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The study of van der Waals heterostructures with an interlayer twist, known as "twistronics", has been instrumental in advancing contemporary condensed matter research. Most importantly, it has underpinned the emergence of a multitude of strongly-correlated phases, many of which derive from the topology of the physical system. Here, we explore the application of the twistronics paradigm in plasmonic systems with nontrivial topology, by creating a moir\'e skyrmion superlattice using two superimposed plasmonic skyrmion lattices, twisted at a "magic" angle. The complex electric field distribution of the moir\'e skyrmion superlattice is measured using time-resolved vector microscopy, revealing that each super-cell possesses very large topological invariants and harbors a "skyrmion bag", the size of which is controllable by the twist angle and center of rotation. Our work shows how twistronics leads to a diversity of topological features in optical fields, providing a new route to locally manipulate electromagnetic field distributions, which is crucial for future structured light-matter interaction.

We introduce a new identification strategy for uncertainty shocks to explain macroeconomic volatility in financial markets. The Chicago Board Options Exchange Volatility Index (VIX) measures market expectations of future volatility, but traditional methods based on second-moment shocks and time-varying volatility of the VIX often fail to capture the non-Gaussian, heavy-tailed nature of asset returns. To address this, we construct a revised VIX by fitting a double-subordinated Normal Inverse Gaussian Levy process to S&P 500 option prices, providing a more comprehensive measure of volatility that reflects the extreme movements and heavy tails observed in financial data. Using an axiomatic approach, we introduce a general family of risk-reward ratios, computed with our revised VIX and fitted over a fractional time series to more accurately identify uncertainty shocks in financial markets.

We measure the growth of cosmic density fluctuations on large scales and across the redshift range $0.3

The kinematic Sunyaev--Zel'dovich (kSZ) effect induces a non-zero density-density-temperature bispectrum, which we can use to reconstruct the large-scale velocity field from a combination of cosmic microwave background (CMB) and galaxy density measurements, in a procedure known as ``kSZ velocity reconstruction''. This method has been forecast to constrain large-scale modes with future galaxy and CMB surveys, improving their measurement beyond what is possible with the galaxy surveys alone. Such measurements will enable tighter constraints on large-scale signals such as primordial non-Gaussianity, deviations from homogeneity, and modified gravity. In this work, we demonstrate a statistically significant measurement of kSZ velocity reconstruction for the first time, by applying quadratic estimators to the combination of the ACT DR6 CMB+kSZ map and the DESI LRG galaxies (with photometric redshifts) in order to reconstruct the velocity field. We do so using a formalism appropriate for the 2-dimensional projected galaxy fields that we use, which naturally incorporates the curved-sky effects important on the largest scales. We find evidence for the signal by cross-correlating with an external estimate of the velocity field from the spectroscopic BOSS survey and rejecting the null (no-kSZ) hypothesis at $3.8\sigma$. Our work presents a first step towards the use of this observable for cosmological analyses., Comment: 16 pages (main)+5 pages (Appendix); 13 figures (main) + 8 figures (appendix)

Large Language Models have advanced clinical Natural Language Generation, creating opportunities to manage the volume of medical text. However, the high-stakes nature of medicine requires reliable evaluation, which remains a challenge. In this narrative review, we assess the current evaluation state for clinical summarization tasks and propose future directions to address the resource constraints of expert human evaluation.

