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Using a dataset of stars from a barred galaxy that provides instantaneous positions and velocities in the sky, we propose a method to identify its key structures, such as the central bar and spiral arms, and to determine the bar pattern speed in the short term. This is accomplished by applying combinatorial and topological data analysis techniques to the available star-state information set. To validate the methodology, we apply it to two scenarios: a test particle simulation and a N-body simulation, both evaluated when the bar is fully formed. In both cases, the results are robust and consistent. We then use these outcomes to calibrate a classical dynamical model and compute related structures, such as equilibrium points and invariant manifolds, which we verify align with the galaxy's spiral arms.

Due to the fundamental transition to a power electronic dominated power system, the increasing diversity of dynamic elements underscores the need to assess their similarity to mature electrical engineering models. This article addresses the concept of the Dynamic Similarity Index (DSI) for its use in, power electronics-dominated networks. The DSI is a multipurpose tool developed to be used by different stakeholders (e.g., converter manufacturers and system operators). Such an index is calculated per frequency, which serves to anticipate potential differences in particular frequency ranges of interest between the model under study and the reference model. Within the scope of this study, the dynamic similarity of inverter-based generators to an ideal voltage source behind an impedance is assessed, due to the relevance of this fundamental circuit in the representation of generation units in power system studies. The article presents two potential applications based on this mathematical framework. First, for manufacturers to evaluate control performance compared to a reference model and second, it enables operators to diagnose buses with voltage vulnerability based on a user-defined reference Short-Circuit Ratio (SCR) value. The DSI results for these two case studies are validated using Matlab Simulink simulations.

Motivated by the change-making problem, we extend the notion of greediness to sets of positive integers not containing the element $1$, and from there to numerical semigroups. We provide an algorithm to determine if a given set (not necessarily containing the number $1$) is greedy. We also give specific conditions for sets of cardinality three, and we prove that numerical semigroups generated by three consecutive integers are greedy., Comment: Accepted for publication in Communications in Algebra, Taylor and Francis group. Contains 23 pages, 2 tables, 4 algorithms

Tactile sensors have been used for force estimation in the past, especially Vision-Based Tactile Sensors (VBTS) have recently become a new trend due to their high spatial resolution and low cost. In this work, we have designed and implemented several approaches to estimate the normal grasping force using different types of markerless visuotactile representations obtained from VBTS. Our main goal is to determine the most appropriate visuotactile representation, based on a performance analysis during robotic grasping tasks. Our proposal has been tested on the dataset generated with our DIGIT sensors and another one obtained using GelSight Mini sensors from another state-of-the-art work. We have also tested the generalization capabilities of our best approach, called RGBmod. The results led to two main conclusions. First, the RGB visuotactile representation is a better input option than the depth image or a combination of the two for estimating normal grasping forces. Second, RGBmod achieved a good performance when tested on 10 unseen everyday objects in real-world scenarios, achieving an average relative error of 0.125 +- 0.153. Furthermore, we show that our proposal outperforms other works in the literature that use RGB and depth information for the same task.

Demixing properties of planetary major constituents influence the interior structure and evolution of planets. Comparing experimental and computational data on the miscibility of hydrogen and water to adiabatic profiles suggests phase separation between these components occurs in the ice giants Uranus and Neptune. We aim to predict the atmospheric water abundance and transition pressure between the water-poor outer envelope and the water-rich deep interior in Uranus and Neptune. We construct seven H2-H2O phase diagrams from the available experimental and computational data. We compute interior adiabatic structure models and compare these to the phase diagrams to infer whether demixing is occurring. We obtain a strong water depletion in the top layer due to rain-out of water and find upper limits on the atmospheric water mass fraction Z_atm of 0.21 for Uranus and 0.16 for Neptune. The transition from the water-poor to the water-rich layer is sharp and occurs at pressures P_Z between 4 and 11 GPa. Using these constraints on Z_atm and P_Z, we find that the observed gravitational harmonics J2 and J4 can be reproduced if P_Z > 10 GPa in Uranus and > 5 GPa in Neptune, and if the deep interior has a high primordial water mass fraction of 0.8, unless rocks are also present. The agreement with J4 is improved if rocks are confined deeper than P_Z, for instance below a rock cloud level at 2000 K (20-30 GPa). These findings confirm classical few-layer models and suggest that a layered structure may result from a combination of primordial mass accretion and subsequent phase separation. Reduced observational uncertainty in J4 and its dynamic contribution, atmospheric water abundance measurements from an Orbiter with a Probe mission to Uranus (UOP) or Neptune, and better understanding of the mixing behaviour of constituents are needed to constrain the interiors of ice giants., Comment: Accepted for publication in Astronomy and Astrophysics

