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Accurate estimation of interaction forces is crucial for achieving fine, dexterous control in robotic systems. Although tactile sensor arrays offer rich sensing capabilities, their effective use has been limited by challenges such as calibration complexities, nonlinearities, and deformation. In this paper, we tackle these issues by presenting a novel method for obtaining 3D force estimation using tactile sensor arrays. Unlike existing approaches that focus on specific or decoupled force components, our method estimates full 3D interaction forces across an array of distributed sensors, providing comprehensive real-time feedback. Through systematic data collection and model training, our approach overcomes the limitations of prior methods, achieving accurate and reliable tactile-based force estimation. Besides, we integrate this estimation in a real-time control loop, enabling implicit, stable force regulation that is critical for precise robotic manipulation. Experimental validation on the Allegro robot hand with uSkin sensors demonstrates the effectiveness of our approach in real-time control, and its ability to enhance the robot's adaptability and dexterity., Comment: 8 pages, 5 figures, submitted to ICRA 2025

We describe the cryogenic system being developed for Taurus: a super-pressure balloon-borne microwave polarimeter scheduled to fly in 2027. The Taurus cryogenic system consists of a 660L liquid helium cryostat which achieves a base temperature of <100mK with the help of a capillary-fed superfluid tank and a closed cycle dilution refrigerator. The main tank is supported with fiberglass flexures and is encased in two layers of vapor-cooled shields which allow Taurus to make full use of the extended flight time offered by the super-pressure balloon platform. The Taurus cryostat is projected to hold for over 50 days while weighing under 1000lbs. We present the design, testing, and thermal analysis of the Taurus cryogenic systems.

SPIDER is a balloon-borne instrument designed to map the cosmic microwave background at degree-angular scales in the presence of Galactic foregrounds. SPIDER has mapped a large sky area in the Southern Hemisphere using more than 2000 transition-edge sensors (TESs) during two NASA Long Duration Balloon flights above the Antarctic continent. During its first flight in January 2015, SPIDER observed in the 95 GHz and 150 GHz frequency bands, setting constraints on the B-mode signature of primordial gravitational waves. Its second flight in the 2022-23 season added new receivers at 280 GHz, each using an array of TESs coupled to the sky through feedhorns formed from stacks of silicon wafers. These receivers are optimized to produce deep maps of polarized Galactic dust emission over a large sky area, providing a unique data set with lasting value to the field. In this work, we describe the instrument's performance during SPIDER's second flight., Comment: Submitted to SPIE Astronomical Telescopes + Instrumentation 2024, JATIS

SuperBIT was a 0.5-meter near-ultraviolet to near-infrared wide-field telescope that launched on a NASA superpressure balloon into the stratosphere from New Zealand for a 45-night flight. SuperBIT acquired multi-band images of galaxy clusters to study the properties of dark matter using weak gravitational lensing. We provide an overview of the instrument and its various subsystems. We then present the instrument performance from the flight, including the telescope and image stabilization system, the optical system, the power system, and the thermal system. SuperBIT successfully met the instrument's technical requirements, achieving a telescope pointing stability of 0.34 +/- 0.10 arcseconds, a focal plane image stability of 0.055 +/- 0.027 arcseconds, and a PSF FWHM of ~ 0.35 arcseconds over 5-minute exposures throughout the 45-night flight. The telescope achieved a near-diffraction limited point-spread function in all three science bands (u, b, and g). SuperBIT served as a pathfinder to the GigaBIT observatory, which will be a 1.34-meter near-ultraviolet to near-infrared balloon-borne telescope., Comment: 17 pages, 25 pages, published in the Astronomical Journal