We present a joint analysis of the CMB lensing power spectra measured from the Data Release 6 of the Atacama Cosmology Telescope and Planck PR4, cross-correlations between the ACT and Planck lensing reconstruction and galaxy clustering from unWISE, and the unWISE clustering auto-spectrum. We obtain 1.5% constraints on the matter density fluctuations at late times parametrised by the best constrained parameter combination $S_8^{\rm 3x2pt}\equiv\sigma_8 (\Omega_m/0.3)^{0.4}=0.815\pm0.012$. The commonly used $S_8\equiv\sigma_8 (\Omega_m/0.3)^{0.5}$ parameter is constrained to $S_8=0.816\pm0.015$. In combination with baryon acoustic oscillation (BAO) measurements we find $\sigma_8=0.815\pm 0.012$. We also present sound-horizon-independent estimates of the present day Hubble rate of $H_0=66.4^{+3.2}_{-3.7} \,\mathrm{km}\,\mathrm{s}^{-1}\mathrm{Mpc}^{-1}$ from our large scale structure data alone and $H_0=64.3^{+2.1}_{-2.4}\,\mathrm{km}\,\mathrm{s}^{-1}\mathrm{Mpc}^{-1}$ in combination with uncalibrated supernovae from Pantheon+. Using parametric estimates of the evolution of matter density fluctuations, we place constraints on cosmic structure in a range of high redshifts typically inaccessible with cross-correlation analyses. Combining lensing cross- and auto-correlations, we derive a 3.3% constraint on the integrated matter density fluctuations above $z=2.4$, one of the tightest constraints in this redshift range and fully consistent with a $\Lambda$CDM model fit to the primary CMB from Planck. Combining with primary CMB observations and using the extended low redshift coverage of these combined data sets we derive constraints on a variety of extensions to the $\Lambda$CDM model including massive neutrinos, spatial curvature, and dark energy. We find in flat $\Lambda$CDM $\sum m_\nu<0.12$ eV at 95% confidence using the LSS data, BAO measurements from SDSS and primary CMB observations., Comment: 30 pages, 15 figures, to be submitted to PRD, comments welcome

The cores of stars are the cosmic furnaces where light elements are fused into heavier nuclei. The fusion of hydrogen to helium initially powers all stars. The ashes of the fusion reactions are then predicted to serve as fuel in a series of stages, eventually transforming massive stars into a structure of concentric shells. These are composed of natal hydrogen on the outside, and consecutively heavier compositions inside, predicted to be dominated by helium, carbon/oxygen, oxygen/neon/magnesium, and oxygen/silicon/sulphur. Silicon and sulphur are fused into inert iron, leading to the collapse of the core and either a supernova explosion or the direct formation of a black hole. Stripped stars, where the outer hydrogen layer has been removed and the internal He-rich layer (in Wolf-Rayet WN stars) or even the C/O layer below it (in Wolf-Rayet WC/WO stars) are exposed, provide evidence for this shell structure, and the cosmic element production mechanism it reflects. The types of supernova explosions that arise from stripped stars embedded in shells of circumstellar material (most notably Type Ibn supernovae from stars with outer He layers, and Type Icn supernovae from stars with outer C/O layers) confirm this scenario. However, direct evidence for the most interior shells, which are responsible for the production of elements heavier than oxygen, is lacking. Here, we report the discovery of the first-of-its-kind supernova arising from a star peculiarly stripped all the way to the silicon and sulphur-rich internal layer. Whereas the concentric shell structure of massive stars is not under debate, it is the first time that such a thick, massive silicon and sulphur-rich shell, expelled by the progenitor shortly before the SN explosion, has been directly revealed., Comment: 48 pages, 12 figures and 10 tables. Submitted to a high-impact journal. The reduced spectra and photometry will be made available via the journal webpage and the WISeREP archive after the acceptance of the paper

In this paper, we introduce a temporal logic-based safety filter for Autonomous Intersection Management (AIM), an emerging infrastructure technology for connected vehicles to coordinate traffic flow through intersections. Despite substantial work on AIM systems, the balance between intersection safety and efficiency persists as a significant challenge. Building on recent developments in formal methods that now have become computationally feasible for AIM applications, we introduce an approach that starts with a temporal logic specification for the intersection and then uses reachability analysis to compute safe time-state corridors for the connected vehicles that pass through the intersection. By analyzing these corridors, in contrast to single trajectories, we can make explicit design decisions regarding safety-efficiency trade-offs while taking each vehicle's decision uncertainty into account. Additionally, we compute safe driving limits to ensure that vehicles remain within their designated safe corridors. Combining these elements, we develop a service that provides safety filters for AIM coordination of connected vehicles. We evaluate the practical feasibility of our safety framework using a simulated 4-way intersection, showing that our approach performs in real-time for multiple scenarios., Comment: To be published in 27th IEEE International Conference on Intelligent Transportation Systems

