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Robots have been successfully deployed in both traditional and novel manufacturing processes. However, they are still difficult to program by non-experts, which limits their accessibility to a wider range of potential users. Programming robots requires expertise in both robotics and the specific manufacturing process in which they are applied. Robot programs created offline often lack parameters that represent relevant manufacturing skills when executing a specific task. These skills encompass aspects like robot orientation and velocity. This paper introduces an intuitive robot programming system designed to capture manufacturing skills from task demonstrations performed by skilled workers. Demonstration data, including orientations and velocities of the working paths, are acquired using a magnetic tracking system fixed to the tools used by the worker. Positional data are extracted from CAD/CAM. Robot path poses are transformed into Cartesian space and validated in simulation, subsequently leading to the generation of robot programs. PathML, an AutomationML-based syntax, integrates robot and manufacturing data across the heterogeneous elements and stages of the manufacturing systems considered. Experiments conducted on the glass adhesive application and welding processes showcased the intuitive nature of the system, with path errors falling within the functional tolerance range., Comment: International Journal of Computer Integrated Manufacturing

We present ab initio global general-relativistic Particle-in-cell (GR-PIC) simulations of compact millisecond neutron star magnetospheres in the axisymmetric aligned rotator configuration. We investigate the role of GR and plasma supply on the polar cap particle acceleration efficiency - the precursor of coherent radio emission - employing a new module for the PIC code OSIRIS, designed to model plasma dynamics around compact objects with fully self-consistent GR effects. We provide a detailed description of the main sub-algorithms of the novel PIC algorithm, including a charge-conserving current deposit scheme for curvilinear coordinates. We demonstrate efficient particle acceleration in the polar caps of compact neutron stars with denser magnetospheres, numerically validating the spacelike current extension provided by force-free models. We show that GR relaxes the minimum required poloidal magnetospheric current for the transition of the polar cap to the accelerator regime, thus justifying the observation of weak pulsars beyond the expected death line. We denote that spin-down luminosity intermittency and radio pulse nullings for older pulsars might arise from the interplay between the polar and outer gaps. Also, narrower radio beams are expected for weaker low-obliquity pulsars., Comment: 23 pages, 8 figures, 2 tables, accepted to New Astronomy

Relativistic electron-positron plasmas are ubiquitous in extreme astrophysical environments such as black holes and neutron star magnetospheres, where accretion-powered jets and pulsar winds are expected to be enriched with such pair plasmas. Their behaviour is quite different from typical electron-ion plasmas due to the matter-antimatter symmetry of the charged components and their role in the dynamics of such compact objects is believed to be fundamental. So far, our experimental inability to produce large yields of positrons in quasi-neutral beams has restricted the understanding of electron-positron pair plasmas to simple numerical and analytical studies which are rather limited. We present first experimental results confirming the generation of high-density, quasi-neutral, relativistic electron-positron pair beams using the 440 GeV/c beam at CERN's Super Proton Synchrotron (SPS) accelerator. The produced pair beams have a volume that fills multiple Debye spheres and are thus able to sustain collective plasma oscillations. Our work opens up the possibility of directly probing the microphysics of pair plasmas beyond quasi-linear evolution into regimes that are challenging to simulate or measure via astronomical observations., Comment: 14 pages, 8 figures

In this paper we investigate tensor fluctuations of the metric at the end of a Higgs inflationary period in the context of a recently introduced complex geometrical scalar-tensor theory of gravity. In our model the Higgs field has a geometrical origin and the affine connection is determined by the Palatini's principle. Additionally, we consider an extra contribution to the tensor-fluctuations equation coming from the vacuum term in the energy momentum tensor associated to the Higgs field. The Higgs potential is rescaled by the non-canonicity function of the kinetic term of the field which is modified by the symmetry group of the background geometry. We obtain a nearly scale invariant spectrum and a scalar to tensor ratio in agreement with PLANCK 2018 cosmological results., Comment: 9 pages, 2 figures