Using data from the first flight of SPIDER and from Planck HFI, we probe the properties of polarized emission from interstellar dust in the SPIDER observing region. Component separation algorithms operating in both the spatial and harmonic domains are applied to probe their consistency and to quantify modeling errors associated with their assumptions. Analyses spanning the full SPIDER region demonstrate that i) the spectral energy distribution of diffuse Galactic dust emission is broadly consistent with a modified-blackbody (MBB) model with a spectral index of $\beta_\mathrm{d}=1.45\pm0.05$ $(1.47\pm0.06)$ for $E$ ($B$)-mode polarization, slightly lower than that reported by Planck for the full sky; ii) its angular power spectrum is broadly consistent with a power law; and iii) there is no significant detection of line-of-sight decorrelation of the astrophysical polarization. The size of the SPIDER region further allows for a statistically meaningful analysis of the variation in foreground properties within it. Assuming a fixed dust temperature $T_\mathrm{d}=19.6$ K, an analysis of two independent sub-regions of that field results in inferred values of $\beta_\mathrm{d}=1.52\pm0.06$ and $\beta_\mathrm{d}=1.09\pm0.09$, which are inconsistent at the $3.9\,\sigma$ level. Furthermore, a joint analysis of SPIDER and Planck 217 and 353 GHz data within a subset of the SPIDER region is inconsistent with a simple MBB at more than $3\,\sigma$, assuming a common morphology of polarized dust emission over the full range of frequencies. These modeling uncertainties have a small--but non-negligible--impact on limits on the cosmological tensor-to-scalar ratio derived from the \spider dataset. The fidelity of the component separation approaches of future CMB polarization experiments may thus have a significant impact on their constraining power., Comment: 21 pages, 15 figures

The Super-pressure Balloon-borne Imaging Telescope (SuperBIT) is a near-diffraction-limited 0.5m telescope that launched via NASA's super-pressure balloon technology on April 16, 2023. SuperBIT achieved precise pointing control through the use of three nested frames in conjunction with an optical Fine Guidance System (FGS), resulting in an average image stability of 0.055" over 300-second exposures. The SuperBIT FGS includes a tip-tilt fast-steering mirror that corrects for jitter on a pair of focal plane star cameras. In this paper, we leverage the empirical data from SuperBIT's successful 45-night stratospheric mission to inform the FGS design for the next-generation balloon-borne telescope. The Gigapixel Balloon-borne Imaging Telescope (GigaBIT) is designed to be a 1.35m wide-field, high resolution imaging telescope, with specifications to extend the scale and capabilities beyond those of its predecessor SuperBIT. A description and analysis of the SuperBIT FGS will be presented along with methodologies for extrapolating this data to enhance GigaBIT's FGS design and fine pointing control algorithm. We employ a systems engineering approach to outline and formalize the design constraints and specifications for GigaBIT's FGS. GigaBIT, building on the SuperBIT legacy, is set to enhance high-resolution astronomical imaging, marking a significant advancement in the field of balloon-borne telescopes., Comment: 13 pages, 7 figures, SPIE Astronomical Telescopes + Instrumentation 2024

Taurus is a balloon-borne cosmic microwave background (CMB) experiment optimized to map the E-mode polarization and Galactic foregrounds at the largest angular scales ($\ell$ $\lt$ 30) and improve measurements of the optical depth to reionization ($\tau$). This will pave the way for improved measurements of the sum of neutrino masses in combination with high-resolution CMB data while also testing the $\Lambda CDM$ model on large angular scales and providing high-frequency maps of polarized dust foregrounds to the CMB community. These measurements take advantage of the low-loading environment found in the stratosphere and are enabled by NASA's super-pressure balloon platform, which provides access to 70% of the sky with a launch from Wanaka, New Zealand. Here we describe a general overview of Taurus, with an emphasis on the instrument design. Taurus will employ more than 10,000 100 mK transition edge sensor bolometers distributed across two low-frequency (150, 220 GHz) and one high-frequency (280, 350 GHz) dichroic receivers. The liquid helium cryostat housing the detectors and optics is supported by a lightweight gondola. The payload is designed to meet the challenges in mass, power, and thermal control posed by the super-pressure platform. The instrument and scan strategy are optimized for rigorous control of instrumental systematics, enabling high-fidelity linear polarization measurements on the largest angular scales.

We simulate a variety of optical systematics for Taurus, a balloon-borne cosmic microwave background (CMB) polarisation experiment, to assess their impact on large-scale E-mode polarisation measurements and constraints of the optical depth to reionisation {\tau}. We model a one-month flight of Taurus from Wanaka, New Zealand aboard a super-pressure balloon (SPB). We simulate night-time scans of both the CMB and dust foregrounds in the 150GHz band, one of Taurus's four observing bands. We consider a variety of possible systematics that may affect Taurus's observations, including non-gaussian beams, pointing reconstruction error, and half-wave plate (HWP) non-idealities. For each of these, we evaluate the residual power in the difference between maps simulated with and without the systematic, and compare this to the expected signal level corresponding to Taurus's science goals. Our results indicate that most of the HWP-related systematics can be mitigated to be smaller than sample variance by calibrating with Planck's TT spectrum and using an achromatic HWP model, with a preference for five layers of sapphire to ensure good systematic control. However, additional beam characterization will be required to mitigate far-sidelobe pickup from dust on larger scales., Comment: 21 pages, 6 tables, 7 figures, this version as published in JCAP after minor revisions to v1