We study a magnitude-limited sample of 36 Broad-lined Type Ic Supernovae (SNe Ic-BL) from the Zwicky Transient Facility Bright Transient Survey (detected between March 2018 and August 2021), which is the largest systematic study of SNe Ic-BL done in literature thus far. We present the light curves (LCs) for each of the SNe, and analyze the shape of the LCs to derive empirical parameters, along with the explosion epochs for every event. The sample has an average absolute peak magnitude in the r band of $M_r^{max}$ = -18.51 $\pm$ 0.15 mag. Using spectra obtained around peak light, we compute expansion velocities from the Fe II 5169 Angstrom line for each event with high enough signal-to-noise ratio spectra, and find an average value of $v_{ph}$ = 16,100 $\pm$ 1,100 km $s^{-1}$. We also compute bolometric LCs, study the blackbody temperature and radii evolution over time, and derive the explosion properties of the SNe. The explosion properties of the sample have average values of $M_{Ni}$ = $0.37_{-0.06}^{+0.08}$ solar masses, $M_{ej}$ = $2.45_{-0.41}^{+0.47}$ solar masses, and $E_K$= $4.02_{-1.00}^{+1.37} \times 10^{51}$ erg. Thirteen events have radio observations from the Very Large Array, with 8 detections and 5 non-detections. We find that the populations that have radio detections and radio non-detections are indistinct from one another with respect to their optically-inferred explosion properties, and there are no statistically significant correlations present between the events' radio luminosities and optically-inferred explosion properties. This provides evidence that the explosion properties derived from optical data alone cannot give inferences about the radio properties of SNe Ic-BL, and likely their relativistic jet formation mechanisms., Comment: 52 pages, 34 Figures, 8 Tables; Accepted to ApJ

Measurements of Higgs boson processes by the ATLAS and CMS experiments at the LHC use Simplified Template Cross Sections (STXS) as a common framework for the combination of measurements in different decay channels and their further interpretation, e.g. to measure Higgs couplings. The different Higgs production processes are measured in predefined kinematic regions -- the STXS bins -- requiring precise theory predictions for each individual bin. In gluon-fusion Higgs production a main division is into 0-jet, 1-jet, and $\geq 2$-jet bins, which are further subdivided in bins of the Higgs transverse momentum $p_T^H$. Requiring a fixed number of jets induces logarithms $\ln p_T^{\mathrm{cut}}/Q$ in the cross section where $p_T^{\mathrm{cut}}$ is the jet-$p_T$ threshold and $Q\sim p_T^H\sim m_H$ the hard-interaction scale. These jet-veto logarithms can be resummed to all orders in perturbation theory to achieve the highest possible perturbative precision. We provide state-of-the art predictions for the $p_T^H$ spectrum in exclusive $H+$1-jet production and the corresponding $H+$1-jet STXS bins in the kinematic regime $p_T^{\mathrm{cut}} \ll p_T^H\sim m_H$. We carry out the resummation at NNLL$'$ accuracy, using theory nuisance parameters to account for the few unknown ingredients at this order, and match to full NNLO. We revisit the jet-veto factorization for this process and find that it requires refactorizing the total soft function into a global and soft-collinear contribution in order to fully account for logarithms of the signal jet radius. The leading nonglobal logarithms are also included, though they are numerically small for the region of phenomenological interest., Comment: 52 pages, 13 figures

In this work, we present a transformer-based framework for predicting future pedestrian states based on clustered historical trajectory data. In previous studies, researchers propose enhancing pedestrian trajectory predictions by using manually crafted labels to categorize pedestrian behaviors and intentions. However, these approaches often only capture a limited range of pedestrian behaviors and introduce human bias into the predictions. To alleviate the dependency on manually crafted labels, we utilize a transformer encoder coupled with hierarchical density-based clustering to automatically identify diverse behavior patterns, and use these clusters in data-driven reachability analysis. By using a transformer-based approach, we seek to enhance the representation of pedestrian trajectories and uncover characteristics or features that are subsequently used to group trajectories into different "behavior" clusters. We show that these behavior clusters can be used with data-driven reachability analysis, yielding an end-to-end data-driven approach to predicting the future motion of pedestrians. We train and evaluate our approach on a real pedestrian dataset, showcasing its effectiveness in forecasting pedestrian movements.

