-1}$. These high-velocity components, present only in the blue wing of the emission lines, are observed in all four sources and could be associated with accretion disc winds. For MV Lyr and V425 Cas, these would represent the first detection of optical outflows in these objects, while in the case of BZ Cam and V751 Cyg, the presence of outflows has been previously reported. This study suggests that, in addition to ultraviolet winds, optical outflows might be also common in accreting white dwarfs. We discuss the observational properties of these winds and their possible similarity to those detected in accreting black holes and neutrons stars., Comment: Accepted for publication in A&A

Coverage path planning (CPP) is a critical problem in robotics, where the goal is to find an efficient path that covers every point in an area of interest. This work addresses the power-constrained CPP problem with recharge for battery-limited unmanned aerial vehicles (UAVs). In this problem, a notable challenge emerges from integrating recharge journeys into the overall coverage strategy, highlighting the intricate task of making strategic, long-term decisions. We propose a novel proximal policy optimization (PPO)-based deep reinforcement learning (DRL) approach with map-based observations, utilizing action masking and discount factor scheduling to optimize coverage trajectories over the entire mission horizon. We further provide the agent with a position history to handle emergent state loops caused by the recharge capability. Our approach outperforms a baseline heuristic, generalizes to different target zones and maps, with limited generalization to unseen maps. We offer valuable insights into DRL algorithm design for long-horizon problems and provide a publicly available software framework for the CPP problem., Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

We report on the first simultaneous high-time resolution X-ray and infrared (IR) observations of a neutron star low mass X-ray binary in its hard state. We performed $\approx 2\,$h of simultaneous observations of 4U 1728-34 using HAWK-I@VLT, XMM-Newton and NuSTAR. The source displayed significant X-ray and IR variability down to sub-second timescales. By measuring the cross-correlation function between the infrared and X-ray lightcurves, we discovered a significant correlation with an infrared lead of $\approx 30-40\,$ms with respect to the X-rays. We analysed the X-ray energy dependence of the lag, finding a marginal increase towards higher energies. Given the sign of the lag, we interpret this as possible evidence of Comptonization from external seed photons. We discuss the origin of the IR seed photons in terms of cyclo-synchrotron radiation from an extended hot flow. Finally, we also observed the IR counterpart of a type-I X-ray burst, with a delay of $\approx7.2\,$s. Although some additional effects may be at play, by assuming that this lag is due to light travel time between the central object and the companion star, we find that 4U 1728-34 must have an orbital period longer than $3\,$h and an inclination higher than 8$^\circ$., Comment: Accepted for publication in MNRAS, 11 pages 7 figures

A chiplet is an integrated circuit that encompasses a well-defined subset of an overall system's functionality. In contrast to traditional monolithic system-on-chips (SoCs), chiplet-based architecture can reduce costs and increase reusability, representing a promising avenue for continuing Moore's Law. Despite the advantages of multi-chiplet architectures, floorplan design in a chiplet-based architecture has received limited attention. Conflicts between cost and performance necessitate a trade-off in chiplet floorplan design since additional latency introduced by advanced packaging can decrease performance. Consequently, balancing power, performance, cost, area, and reliability is of paramount importance. To address this challenge, we propose Floorplet, a framework comprising simulation tools for performance reporting and comprehensive models for cost and reliability optimization. Our framework employs the open-source Gem5 simulator to establish the relationship between performance and floorplan for the first time, guiding the floorplan optimization of multi-chiplet architecture. The experimental results show that our framework decreases inter-chiplet communication costs by 24.81%., Comment: accepted by TCAD, 12 pages, 10 figures

Deep neural networks (DNNs) are vulnerable to backdoor attack, which does not affect the network's performance on clean data but would manipulate the network behavior once a trigger pattern is added. Existing defense methods have greatly reduced attack success rate, but their prediction accuracy on clean data still lags behind a clean model by a large margin. Inspired by the stealthiness and effectiveness of backdoor attack, we propose a simple but highly effective defense framework which injects non-adversarial backdoors targeting poisoned samples. Following the general steps in backdoor attack, we detect a small set of suspected samples and then apply a poisoning strategy to them. The non-adversarial backdoor, once triggered, suppresses the attacker's backdoor on poisoned data, but has limited influence on clean data. The defense can be carried out during data preprocessing, without any modification to the standard end-to-end training pipeline. We conduct extensive experiments on multiple benchmarks with different architectures and representative attacks. Results demonstrate that our method achieves state-of-the-art defense effectiveness with by far the lowest performance drop on clean data. Considering the surprising defense ability displayed by our framework, we call for more attention to utilizing backdoor for backdoor defense. Code is available at https://github.com/damianliumin/non-adversarial_backdoor., Comment: Accepted to ICCV 2023