Neutron stars are usually modelled as spherical, rotating perfect conductors with a predominant intrinsic dipolar magnetic field anchored to their stellar crust. Due to their compactness, General Relativity corrections must be accounted for in Maxwell's equations, leading to modified interior and exterior electromagnetic solutions. We present analytical solutions for slowly-rotating magnetised neutron stars taking into account the magnetic frame-dragging correction. For typical compactness values, i.e. $R_s \sim 0.5 [R_*]$, we show that the new terms lead to a percent order correction in the magnetic field orientation and strength compared to the case with no magnetic frame-dragging correction. Also, we obtain a self-consistent redistribution of the surface azimuthal current. We verify the validity of the derived solution through two-dimensional particle-in-cell simulations of an isolated neutron star. Defining the azimuthal electric and magnetic field amplitudes during the transient phase as observables, we prove that the magnetic frame-dragging correction reduces the transient wave amplitude, as expected from the analytical solution. We show that simulations are more accurate and stable when we include all first-order terms. The increased accuracy at lower spatiotemporal resolutions translates into a reduction in simulation runtimes., Comment: 12 pages, 8 figures

Magnetospheres are a ubiquitous feature of magnetized bodies embedded in a plasma flow. While large planetary magnetospheres have been studied for decades by spacecraft, ion-scale "mini" magnetospheres can provide a unique environment to study kinetic-scale, collisionless plasma physics in the laboratory to help validate models of larger systems. In this work, we present preliminary experiments of ion-scale magnetospheres performed on a unique high-repetition-rate platform developed for the Large Plasma Device (LAPD) at UCLA. The experiments utilize a high-repetition-rate laser to drive a fast plasma flow into a pulsed dipole magnetic field embedded in a uniform magnetized background plasma. 2D maps of magnetic field with high spatial and temporal resolution are measured with magnetic flux probes to examine the evolution of magnetosphere and current density structures for a range of dipole and upstream parameters. The results are further compared to 2D PIC simulations to identify key observational signatures of the kinetic-scale structures and dynamics of the laser-driven plasma. We find that distinct 2D kinetic-scale magnetopause and diamagnetic current structures are formed at higher dipole moments, and their locations are consistent with predictions based on pressure balances and energy conservation.

Galaxy evolution is generally affected by tidal interactions. Firstly, in this series, we reported several effects which suggest that tidal interactions contribute to regulating star formation (SF). To confirm that so, we now compare stellar mass assembly histories and SF look-back time annular profiles between CALIFA survey tidally and non-tidally perturbed galaxies. We pair their respective star-forming regions at the closest stellar mass surface densities to reduce the influence of stellar mass. The assembly histories and annular profiles show statistically significant differences so that higher star formation rates characterize regions in tidally perturbed galaxies. These regions underwent a more intense (re)activation of SF in the last 1 Gyr. Varying shapes of the annular profiles also reflect fluctuations between suppression and (re)activation of SF. Since gas-phase abundances use to be lower in more actively than in less actively star-forming galaxies, we further explore the plausible presence of metal-poor gas inflows able to dilute such abundances. The resolved relations of oxygen (O) abundance, with stellar mass density and with total gas fraction, show slightly lower O abundances for regions in tidally perturbed galaxies. The single distributions of O abundances statistically validate that so. Moreover, from a metallicity model based on stellar feedback, the mass rate differentials (inflows$-$outflows) show statistically valid higher values for regions in tidally perturbed galaxies. These differentials, and the metal fractions from the population synthesis, suggest dominant gas inflows in these galaxies. This dominance, and the differences in SF through time, confirm the previously reported effects of tidal interactions on SF., Comment: 32 pages, 13 figures

NGC 7469 is a well known Luminous IR Galaxy, with a circumnuclear star formation ring ($\sim 830$ pc radius) surrounding a Seyfert 1 AGN. Nuclear unresolved winds were previously detected in X-rays and UV, as well as an extended biconical outflow in IR coronal lines. We search for extended outflows by measuring the kinematics of the $\mathrm{H\beta}$ and [O III] $\lambda 5007$ optical emission lines, in data of the VLT/MUSE integral field spectrograph. We find evidence of two outflow kinematic regimes: one slower regime extending across most of the star formation ring -- possibly driven by the massive star formation -- and a faster regime (with a maximum velocity of $-715 \ \mathrm{km \ s^{-1}}$), only observed in [O III], in the western region between the AGN and the massive star forming regions of the ring, likely AGN-driven. This work shows a case where combined AGN/star-formation feedback can be effectively spatially-resolved, opening up a promising path toward a deeper understanding of feedback processes in the central kiloparsec of AGN., Comment: 10 pages, 5 figures. Accepted for publication in The Astrophysical Journal Letters