We infer the growth of large scale structure over the redshift range $0.4\lesssim z \lesssim 1$ from the cross-correlation of spectroscopically calibrated Luminous Red Galaxies (LRGs) selected from the Dark Energy Spectroscopic Instrument (DESI) legacy imaging survey with CMB lensing maps reconstructed from the latest Planck and ACT data. We adopt a hybrid effective field theory (HEFT) model that robustly regulates the cosmological information obtainable from smaller scales, such that our cosmological constraints are reliably derived from the (predominantly) linear regime. We perform an extensive set of bandpower- and parameter-level systematics checks to ensure the robustness of our results and to characterize the uniformity of the LRG sample. We demonstrate that our results are stable to a wide range of modeling assumptions, finding excellent agreement with a linear theory analysis performed on a restricted range of scales. From a tomographic analysis of the four LRG photometric redshift bins we find that the rate of structure growth is consistent with $\Lambda$CDM with an overall amplitude that is $\simeq5-7\%$ lower than predicted by primary CMB measurements with modest $(\sim2\sigma)$ statistical significance. From the combined analysis of all four bins and their cross-correlations with Planck we obtain $S_8 = 0.765\pm0.023$, which is less discrepant with primary CMB measurements than previous DESI LRG cross Planck CMB lensing results. From the cross-correlation with ACT we obtain $S_8 = 0.790^{+0.024}_{-0.027}$, while when jointly analyzing Planck and ACT we find $S_8 = 0.775^{+0.019}_{-0.022}$ from our data alone and $\sigma_8 = 0.772^{+0.020}_{-0.023}$ with the addition of BAO data. These constraints are consistent with the latest Planck primary CMB analyses at the $\simeq 1.6-2.2\sigma$ level, and are in excellent agreement with galaxy lensing surveys., Comment: 60 pages, 26 figures, comments welcome

We present a high-significance cross-correlation of CMB lensing maps from the Atacama Cosmology Telescope (ACT) Data Release 6 (DR6) with spectroscopically calibrated luminous red galaxies (LRGs) from the Dark Energy Spectroscopic Instrument (DESI). We detect this cross-correlation at a significance of 38$\sigma$; combining our measurement with the Planck Public Release 4 (PR4) lensing map, we detect the cross-correlation at 50$\sigma$. Fitting this jointly with the galaxy auto-correlation power spectrum to break the galaxy bias degeneracy with $\sigma_8$, we perform a tomographic analysis in four LRG redshift bins spanning $0.4 \le z \le 1.0$ to constrain the amplitude of matter density fluctuations through the parameter combination $S_8^\times = \sigma_8 \left(\Omega_m / 0.3\right)^{0.4}$. Prior to unblinding, we confirm with extragalactic simulations that foreground biases are negligible and carry out a comprehensive suite of null and consistency tests. Using a hybrid effective field theory (HEFT) model that allows scales as small as $k_{\rm max}=0.6$ $h/{\rm Mpc}$, we obtain a 3.3% constraint on $S_8^\times = \sigma_8 \left(\Omega_m / 0.3\right)^{0.4} = 0.792^{+0.024}_{-0.028}$ from ACT data, as well as constraints on $S_8^\times(z)$ that probe structure formation over cosmic time. Our result is consistent with the early-universe extrapolation from primary CMB anisotropies measured by Planck PR4 within 1.2$\sigma$. Jointly fitting ACT and Planck lensing cross-correlations we obtain a 2.7% constraint of $S_8^\times = 0.776^{+0.019}_{-0.021}$, which is consistent with the Planck early-universe extrapolation within 2.1$\sigma$, with the lowest redshift bin showing the largest difference in mean. The latter may motivate further CMB lensing tomography analyses at $z<0.6$ to assess the impact of potential systematics or the consistency of the $\Lambda$CDM model over cosmic time., Comment: Prepared for submission to JCAP (47 pages, 13 figures)

Future low-noise cosmic microwave background (CMB) lensing measurements from e.g., CMB-S4 will be polarization dominated, rather than temperature dominated. In this new regime, statistically optimal lensing reconstructions outperform the standard quadratic estimator, but their sensitivity to extragalactic polarized foregrounds has not been quantified. Using realistic simulations of polarized radio and infrared point sources, we show for the first time that optimal Bayesian lensing from a CMB-S4-like experiment is insensitive to the expected level of polarized extragalactic foregrounds after masking, as long as an accurate foreground power spectrum is included in the analysis. For more futuristic experiments where these foregrounds could cause a detectable bias, we propose a new method to jointly fit for lensing and the Poisson foregrounds, generalizing the bias hardening from the standard quadratic estimator to Bayesian lensing., Comment: 14+5 pages, 16 figures, comments welcome