We present a major new version of Scenic, a probabilistic programming language for writing formal models of the environments of cyber-physical systems. Scenic has been successfully used for the design and analysis of CPS in a variety of domains, but earlier versions are limited to environments which are essentially two-dimensional. In this paper, we extend Scenic with native support for 3D geometry, introducing new syntax which provides expressive ways to describe 3D configurations while preserving the simplicity and readability of the language. We replace Scenic's simplistic representation of objects as boxes with precise modeling of complex shapes, including a ray tracing-based visibility system that accounts for object occlusion. We also extend the language to support arbitrary temporal requirements expressed in LTL, and build an extensible Scenic parser generated from a formal grammar of the language. Finally, we illustrate the new application domains these features enable with case studies that would have been impossible to accurately model in Scenic 2., Comment: 13 pages, 6 figures. Full version of a CAV 2023 tool paper, to appear in the Springer Lecture Notes in Computer Science series

Deriving system-level specifications from component specifications usually involves the elimination of variables that are not part of the interface of the top-level system. This paper presents algorithms for eliminating variables from formulas by computing refinements or relaxations of these formulas in a context. We discuss a connection between this problem and optimization and give efficient algorithms to compute refinements and relaxations of linear inequality constraints.

Transitional millisecond pulsars are an emerging class of sources that link low-mass X-ray binaries to millisecond radio pulsars in binary systems. These pulsars alternate between a radio pulsar state and an active low-luminosity X-ray disc state. During the active state, these sources exhibit two distinct emission modes (high and low) that alternate unpredictably, abruptly, and incessantly. X-ray to optical pulsations are observed only during the high mode. The root cause of this puzzling behaviour remains elusive. This paper presents the results of the most extensive multi-wavelength campaign ever conducted on the transitional pulsar prototype, PSR J1023+0038, covering from the radio to X-rays. The campaign was carried out over two nights in June 2021 and involved 12 different telescopes and instruments, including XMM-Newton, HST, VLT/FORS2 (in polarimetric mode), ALMA, VLA, and FAST. By modelling the broadband spectral energy distributions in both emission modes, we show that the mode switches are caused by changes in the innermost region of the accretion disc. These changes trigger the emission of discrete mass ejections, which occur on top of a compact jet, as testified by the detection of at least one short-duration millimetre flare with ALMA at the high-to-low mode switch. The pulsar is subsequently re-enshrouded, completing our picture of the mode switches., Comment: 25 pages, 12 figures, 9 tables. Accepted for publication on Astronomy and Astrophysics

Design automation, which involves the use of software tools and technologies to streamline the design process, has been widely adopted in the electronics industry, resulting in significant advancements in product development and manufacturing. However, building design, which involves the creation of complex structures and systems, has traditionally lagged behind in leveraging design automation technologies. Despite extensive research on design automation in the building industry, its application in the current design of buildings is limited. This paper aims to (1) compare the design processes between electronics and building design, (2) highlight similarities and differences in their approaches, and (3) examine challenges and opportunities associated with bringing the concept of design automation from electronics to building design.

Contract-based design is a method to facilitate modular system design. While there has been substantial progress on the theory of contracts, there has been less progress on scalable algorithms for the algebraic operations in this theory. In this paper, we present: 1) principles to implement a contract-based design tool at scale and 2) Pacti, a tool that can efficiently compute these operations. We then illustrate the use of Pacti in a variety of case studies.