In April to May 2023, the superBIT telescope was lifted to the Earth's stratosphere by a helium-filled super-pressure balloon, to acquire astronomical imaging from above (99.5% of) the Earth's atmosphere. It was launched from New Zealand then, for 40 days, circumnavigated the globe five times at a latitude 40 to 50 degrees South. Attached to the telescope were four 'DRS' (Data Recovery System) capsules containing 5 TB solid state data storage, plus a GNSS receiver, Iridium transmitter, and parachute. Data from the telescope were copied to these, and two were dropped over Argentina. They drifted 61 km horizontally while they descended 32 km, but we predicted their descent vectors within 2.4 km: in this location, the discrepancy appears irreducible below 2 km because of high speed, gusty winds and local topography. The capsules then reported their own locations to within a few metres. We recovered the capsules and successfully retrieved all of superBIT's data - despite the telescope itself being later destroyed on landing., Comment: 12 pages

We present an implementation of a Bayesian mixture model using Hamiltonian Monte Carlo (HMC) techniques to search for spatial separation of Galactic dust populations. Utilizing intensity measurements from Planck High Frequency Instrument (HFI), we apply this model to high-latitude Galactic dust emission. Our analysis reveals a strong preference for a spatially-varying two-population dust model over a one-population dust model, when the latter must capture the total variance in the sky. Each dust population is well characterized by a single-component spectral energy distribution (SED) and accommodates small variations. These populations could signify two distinct components, or may originate from a one-component model with different temperatures resulting in different SED scalings. While no spatial information is built into the likelihood, our investigation unveils large-scale spatially coherent structures with high significance, pointing to a physical origin for the observed spatial variation. These results are robust to our choice of likelihood and of input data. Furthermore, this spatially varying two-population model is the most favored from Bayesian evidence calculations. Incorporating IRAS 100 $\mu$m to constrain the Wein-side of the blackbody function, we find the dust populations differ at the 2.5$\sigma$ level in the spectral index ($\beta_d$) vs. temperature ($T_d$) plane. The presence of multiple dust populations has implications for component separation techniques frequently employed in the recovery of the cosmic microwave background., Comment: 19 pages, 8 figures. Accepted for publication in ApJ

The peak performance of any SpMV depends primarily on the available memory bandwidth and its effective use. GPUs, ASICs, and new FPGAs have higher and higher bandwidth; however, for large scale and highly sparse matrices, SpMV is still a hard problem because of its random access pattern and workload imbalance. Here, we show how to turn randomness to our advantage. We propose a matrix permutation pre-processing step that aims to maximize the entropy of the distribution of the nonzero elements. We seek any permutation that uniformly distributes the non-zero elements' distribution, thereby generating a SpMV problem that is amenable to work load balancing or to speed up sort algorithms. We conjecture these permutations would be most effective for matrices with no dense rows or columns and, as in preconditioning, when the matrix is reused. We shall show that entropy maximization is an optimization that any architecture may take advantage although in different ways. Most importantly, any developer can consider and deploy. We shall present cases where we can improve performance by 15\% on AMD-based (GPU-CPU) systems., Comment: 26 pages

The Superpressure Balloon-borne Imaging Telescope (SuperBIT) is a diffraction-limited, wide-field, 0.5 m, near-infrared to near-ultraviolet observatory designed to exploit the stratosphere's space-like conditions. SuperBIT's 2023 science flight will deliver deep, blue imaging of galaxy clusters for gravitational lensing analysis. In preparation, we have developed a weak lensing measurement pipeline with modern algorithms for PSF characterization, shape measurement, and shear calibration. We validate our pipeline and forecast SuperBIT survey properties with simulated galaxy cluster observations in SuperBIT's near-UV and blue bandpasses. We predict imaging depth, galaxy number (source) density, and redshift distribution for observations in SuperBIT's three bluest filters; the effect of lensing sample selections is also considered. We find that in three hours of on-sky integration, SuperBIT can attain a depth of b = 26 mag and a total source density exceeding 40 galaxies per square arcminute. Even with the application of lensing-analysis catalog selections, we find b-band source densities between 25 and 30 galaxies per square arcminute with a median redshift of z = 1.1. Our analysis confirms SuperBIT's capability for weak gravitational lensing measurements in the blue., Comment: Submitted to Astronomical Journal