This work presents a perception system applied to robotic manipulation, that is able to assist in navigation, household waste classification and collection in outdoor environments. This system is made up of optical tactile sensors, RGBD cameras and a LiDAR. These sensors are integrated on a mobile platform with a robot manipulator and a robotic gripper. Our system is divided in three software modules, two of them are vision-based and the last one is tactile-based. The vision-based modules use CNNs to localize and recognize solid household waste, together with the grasping points estimation. The tactile-based module, which also uses CNNs and image processing, adjusts the gripper opening to control the grasping from touch data. Our proposal achieves localization errors around 6 %, a recognition accuracy of 98% and ensures the grasping stability the 91% of the attempts. The sum of runtimes of the three modules is less than 750 ms., Comment: in Spanish language

The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three functionalities. Firstly, it uses colour images to detect and recognise litter comprising different materials. Secondly, depth data are combined with pixels of waste objects to compute a 3D location and segment three-dimensional point clouds of the litter items in the scene. The grasp in 3 Degrees of Freedom (DoFs) is then estimated for a robot arm with a gripper for the segmented cloud of each instance of waste. Finally, two tactile-based algorithms are implemented and then employed in order to provide the gripper with a sense of touch. This work uses two low-cost visual-based tactile sensors at the fingertips. One of them addresses the detection of contact (which is obtained from tactile images) between the gripper and solid waste, while another has been designed to detect slippage in order to prevent the objects grasped from falling. Our proposal was successfully tested by carrying out extensive experimentation with different objects varying in size, texture, geometry and materials in different outdoor environments (a tiled pavement, a surface of stone/soil, and grass). Our system achieved an average score of 94% for the detection and Collection Success Rate (CSR) as regards its overall performance, and of 80% for the collection of items of litter at the first attempt., Comment: Article sent for final publication

Noble gases are accreted to the giant planets as part of the gas component of the planet-forming disk. While heavier noble gases can separate from the evolution of the hydrogen-rich gas, helium is thought to remain at the protosolar H/He ratio Yproto~0.27-0.28. However, spacecraft observations revealed a depletion in helium in the atmospheres of Jupiter, Saturn, and Uranus. For the gas giants, this is commonly seen as indication of H/He phase separation at greater depths. Here, we apply predictions of the H/He phase diagram and three H/He-EOS to compute the atmospheric helium mass abundance Yatm as a result of H/He phase separation. We obtain a strong depletion Yatm<0.1 for the ice giants if they are adiabatic. Introducing a thermal boundary layer at the Z-poor/Z-rich compositional transition with a temperature increase of up to a few 1000 K, we obtain a weak depletion in Uranus as observed. Our results suggest dissimilar internal structures between Uranus and Neptune. An accurate in-situ determination of their atmospheric He/H ratio would help to constrain their internal structures. This is even more true for Saturn, where we find that any considered H/He phase diagram and H/He-EOS would be consistent with any observed value. However, some H/He-EOS and phase diagram combinations applied to both Jupiter and Saturn require an outer stably-stratified layer at least in one of them., Comment: accepted to Space Science Reviews