We present simultaneous optical and near-infrared spectra obtained during the 2021 outburst of the black hole transient 4U 1543-47. The X-ray hardness-intensity diagram and the comparison with similar systems reveal a luminous outburst, probably reaching the Eddington luminosity, as well as a long-lasting excursion to the so-called ultra-luminous state. VLT/X-shooter spectra were taken in two epochs 14 days apart during the early and brightest part of the outburst, while the source was in this ultra-luminous accretion state. The data show strong H and HeI emission lines, as well as high-excitation HeII and OIII transitions. Most lines are single-peaked in both spectra, except for the OIII lines that exhibit evident double-peaked profiles during the second epoch. The Balmer lines are embedded in broad absorption wings that we believe are mainly produced by the contribution of the A2V donor to the optical flux, which we estimate to be in the range of 11 to 14 per cent in the $r$ band during our observations. Although no conspicuous outflow features are found, we observe some wind-related line profiles, particularly in the near-infrared. Such lines include broad emission line wings and skewed red profiles, suggesting the presence of a cold (i.e. low ionisation) outflow with similar observational properties to those found in other low-inclination black hole transients., Comment: Accepted for publication in A&A

We present observations from X-ray to mid-infrared wavelengths of the most energetic non-quasar transient ever observed, AT2021lwx. Our data show a single optical brightening by a factor $>100$ to a luminosity of $7\times10^{45}$ erg s$^{-1}$, and a total radiated energy of $1.5\times10^{53}$ erg, both greater than any known optical transient. The decline is smooth and exponential and the ultra-violet - optical spectral energy distribution resembles a black body with temperature $1.2\times10^4$ K. Tentative X-ray detections indicate a secondary mode of emission, while a delayed mid-infrared flare points to the presence of dust surrounding the transient. The spectra are similar to recently discovered optical flares in known active galactic nuclei but lack some characteristic features. The lack of emission for the previous seven years is inconsistent with the short-term, stochastic variability observed in quasars, while the extreme luminosity and long timescale of the transient disfavour the disruption of a single solar-mass star. The luminosity could be generated by the disruption of a much more massive star, but the likelihood of such an event occurring is small. A plausible scenario is the accretion of a giant molecular cloud by a dormant black hole of $10^8 - 10^9$ solar masses. AT2021lwx thus represents an extreme extension of the known scenarios of black hole accretion., Comment: 11 pages, 5 figures, Accepted for publication in MNRAS

Accretion disks around compact objects are expected to enter an unstable phase at high luminosity. One instability may occur when the radiation pressure generated by accretion modifies the disk viscosity, resulting in the cyclic depletion and refilling of the inner disk on short timescales. Such a scenario, however, has only been quantitatively verified for a single stellar-mass black hole. Although there are hints of these cycles in a few isolated cases, their apparent absence in the variable emission of most bright accreting neutron stars and black holes has been a lingering puzzle. Here we report the presence of the same multiwavelength instability around an accreting neutron star. Moreover, we show that the variability across the electromagnetic spectrum-from radio to X-ray-of both black holes and neutron stars at high accretion rates can be explained consistently if the accretion disks are unstable, producing relativistic ejections during transitions that deplete or refill the inner disk. Such new association allows us to identify the main physical components responsible for the fast multiwavelength variability of highly accreting compact objects., Comment: Published in Nature. 26 pages, 10 figures. DOI: 10.1038/s41586-022-05648-3

We propose a context-sensitive grammar for the systematic exploration of the design space of the topology of 3D robots, particularly unmanned aerial vehicles. It defines production rules for adding components to an incomplete design topology modeled over a 3D grid. The rules are local. The grammar is simple, yet capable of modeling most existing UAVs as well as novel ones. It can be easily generalized to other robotic platforms. It can be thought of as a building block for any design exploration and optimization algorithm.

We present the results regarding the analysis of an intensive monitoring of the Active Galactic Nucleus (AGN) NGC 7469. We observed the source for 4 months with almost daily cadence in the ugriz bands, using the IO:O on the Liverpool Telescope. We measured the lags with respect to the u band and found a clear change of the lag spectrum between the first and the second half of the campaign. Given that the source varies on different timescales during these two segments, it is likely that different components are dominating the variability at different times. This result further confirms that reverberation models require a more complex geometry than a static illuminating point source and that particular attention has to be given in the interpretation of these delays., Comment: Published in Astronomische Nachrichten. 5 pages 2 figures