The SARS-CoV-2 pandemic has emphasised the importance of developing a universal vaccine that can protect against current and future variants of the virus. The present study proposes a novel conditional protein Language Model architecture, called Vaxformer, which is designed to produce natural-looking antigenicity-controlled SARS-CoV-2 spike proteins. We evaluate the generated protein sequences of the Vaxformer model using DDGun protein stability measure, netMHCpan antigenicity score, and a structure fidelity score with AlphaFold to gauge its viability for vaccine development. Our results show that Vaxformer outperforms the existing state-of-the-art Conditional Variational Autoencoder model to generate antigenicity-controlled SARS-CoV-2 spike proteins. These findings suggest promising opportunities for conditional Transformer models to expand our understanding of vaccine design and their role in mitigating global health challenges. The code used in this study is available at https://github.com/aryopg/vaxformer .

Background: Various population pharmacokinetic models have been developed to describe the pharmacokinetics of tacrolimus in adult liver transplantation. However, their extrapolated predictive performance remains unclear in clinical practice. The purpose of this study was to predict concentrations using a selected literature model and to improve these predictions by tweaking the model with a subset of the target population.Methods: A literature review was conducted to select an adequate population pharmacokinetic model (L). Pharmacokinetic data from therapeutic drug monitoring of tacrolimus in liver-transplanted adults were retrospectively collected. A subset of these data (70%) was exploited to tweak the L-model using the PRIOR subroutine of the NONMEM software, with 2 strategies to weight the prior information: full informative (F) and optimized (O). An external evaluation was performed on the remaining data; bias and imprecision were evaluated for predictions a priori and Bayesian forecasting.Results: Seventy-nine patients (851 concentrations) were enrolled in the study. The predictive performance of L-model was insufficient for a priori predictions, whereas it was acceptable with Bayesian forecasting, from the third prediction (ie, with $\ge$2 previously observed concentrations), corresponding to 1 week after transplantation. Overall, the tweaked models showed a better predictive ability than the L-model. The bias of a priori predictions was --41% with the literature model versus --28.5% and --8.73% with tweaked F and O models, respectively. The imprecision was 45.4% with the literature model versus 38.0% and 39.2% with tweaked F and O models, respectively. For Bayesian predictions, whatever the forecasting state, the tweaked models tend to obtain better results.Conclusions: A pharmacokinetic model can be used, and to improve the predictive performance, tweaking the literature model with the PRIOR approach allows to obtain better predictions.

The statistical power of weak lensing measurements is principally driven by the number of high redshift galaxies whose shapes are resolved. Conventional wisdom and physical intuition suggest this is optimised by deep imaging at long (red or near IR) wavelengths, to avoid losing redshifted Balmer break and Lyman break galaxies. We use the synthetic Emission Line EL-COSMOS catalogue to simulate lensing observations using different filters, from various altitudes. Here were predict the number of exposures to achieve a target z > 0.3 source density, using off-the-shelf and custom filters. Ground-based observations are easily better at red wavelengths, as (more narrowly) are space-based observations. However, we find that SuperBIT, a diffraction-limited observatory operating in the stratosphere, should instead perform its lensing-quality observations at blue wavelengths.

This research is intended to accomplish two goals: The first goal is to curate a large and information rich dataset that contains crucial and succinct summaries on the players' actions and positions and the back-and-forth travel patterns of the volleyball in professional and NCAA Div-I indoor volleyball games. While several prior studies have aimed to create similar datasets for other sports (e.g. badminton and soccer), creating such a dataset for indoor volleyball is not yet realized. The second goal is to introduce a volleyball descriptive language to fully describe the rally processes in the games and apply the language to our dataset. Based on the curated dataset and our descriptive sports language, we introduce three tasks for automated volleyball action and tactic analysis using our dataset: (1) Volleyball Rally Prediction, aimed at predicting the outcome of a rally and helping players and coaches improve decision-making in practice, (2) Setting Type and Hitting Type Prediction, to help coaches and players prepare more effectively for the game, and (3) Volleyball Tactics and Attacking Zone Statistics, to provide advanced volleyball statistics and help coaches understand the game and opponent's tactics better. We conducted case studies to show how experimental results can provide insights to the volleyball analysis community. Furthermore, experimental evaluation based on real-world data establishes a baseline for future studies and applications of our dataset and language. This study bridges the gap between the indoor volleyball field and computer science. The dataset is available at: https://github.com/haotianxia/VREN., Comment: ICKG 2022