We derive new constraints on the $E_G$ statistic as a test of gravity, combining the CMB lensing map estimated from Data Release 6 (DR6) of the Atacama Cosmology Telescope with SDSS BOSS CMASS and LOWZ galaxy data. We develop an analysis pipeline to measure the cross-correlation between CMB lensing maps and galaxy data, following a blinding policy and testing the approach through null and consistency checks. By testing the equivalence of the spatial and temporal gravitational potentials, the $E_G$ statistic can distinguish $\Lambda$CDM from alternative models of gravity. We find $E_G= 0.31^{+0.06}_{-0.05}$ for ACT and CMASS data at 68.28\% confidence level, and $E_G = 0.49^{+0.14}_{-0.11}$ for ACT and LOWZ. Systematic errors are estimated to be 3\% and 4\% respectively. Including CMB lensing information from Planck PR4 results in $E_G = 0.34^{+0.05}_{-0.05}$ with CMASS and $E_G= 0.43^{+0.11}_{-0.09}$ with LOWZ. These are consistent with predictions for the $\Lambda$CDM model that best fits the Planck CMB anisotropy and SDSS BOSS BAO, where $E_G^{\rm GR} (z_{\rm eff} = 0.555) = 0.401\pm 0.005$ for CMB lensing combined with CMASS and $E_G^{\rm GR} (z_{\rm eff} = 0.316) = 0.452\pm0.005$ combined with LOWZ. We also find $E_G$ to be scale independent, with PTE $>5\%$, as predicted by general relativity. The methods developed in this work are also applicable to improved future analyses with upcoming spectroscopic galaxy samples and CMB lensing measurements., Comment: 33 pages, 21 figures, prepared for submission to PRD

We present a unified, market-complete model that integrates both the Bachelier and Black-Scholes-Merton frameworks for asset pricing. The model allows for the study, within a unified framework, of asset pricing in a natural world that experiences the possibility of negative security prices or riskless rates. In contrast to classical Black-Scholes-Merton, we show that option pricing in the unified model displays a difference depending on whether the replicating, self-financing portfolio uses riskless bonds or a single riskless bank account. We derive option price formulas and extend our analysis to the term structure of interest rates by deriving the pricing of zero-coupon bonds, forward contracts, and futures contracts. We identify a necessary condition for the unified model to support a perpetual derivative. Discrete binomial pricing under the unified model is also developed. In every scenario analyzed, we show that the unified model simplifies to the standard Black-Scholes-Merton pricing under specific limits and provides pricing in the Bachelier model limit. We note that the Bachelier limit within the unified model allows for positive riskless rates. The unified model prompts us to speculate on the possibility of a mixed multiplicative and additive deflator model for risk-neutral option pricing., Comment: 38 pages

In this work, we propose an approach for ensuring the safety of vehicles passing through an intelligent intersection. There are many proposals for the design of intelligent intersections that introduce central decision-makers to intersections for enhancing the efficiency and safety of the vehicles. To guarantee the safety of such designs, we develop a safety framework for intersections based on temporal logic and reachability analysis. We start by specifying the required behavior for all the vehicles that need to pass through the intersection as linear temporal logic formula. Then, using temporal logic trees, we break down the linear temporal logic specification into a series of Hamilton-Jacobi reachability analyses in an automated fashion. By successfully constructing the temporal logic tree through reachability analysis, we verify the feasibility of the intersection specification. By taking this approach, we enable a safety framework that is able to automatically provide safety guarantees on new intersection behavior specifications. To evaluate our approach, we implement the framework on a simulated T-intersection, where we show that we can check and guarantee the safety of vehicles with potentially conflicting paths.