Modern cyber-physical systems are becoming increasingly complex to model, thus motivating data-driven techniques such as reinforcement learning (RL) to find appropriate control agents. However, most systems are subject to hard constraints such as safety or operational bounds. Typically, to learn to satisfy these constraints, the agent must violate them systematically, which is computationally prohibitive in most systems. Recent efforts aim to utilize feasibility models that assess whether a proposed action is feasible to avoid applying the agent's infeasible action proposals to the system. However, these efforts focus on guaranteeing constraint satisfaction rather than the agent's learning efficiency. To improve the learning process, we introduce action mapping, a novel approach that divides the learning process into two steps: first learn feasibility and subsequently, the objective by mapping actions into the sets of feasible actions. This paper focuses on the feasibility part by learning to generate all feasible actions through self-supervised querying of the feasibility model. We train the agent by formulating the problem as a distribution matching problem and deriving gradient estimators for different divergences. Through an illustrative example, a robotic path planning scenario, and a robotic grasping simulation, we demonstrate the agent's proficiency in generating actions across disconnected feasible action sets. By addressing the feasibility step, this paper makes it possible to focus future work on the objective part of action mapping, paving the way for an RL framework that is both safe and efficient.

We present fast (~200s sampling) ugriz photometry of the low mass AGN NGC 4395 with the Liverpool Telescope, followed by very fast (3s sampling) us, gs, rs, is and zs simultaneous monitoring with HiPERCAM on the 10.4m GTC. These observations provide the fastest ever AGN multiband photometry and very precise lag measurements. Unlike in all other AGN, gs lags us by a large amount, consistent with disc reprocessing but not with reprocessing in the Broad Line Region (BLR). There is very little increase in lag with wavelength at long wavelengths, indicating an outer edge (Rout) to the reprocessor. We have compared truncated disc reprocessing models to the combined HiPERCAM and previous X-ray/UV lags. For the normally accepted mass of 3.6E5 solar, we obtain reasonable agreement with zero spin, Rout ~1700 Rg, and the DONE physically-motivated temperature-dependent disc colour correction factor (fcol). A smaller mass of 4E4 solar can only be accomodated if fcol=2.4, which is probably unrealistically high. Disc self gravity is probably unimportant in this low mass AGN but an obscuring wind may provide an edge. For the small mass the dust sublimation radius is similar to Rout, so the wind could be dusty. However for the more likely large mass the sublimation radius is further out so the optically-thick base of a line-driven gaseous wind is more likely. The inner edge of the BLR is close to Rout in both cases. These observations provide the first good evidence for a truncated AGN disc and caution that truncation should be included in reverberation lag modelling., Comment: 19 pages, 27 figures

We address the problem of modeling, refining, and repairing formal specifications for robotic missions using assume-guarantee contracts. We show how to model mission specifications at various levels of abstraction and implement them using a library of pre-implemented specifications. Suppose the specification cannot be met using components from the library. In that case, we compute a proxy for the best approximation to the specification that can be generated using elements from the library. Afterward, we propose a systematic way to either 1) search for and refine the `missing part' of the specification that the library cannot meet or 2) repair the current specification such that the existing library can refine it. Our methodology for searching and repairing mission requirements leverages the quotient, separation, composition, and merging operations between contracts.

Quasi-periodic eruptions (QPEs) are recurrent X-ray bursts found so far in the nuclei of low-mass galaxies. Their trigger mechanism is still unknown, but recent models involving one or two stellar-mass companions around the central massive ($\approx10^5-10^6$ solar masses) black hole have gathered significant attention. While these have been compared only qualitatively with observations, the phenomenology of QPEs is developing at a fast pace, with the potential to reveal new insights. Here we report two new observational results found in eRO-QPE1, the brightest QPE source discovered so far: i) the eruptions in eRO-QPE1 occur sometimes as single isolated bursts, and at others as chaotic mixtures of multiple overlapping bursts with very different amplitudes; ii) we confirm that QPEs peak at later times and are broader at lower energies, with respect to higher energies while, for the first time, we find that QPEs also start earlier at lower energies. Furthermore, eruptions appear to undergo an anti-clockwise hysteresis cycle in a plane of hardness ratio versus total count rate. Behavior i) was not found before in any other QPE source and implies that if a common trigger mechanism is in place for all QPEs, it must be able to produce both types of timing properties, regular and complex. Result ii) implies that the X-ray emitting component does not have an achromatic evolution even during the start of QPEs, and that the rise is harder than the decay at a given total count rate. This specific energy dependence could be qualitatively compatible with inward radial propagation during the rise within a compact accretion flow, the presence of which is suggested by the stable quiescence spectrum observed in general for QPE sources., Comment: 11 pages. Accepted for publication in A&A