A flag $C_0 \subsetneq C_1 \cdots \subsetneq C_s \subsetneq {\mathbb F}_q^n $ of linear codes is said to be self-orthogonal if the duals of the codes in the flag satisfy $C_{i}^\perp=C_{s-i}$, and it is said to satisfy the isometry-dual property with respect to an isometry vector ${\bf x}$ if $C_i^\perp={\bf x} C_{s-i}$ for $i=1, \dots, s$. We characterize complete (i.e. $s=n$) flags with the isometry-dual property by means of the existence of a word with non-zero coordinates in a certain linear subspace of ${\mathbb F}_q^n$. For flags of algebraic geometry (AG) codes we prove a so-called translation property of isometry-dual flags and give a construction of complete self-orthogonal flags, providing examples of self-orthogonal flags over some maximal function fields. At the end we characterize the divisors giving the isometry-dual property and the related isometry vectors showing that for each function field there is only a finite number of isometry vectors and that they are related by cyclic repetitions.

In this work, we study the perception problem for sampled surfaces (possibly with boundary) using tools from computational topology, specifically, how to identify their underlying topology starting from point-cloud samples in space, such as those obtained with 3D scanners. We present a reconstruction algorithm based on a careful topological study of the point sample that allows us to obtain a cellular decomposition of it using a Morse function. No triangulation or local implicit equations are used as intermediate steps, avoiding in this way reconstruction-induced artifices. The algorithm can be run without any prior knowledge of the surface topology, density or regularity of the point-sample. The results consist of a piece-wise decomposition of the given surface as a union of Morse cells (i.e. topological disks), suitable for tasks such as mesh-independent reparametrization or noise-filtering, and a small-rank cellular complex determining the topology of the surface. The algorithm, which we test with several real and synthetic surfaces, can be applied to smooth surfaces with or without boundary, embedded in an ambient space of any dimension., Comment: 39 pages, 17 figures, 1 table, 1 algorithm, 1 appendix

Tracking a magnetic field in real-time with an atomic magnetometer presents significant challenges, primarily due to sensor non-linearity, the presence of noise, and the need for one-shot estimation. To address these challenges, we propose a comprehensive approach that integrates measurement, estimation and control strategies. Specifically, this involves implementing a quantum non-demolition measurement based on continuous light-probing of the atomic ensemble. The resulting photocurrent is then directed into an Extended Kalman Filter to produce instantaneous estimates of the system's dynamical parameters. These estimates, in turn, are utilised by a Linear Quadratic Regulator, whose output is applied back to the system through a feedback loop. This procedure automatically steers the atomic ensemble into a spin-squeezed state, yielding a quantum enhancement in precision. Furthermore, thanks to the feedback proposed, the atoms exhibit entanglement even when the measurement data is discarded. To prove that our approach constitutes the optimal strategy in realistic scenarios, we derive ultimate bounds on the estimation error applicable in the presence of both local and collective decoherence, and show that these are indeed attained. Additionally, we demonstrate for large ensembles that the EKF not only reliably predicts its own estimation error in real time, but also accurately estimates spin-squeezing at short timescales., Comment: 26 pages (incl. 13 pages of appendices), 10 figures. Comments are more than welcome!

We prove that, for each fixed genus, the portion of semigroups of that genus belonging to infinite chains in the semigroup tree approaches 0 as the genus grows to infinite. This means that most numerical semigroups have a finite number of descendants in the semigroup tree. This problem has been open since 2009.

We introduce a new class of numerical semigroups, which we call the class of {\it acute} semigroups and we prove that they generalize symmetric and pseudo-symmetric numerical semigroups, Arf numerical semigroups and the semigroups generated by an interval. For a numerical semigroup $\Lambda=\{\lambda_0<\lambda_1<\dots\}$ denote $\nu_i=\#\{j\mid\lambda_i-\lambda_j\in\Lambda\}$. Given an acute numerical semigroup $\Lambda$ we find the smallest non-negative integer $m$ for which the order bound on the minimum distance of one-point Goppa codes with associated semigroup $\Lambda$ satisfies $d_{ORD}(C_i)(:=\min\{\nu_j\mid j>i\})=\nu_{i+1}$ for all $i\geq m$. We prove that the only numerical semigroups for which the sequence $(\nu_i)$ is always non-decreasing are ordinary numerical semigroups. Furthermore we show that a semigroup can be uniquely determined by its sequence $(\nu_i)$., Comment: Published in IEEE Trans. Inf. Theory, 2004. MR2094884. arXiv admin note: substantial text overlap with arXiv:1706.09765

We give a graphical reinterpretation of the seeds algorithm to explore the tree of numerical semigroups. We then exploit the seeds algorithm to find all the Eliahou semigroups of genus up to 65. Since all these semigroups satisfy the Wilf conjecture, this shows that the Wilf conjecture holds up to genus 65.