In this work, we present a small-scale testbed for evaluating the real-life performance of cellular V2X (C-V2X) applications on 5G cellular networks. Despite the growing interest and rapid technology development for V2X applications, researchers still struggle to prototype V2X applications with real wireless networks, hardware, and software in the loop in a controlled environment. To help alleviate this challenge, we present a testbed designed to accelerate development and evaluation of C-V2X applications on 5G cellular networks. By including a small-scale vehicle platform into the testbed design, we significantly reduce the time and effort required to test new C-V2X applications on 5G cellular networks. With a focus around the integration of small-scale vehicle platforms, we detail the design decisions behind the full software and hardware setup of commonly needed intelligent transport system agents (e.g. sensors, servers, vehicles). Moreover, to showcase the testbed's capability to produce industrially-relevant, real world performance evaluations, we present an evaluation of a simple test case inspired from shared situational awareness. Finally, we discuss the upcoming use of the testbed for evaluating 5G cellular network-based shared situational awareness and other C-V2X applications.

Patchy reionization generates kinematic Sunyaev-Zeldovich (kSZ) anisotropies in the cosmic microwave background (CMB). Large-scale velocity perturbations along the line of sight modulate the small-scale kSZ power spectrum, leading to a trispectrum (or four-point function) in the CMB that depends on the physics of reionization. We investigate the challenges in detecting this trispectrum and use tools developed for CMB lensing, such as realization-dependent bias subtraction and cross-correlation based estimators, to counter uncertainties in the instrumental noise and assumed CMB power spectrum. We also find that both lensing and extragalactic foregrounds can impart larger trispectrum contributions than the reionization kSZ signal. We present a range of mitigation methods for both of these sources of contamination, validated on microwave-sky simulations. We use ACT DR6 and Planck data to calculate an upper limit on the reionization kSZ trispectrum from a measurement dominated by foregrounds. The upper limit is about 50 times the signal predicted from recent simulations., Comment: Measurements and covariances will be made public upon publication

The findings of the 2023 AAPM Grand Challenge on Deep Generative Modeling for Learning Medical Image Statistics are reported in this Special Report. The goal of this challenge was to promote the development of deep generative models (DGMs) for medical imaging and to emphasize the need for their domain-relevant assessment via the analysis of relevant image statistics. As part of this Grand Challenge, a training dataset was developed based on 3D anthropomorphic breast phantoms from the VICTRE virtual imaging toolbox. A two-stage evaluation procedure consisting of a preliminary check for memorization and image quality (based on the Frechet Inception distance (FID)), and a second stage evaluating the reproducibility of image statistics corresponding to domain-relevant radiomic features was developed. A summary measure was employed to rank the submissions. Additional analyses of submissions was performed to assess DGM performance specific to individual feature families, and to identify various artifacts. 58 submissions from 12 unique users were received for this Challenge. The top-ranked submission employed a conditional latent diffusion model, whereas the joint runners-up employed a generative adversarial network, followed by another network for image superresolution. We observed that the overall ranking of the top 9 submissions according to our evaluation method (i) did not match the FID-based ranking, and (ii) differed with respect to individual feature families. Another important finding from our additional analyses was that different DGMs demonstrated similar kinds of artifacts. This Grand Challenge highlighted the need for domain-specific evaluation to further DGM design as well as deployment. It also demonstrated that the specification of a DGM may differ depending on its intended use.

The early dark energy (EDE) extension to $\Lambda$CDM has been proposed as a candidate scenario to resolve the "Hubble tension". We present new constraints on the EDE model by incorporating new data from the Dark Energy Spectroscopic Instrument (DESI) Baryon Acoustic Oscillation (BAO) survey and CMB lensing measurements from the Atacama Cosmology Telescope (ACT) DR6 and \textit{Planck} NPIPE data. We do not find evidence for EDE. The maximum fractional contribution of EDE to the total energy density is $f_\mathrm{EDE}< 0.091 \; (95\% \; \mathrm{CL} )$ from our baseline combination of \textit{Planck} CMB, CMB lensing, and DESI BAO. Our strongest constraints on EDE come from the combination of \textit{Planck} CMB and CMB lensing alone, yielding $f_\mathrm{EDE}< 0.070 \; (95\% \; \mathrm{CL} )$. We also explore extensions of $\Lambda$CDM beyond the EDE parameters by treating the total neutrino mass as a free parameter, finding $\sum m_\nu < 0.096 \,\, {\rm eV} \; (95\% \; \mathrm{CL} )$ and $f_\mathrm{EDE}< 0.087 \; (95\% \; \mathrm{CL} )$. For the first time in EDE analyses, we perform Bayesian parameter estimation using neural network emulators of cosmological observables, which are on the order of a hundred times faster than full Boltzmann solutions., Comment: 8+7 pages, 3+6 figures