All disc-accreting astrophysical objects produce powerful outflows. In binaries containing neutron stars (NS) or black holes, accretion often takes place during violent outbursts. The main disc wind signatures during these eruptions are blue-shifted X-ray absorption lines, which are preferentially seen in disc-dominated "soft states". By contrast,optical wind-formed lines have recently been detected in "hard states", when a hot corona dominates the luminosity. The relationship between these signatures is unknown, and no erupting system has revealed wind-formed lines between the X-ray and optical bands yet, despite the many strong resonance transitions in this ultraviolet (UV) region. Here, we show that the transient NS binary Swift J1858.6-0814 exhibits wind-formed, blue-shifted absorption associated with C IV, N V and He II in time-resolved UV spectroscopy during a luminous hard state. This represents the first evidence for a warm, moderately ionized outflow component in this state. Simultaneously observed optical lines also display transient blue-shifted absorption. Decomposing the UV data into constant and variable components, the blue-shifted absorption is associated with the former. This implies that the outflow is not connect to the luminous flares in the data. The joint presence of UV and optical wind features reveals a multi-phase and/or stratified outflow from the outer disc. This type of persistent mass loss across all accretion states has been predicted by radiation-hydrodynamic simulations and helps to explain the shorter-than-expected outbursts duration., Comment: Published in Nature. Submitted: 9 July 2021

We have measured the wavelength-dependent lags between the X-ray, UV and optical bands in the high accretion rate ($L/L_{\rm Edd}\approx40\%$) Active Galactic Nucleus Mrk 110 during two intensive monitoring campaigns in February and September 2019. We divide the observations into three intervals with different X-ray luminosities. The first interval, already published in Vincentelli et al. (2021), has the lowest X-ray luminosity and did not exhibit the U-band excess positive lag, or the X-ray excess negative lag that is seen in most AGN. However, these excess lags are seen in the two subsequent intervals of higher X-ray luminosity. Although the data are limited, the excess lags appear to scale with X-ray luminosity. Our modelling shows that lags expected from reprocessing of X-rays by the accretion disc vary hardly at all with increasing luminosity. Therefore, as the U-band excess almost certainly arises from Balmer continuum emission from the broad line region (BLR), we attribute these lag changes to changes in the contribution from the BLR. The change is easily explained by the usual increase in the inner radius of the BLR with increasing ionising luminosity., Comment: 6 pages, 4 figures. Accepted for publication in MNRAS Letters

Simulation-based testing of autonomous vehicles (AVs) has become an essential complement to road testing to ensure safety. Consequently, substantial research has focused on searching for failure scenarios in simulation. However, a fundamental question remains: are AV failure scenarios identified in simulation meaningful in reality, i.e., are they reproducible on the real system? Due to the sim-to-real gap arising from discrepancies between simulated and real sensor data, a failure scenario identified in simulation can be either a spurious artifact of the synthetic sensor data or an actual failure that persists with real sensor data. An approach to validate simulated failure scenarios is to identify instances of the scenario in a corpus of real data, and check if the failure persists on the real data. To this end, we propose a formal definition of what it means for a labelled data item to match an abstract scenario, encoded as a scenario program using the SCENIC probabilistic programming language. Using this definition, we develop a querying algorithm which, given a scenario program and a labelled dataset, finds the subset of data matching the scenario. Experiments demonstrate that our algorithm is accurate and efficient on a variety of realistic traffic scenarios, and scales to a reasonable number of agents., Comment: pre-print

The origin of radio emission in the majority of Active Galactic Nuclei (AGN) is still poorly understood. Various competing mechanisms are likely involved in the production of radio emission and precise diagnostic tools are needed to disentangle them, of which variability is among the most powerful. For the first time, we show evidence for significant radio variability at 5 GHz at milli-arcsecond scales on days to weeks time scales in the highly accreting and extremely radio-quiet (RQ) Narrow Line Seyfert 1 (NLSy1) Mrk110. The simultaneous Swift/XRT light curve indicates stronger soft than hard X-ray variability. The short-term radio variability suggests that the GHz emitting region has a size smaller than ~180 Schwarzschild radii. The high brightness temperature and the radio and X-ray variability rule out a star-formation and a disc wind origin. Synchrotron emission from a low-power jet and/or an outflowing corona is then favoured., Comment: 7 pages, 2 figures, MNRAS, Volume 510, Issue 1, pp.718-724 - Improved version of fig. 1