We present a revisit of the seeds algorithm to explore the semigroup tree. First, an equivalent definition of seed is presented, which seems easier to manage. Second, we determine the seeds of semigroups with at most three left elements. And third, we find the great-grandchildren of any numerical semigroup in terms of its seeds. The RGD algorithm is the fastest known algorithm at the moment. But if one compares the originary seeds algorithm with the RGD algorithm, one observes that the seeds algorithm uses more elaborated mathematical tools while the RGD algorithm uses data structures that are better adapted to the final C implementations. For genera up to around one half of the maximum size of native integers, the newly defined seeds algorithm performs significantly better than the RGD algorithm. For future compilators allowing larger native sized integers this may constitute a powerful tool to explore the semigroup tree up to genera never explored before. The new seeds algorithm uses bitwise integer operations, the knowledge of the seeds of semigroups with at most three left elements and of the great-grandchildren of any numerical semigroup, apart from techniques such as parallelization and depth first search as wisely introduced in this context by Fromentin and Hivert. The algorithm has been used to prove that there are no Eliahou semigroups of genus $66$, hence proving the Wilf conjecture for genus up to $66$. We also found three Eliahou semigroups of genus $67$. One of these semigroups is neither of Eliahou-Fromentin type, nor of Delgado's type. However, it is a member of a new family suggested by Shalom Eliahou., Comment: Accepted for publication at Mathematics of Computation

Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they provide extra information about the physical properties of the grasping. In this paper, we implemented a system to predict and quantify the rotational slippage of objects in hand using the vision-based tactile sensor known as Digit. Our system comprises a neural network that obtains the segmented contact region (object-sensor), to later calculate the slippage rotation angle from this region using a thinning algorithm. Besides, we created our own tactile segmentation dataset, which is the first one in the literature as far as we are concerned, to train and evaluate our neural network, obtaining results of 95% and 91% in Dice and IoU metrics. In real-scenario experiments, our system is able to predict rotational slippage with a maximum mean rotational error of 3 degrees with previously unseen objects. Thus, our system can be used to prevent an object from falling due to its slippage., Comment: 3 pages, 4 figures, accepted at ICRA 2023 ViTac Workshop: Blending Virtual and Real Visuo-Tactile Perception

In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling. Self-collisions are modeled in a natural way that allows considering the thickness of cloth without introducing unwanted oscillations. The discretization of the equations of motion leads naturally to a sequence of quadratic problems with inequality and equality constraints. In order to solve these problems efficiently, we develop a novel active-set algorithm that takes into account past active constraints to accelerate the resolution of unresolved contacts. We put to a test the developed collision procedure with diverse scenarios involving static and dynamic friction, sharp objects, and complex-topology folding sequences. Finally, we perform an experimental validation of the collision model by comparing simulations with recordings of real textiles as given by a $\textit{Motion Capture System}$. The results are very accurate, having errors around 1 cm for DIN A2 textiles (42 x 59.4 cm) even in difficult scenarios involving fast and strong hits with a rigid object., Comment: 30 pages, 12 figures, 3 tables, 1 algorithm

Robotic manipulation of cloth is a highly complex task because of its infinite-dimensional shape-state space that makes cloth state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, a low-dimensional representation of the state of a rectangular piece of cloth that allows to efficiently distinguish key topological changes in a folding sequence, opening the door to efficient learning methods for cloth manipulation planning and control. Our representation is based on a directional derivative of the Gauss Linking Integral and allows us to represent both planar and spatial configurations in a consistent unified way. The proposed dGLI Cloth Coordinates are shown to be more accurate in the classification of cloth states and significantly more sensitive to changes in grasping affordances than other classic shape distance methods. Finally, we apply our representation to real images of a cloth, showing we can identify the different states using a simple distance-based classifier., Comment: 24 pages, 34 references, 6 figures, 1 table