Asteroids with low orbital perihelion distances experience extreme heating from the Sun that can modify their surfaces and trigger non-typical activity mechanisms. These objects are generally difficult to observe from ground-based telescopes due to their frequent proximity to the Sun. The Near Earth Object Surveyor mission, however, will regularly survey down to Solar elongations of 45 degrees and is well-suited for the detection and characterization of low-perihelion asteroids. Here, we use the survey simulation software tools developed for mission verification to explore the expected sensitivity of NEO Surveyor to these objects. We find that NEO Surveyor is expected to be >90% complete for near-Sun objects larger than D~300 m. Additionally, if the asteroid (3200) Phaethon underwent a disruption event in the past to form the Geminid meteor stream, Surveyor will be >90% complete to any fragments larger than D~200 m. For probable disruption models, NEO Surveyor would be expected to detect dozens of objects on Phaethon-like orbits, compared to a predicted background population of only a handful of asteroids, setting strong constraints on the likelihood of this scenario., Comment: 13 pages, accepted for publication in PSJ

In this paper, we present an approach for guaranteeing the completion of complex tasks with cyber-physical systems (CPS). Specifically, we leverage temporal logic trees constructed using Hamilton-Jacobi reachability analysis to (1) check for the existence of control policies that complete a specified task and (2) develop a computationally-efficient approach to synthesize the full set of control inputs the CPS can implement in real-time to ensure the task is completed. We show that, by checking the approximation directions of each state set in the temporal logic tree, we can check if the temporal logic tree suffers from the "leaking corner issue," where the intersection of reachable sets yields an incorrect approximation. By ensuring a temporal logic tree has no leaking corners, we know the temporal logic tree correctly verifies the existence of control policies that satisfy the specified task. After confirming the existence of control policies, we show that we can leverage the value functions obtained through Hamilton-Jacobi reachability analysis to efficiently compute the set of control inputs the CPS can implement throughout the deployment time horizon to guarantee the completion of the specified task. Finally, we use a newly released Python toolbox to evaluate the presented approach on a simulated driving task.

In this paper, we introduce a hybrid zonotope-based approach for formally verifying the behavior of autonomous systems operating under Linear Temporal Logic (LTL) specifications. In particular, we formally verify the LTL formula by constructing temporal logic trees (TLT)s via backward reachability analysis (BRA). In previous works, TLTs are predominantly constructed with either highly general and computationally intensive level set-based BRA or simplistic and computationally efficient polytope-based BRA. In this work, we instead propose the construction of TLTs using hybrid zonotope-based BRA. By using hybrid zonotopes, we show that we are able to formally verify LTL specifications in a computationally efficient manner while still being able to represent complex geometries that are often present when deploying autonomous systems, such as non-convex, disjoint sets. Moreover, we evaluate our approach on a parking example, providing preliminary indications of how hybrid zonotopes facilitate computationally efficient formal verification of LTL specifications in environments that naturally lead to non-convex, disjoint geometries., Comment: 6 pages, 3 figures, 1 table, 1 algorithm

In this paper, we propose reachability analysis using constrained polynomial logical zonotopes. We perform reachability analysis to compute the set of states that could be reached. To do this, we utilize a recently introduced set representation called polynomial logical zonotopes for performing computationally efficient and exact reachability analysis on logical systems. Notably, polynomial logical zonotopes address the "curse of dimensionality" when analyzing the reachability of logical systems since the set representation can represent $2^h$ binary vectors using $h$ generators. After finishing the reachability analysis, the formal verification involves verifying whether the intersection of the calculated reachable set and the unsafe set is empty or not. Polynomial logical zonotopes lack closure under intersections, prompting the formulation of constrained polynomial logical zonotopes, which preserve the computational efficiency and exactness of polynomial logical zonotopes for reachability analysis while enabling exact intersections. Additionally, an extensive empirical study is presented to demonstrate and validate the advantages of constrained polynomial logical zonotopes., Comment: IEEE Control Systems Letters (2024)