This Snowmass 2021 White Paper describes the Cosmic Microwave Background Stage 4 project CMB-S4, which is designed to cross critical thresholds in our understanding of the origin and evolution of the Universe, from the highest energies at the dawn of time through the growth of structure to the present day. We provide an overview of the science case, the technical design, and project plan., Comment: Contribution to Snowmass 2021. arXiv admin note: substantial text overlap with arXiv:1908.01062, arXiv:1907.04473

Experiments deploying large arrays of transition-edge sensors (TESs) often require a robust method to monitor gain variations with minimal loss of observing time. We propose a sensitive and non-intrusive method for monitoring variations in TES responsivity using small square waves applied to the TES bias. We construct an estimator for a TES's small-signal power response from its electrical response that is exact in the limit of strong electrothermal feedback. We discuss the application and validation of this method using flight data from SPIDER, a balloon-borne telescope that observes the polarization of the cosmic microwave background with more than 2000 TESs. This method may prove useful for future balloon- and space-based instruments, where observing time and ground control bandwidth are limited., Comment: 7 pages, 3 figures; Proceedings of the 19th International Workshop on Low Temperature Detectors (LTD19); Minor updates to match published version

Modern CMB analysis pipelines regularly employ complex time-domain filters, beam models, masking, and other techniques during the production of sky maps and their corresponding angular power spectra. However, these processes can generate couplings between multipoles from the same spectrum and from different spectra, in addition to the typical power attenuation. Within the context of pseudo-$C_\ell$ based, MASTER-style analyses, the net effect of the time-domain filtering is commonly approximated by a multiplicative transfer function, $F_{\ell}$, that can fail to capture mode mixing and is dependent on the spectrum of the signal. To address these shortcomings, we have developed a simulation-based spectral correction approach that constructs a two-dimensional transfer matrix, $J_{\ell\ell'}$, which contains information about mode mixing in addition to mode attenuation. We demonstrate the application of this approach on data from the first flight of the SPIDER balloon-borne CMB experiment., Comment: 14 pages, 7 figures; updated to match published version

We present the XFaster analysis package. XFaster is a fast, iterative angular power spectrum estimator based on a diagonal approximation to the quadratic Fisher matrix estimator. XFaster uses Monte Carlo simulations to compute noise biases and filter transfer functions and is thus a hybrid of both Monte Carlo and quadratic estimator methods. In contrast to conventional pseudo-$C_\ell$ based methods, the algorithm described here requires a minimal number of simulations, and does not require them to be precisely representative of the data to estimate accurate covariance matrices for the bandpowers. The formalism works with polarization-sensitive observations and also data sets with identical, partially overlapping, or independent survey regions. The method was first implemented for the analysis of BOOMERanG data, and also used as part of the Planck analysis. Here, we describe the full, publicly available analysis package, written in Python, as developed for the analysis of data from the 2015 flight of the SPIDER instrument. The package includes extensions for self-consistently estimating null spectra and for estimating fits for Galactic foreground contributions. We show results from the extensive validation of XFaster using simulations, and its application to the SPIDER data set., Comment: 18 pages, 11 figures

We present the first linear polarization measurements from the 2015 long-duration balloon flight of SPIDER, an experiment designed to map the polarization of the cosmic microwave background (CMB) on degree angular scales. Results from these measurements include maps and angular power spectra from observations of 4.8% of the sky at 95 and 150 GHz, along with the results of internal consistency tests on these data. While the polarized CMB anisotropy from primordial density perturbations is the dominant signal in this region of sky, Galactic dust emission is also detected with high significance; Galactic synchrotron emission is found to be negligible in the SPIDER bands. We employ two independent foreground-removal techniques in order to explore the sensitivity of the cosmological result to the assumptions made by each. The primary method uses a dust template derived from Planck data to subtract the Galactic dust signal. A second approach, employing a joint analysis of SPIDER and Planck data in the harmonic domain, assumes a modified-blackbody model for the spectral energy distribution of the dust with no constraint on its spatial morphology. Using a likelihood that jointly samples the template amplitude and $r$ parameter space, we derive 95% upper limits on the primordial tensor-to-scalar ratio from Feldman-Cousins and Bayesian constructions, finding $r<0.11$ and $r<0.19$, respectively. Roughly half the uncertainty in $r$ derives from noise associated with the template subtraction. New data at 280 GHz from SPIDER's second flight will complement the Planck polarization maps, providing powerful measurements of the polarized Galactic dust emission., Comment: 29 pages, 13 figures