We propose a novel approach to distinguish table vs non-table ideals by using different machine learning algorithms. We introduce the reader to table ideals, assuming some knowledge on commutative algebra and describe their main properties. We create a data set containing table and non-table ideals, and we use a feedforward neural network model, a decision tree and a graph neural networks for the classification. Our results indicate that there exists an algorithm to distinguish table ideals from non-table ideals, and we prove it along some novel results on table ideals., Comment: 29 figures

We review a lattice construction arising from quaternion algebras over number fields and use it to obtain some known extremal and densest lattices in dimensions 8 and 16. The benefit of using quaternion algebras over number fields is that the dimensionality of the construction problem is reduced by 3/4. We explicitly construct the $E_8$ lattice (resp. $E_8^2$ and $\Lambda_{16}$) from infinitely many quaternion algebras over real quadratic (resp. quartic) number fields and we further present a density result on such number fields. By relaxing the extremality condition, we also provide a source for constructing even unimodular lattices in any dimension multiple of $8$.

For Reed-Solomon codes, the key equation relates the syndrome polynomial---computed from the parity check matrix and the received vector---to two unknown polynomials, the locator and the evaluator. The roots of the locator polynomial identify the error positions. The evaluator polynomial, along with the derivative of the locator polynomial, gives the error values via the Forney formula. The Berlekamp-Massey algorithm efficiently computes the two unknown polynomials. This chapter shows how the key equation, the Berlekamp-Massey algorithm, the Forney formula, and another formula for error evaluation due to Horiguchi all generalize in a natural way to one-point codes. The algorithm presented here is based on K\"otter's adaptation of Sakata's algorithm., Comment: M. E. O'Sullivan, M. Bras-Amor\'os, The Key Equation for One-Point Codes, Chapter 3 of Advances in Algebraic Geometry Codes, World Scientific, E. Mart\'inez-Moro, C. Munuera, D. Ruano (eds.), vol. 5, pp. 99-152, 2008. ISBN 978-981-279-400-0

We determine the Weierstrass semigroup $H(P_\infty,P_1,\ldots,P_m)$ at several rational points on the maximal curves which cannot be covered by the Hermitian curve introduced by Tafazolian, Teher\'an-Herrera, and Torres. Furthermore, we present some conditions to find pure gaps. We use this semigroup to obtain AG codes with better relative parameters than comparable one-point AG codes arising from these curves.

Let $F_q$ be a finite field. A flag of $F_q$-linear codes $C_0\subsetneq C_1\subsetneq\dots\subsetneq C_s$ is said to satisfy the isometry-dual property if there exists a vector $x\in(F_q^*)^n$ such that $C_i=x\cdot C_{s-i}^\perp$, where $C_i^\perp$ denotes the dual code of $C_i$. Consider $F/F_q$ a function field and let $P$ and $Q_1,\ldots,Q_t$ be rational places of $F$. Let the divisor $D$ be the sum of pairwise different places of $F$ such that $P, Q_1,\dots,Q_t$ are not in $supp(D)$. In a previous work we investigated the existence of flags of two-point codes $C(D,a_0P+bQ_1)\subsetneq C(D,a_1P+bQ_1))\subsetneq\dots\subsetneq C(D,a_sP+bQ_1)$ satisfying the isometry-dual property for a non-negative integer $b$ and an increasing sequence of positive integers $a_0,\dots,a_s$. While for one-point codes (i.e. for $b=0$) there is only need to analyze positive integers $a$, for the case of $(t+1)$-point codes, the integers $a$ may be negative. We extend our previous results in different directions. On one hand to the case of negative integers $a$ and $b$, and on the other hand we extend our results to flags of $(t+1)$-point codes $C(D,a_0P+\sum_{i=1}^t\beta_iQ_i)\subsetneq C(D, a_1P+\sum_{i=1}^t\beta_iQ_i))\subsetneq\dots\subsetneq C(D, a_sP+\sum_{i=1}^t\beta_iQ_i)$ for any tuple of (either positive or negative) integers $\beta_1,\dots,\beta_t$ and for an increasing sequence of (either positive or negative) integers $a_0,\dots,a_s$. We apply the obtained results to the broad class of Kummer extensions defined by affine equations of the form $y^m=f(x)$, for $f(x)$ a separable polynomial of degree $r$, where $gcd(r, m)=1$. In particular, depending on the place $P$ and for $D$ an $Aut(F_q(x, y)/F_q(x))$-invariant sum of rational places of $F$ such that $P,Q_i\notin supp(D)$, we obtain necessary and sufficient conditions on $m$ and $\beta_i$'s such that the flag has the isometry-dual property., Comment: Accepted at SIAGA, the SIAM Journal on Applied Algebra and Geometry

Continuously monitored atomic spin-ensembles allow, in principle, for real-time sensing of external magnetic fields beyond classical limits. Within the linear-Gaussian regime, thanks to the phenomenon of measurement-induced spin-squeezing, they attain a quantum-enhanced scaling of sensitivity both as a function of time, $t$, and the number of atoms involved, $N$. In our work, we rigorously study how such conclusions based on Kalman filtering methods change when inevitable imperfections are taken into account: in the form of collective noise, as well as stochastic fluctuations of the field in time. We prove that even an infinitesimal amount of noise disallows the error to be arbitrarily diminished by simply increasing $N$, and forces it to eventually follow a classical-like behaviour in $t$. However, we also demonstrate that, "thanks" to the presence of noise, in most regimes the model based on a homodyne-like continuous measurement actually achieves the ultimate sensitivity allowed by the decoherence, yielding then the optimal quantum-enhancement. We are able to do so by constructing a noise-induced lower bound on the error that stems from a general method of classically simulating a noisy quantum evolution, during which the stochastic parameter to be estimated -- here, the magnetic field -- is encoded. The method naturally extends to schemes beyond the linear-Gaussian regime, in particular, also to ones involving feedback or active control., Comment: 27 pages (+16 appendices), 7(+2) figures. Improved summary and conclusions, one extra appendix

We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces which are inextensible, admitting only isometric motions. Inextensibility is imposed in a continuous setting, prior to any discretization, which gives consistency with respect to re-meshing and prevents the problem of locking even with coarse meshes. The simulations of robotic manipulation using the model are compared to the actual manipulation in the real world, finding that the error between the simulated and real position of each point in the garment is lower than 1cm in average, even when a coarse mesh is used. Aerodynamic contributions to motion are incorporated to the model through the virtual uncoupling of the inertial and gravitational mass of the garment. This approach results in an accurate, as compared to reality, description of cloth motion incorporating aerodynamic effects by using only two parameters., Comment: 29 pages, 18 figures, 3 tables, 1 algorithm

It is proved that a generic simple, closed, piecewise regular curve in space can be the boundary of only finitely many developable surfaces with nonvanishing mean curvature. The relevance of this result in the context of the dynamics of developable surfaces is discussed., Comment: Submitted to the conference 'Women in Geometry and Topology', held on September 25-27, 2019, at the Centre de Recerca Matem\`atica, Bellaterra, Spain

We introduce the quasi-ordinarization transform of a numerical semigroup. This transform will allow to organize all the semigroups of a given genus in a forest rooted at all quasi-ordinary semigroups with the given genus. This construction provides an alternative approach to the conjecture on the increasingness of the number of numerical semigroups for each given genus. We elaborate on the number of nodes at each tree depth in the forest and present a few new conjectures that can be developed in the future. We prove some properties of the quasi-ordinarization transform, its relations with the ordinarization transform, and we also present an alternative approach to the conjecture that the number of numerical semigroups of each given genus is increasing., Comment: arXiv admin note: text overlap with arXiv:1203.5000