We explore the effects of tidal interactions on star formation (SF) by analysing a sample of CALIFA survey galaxies. The sample consists of tidally and non-tidally perturbed galaxies, paired at the closest stellar mass densities for the same galaxy type between subsamples. They are then compared, both on the resolved Star Formation Main Sequence (SFMS) plane and in annular property profiles. Star-forming regions in tidally perturbed galaxies exhibit flatter SFMS slopes compared to star-forming regions in non-tidally perturbed galaxies. Despite that the annular profiles show star-forming regions in tidally perturbed galaxies as being mostly older, their SF properties are never reduced against those ones proper of non-tidally perturbed galaxies. Star-forming regions in non-tidally perturbed galaxies are better candidates for SF suppression (quenching). The lowered SF with increasing stellar mass density in tidally perturbed galaxies may suggest a lower dependence of SF on stellar mass. Though the SFMS slopes, either flatter or steeper, are found independent of stellar mass density, the effect of global stellar mass can not be ignored when distinguishing among galaxy types. Since a phenomenon or property other than local/global stellar mass may be taking part in the modulation of SF, the integrated SF properties are related to the tidal perturbation parameter. We find weak, but detectable, positive correlations for perturbed galaxies suggesting that tidal perturbations induced by close companions increase the gas accretion rates of these objects.

In this paper, we present the classical Bondi accretion theory for the case of non-isothermal accretion processes onto a supermassive black hole (SMBH), including the effects of X-ray heating and the radiation force due to electron scattering and spectral lines. The radiation field is calculated by considering an optically thick, geometrically thin, standard accretion disk as the emitter of UV photons and a spherical central object as a source of X-ray emission. In the present analysis, the UV emission from the accretion disk is assumed to have an angular dependence, while the X-ray/central object radiation is assumed to be isotropic. This allows us to build streamlines in any angular direction we need to. The influence of both types of radiation is evaluated for different flux fractions of the X-ray and UV emissions with and without the effects of spectral line driving. We find that the radiation emitted near the SMBH interacts with the infalling matter and modifies the accretion dynamics. In the presence of line driving, a transition resembles from pure type 1 & 2 to type 5 solutions (see Fig2.1 of Frank etal. 2002), which takes place regardless of whether or not the UV emission dominates over the X-ray emission. We compute the radiative factors at which this transition occurs, and discard type 5 solution from all our models. Estimated values of the accretion radius and accretion rate in terms of the classical Bondi values are also given. The results are useful for the construction of proper initial conditions for time-dependent hydrodynamical simulations of accretion flows onto SMBH at the centre of galaxies., Comment: 10 pages, 10 figures, Accepted to be published in A&A

We present three-dimensional calculations of spherically symmetric Bondi accretion onto a stationary supermassive black hole (SMBH) of mass $10^{8}$ $M_{\odot}$ within a radial range of $0.02-10$ pc, using a modified version of the smoothed particle hydrodynamics (SPH) \gad \sp code, which ensures approximate first-order consistency (i.e., second-order accuracy) for the particle approximation. First-order consistency is restored by allowing the number of neighbours, $n_{\rm neigh}$, and the smoothing length, $h$, to vary with the total number of particles, $N$, such that the asymptotic limits $n_{\rm neigh}\to\infty$ and $h\to 0$ hold as $N\to\infty$. The ability of the method to reproduce the isothermal ($\gamma =1$) and adiabatic ($\gamma =5/3$) Bondi accretion is investigated with increased spatial resolution. In particular, for the isothermal models the numerical radial profiles closely match the Bondi solution, except near the accretor, where the density and radial velocity are slightly underestimated. However, as $n_{\rm neigh}$ is increased and $h$ is decreased, the calculations approach first-order consistency and the deviations from the Bondi solution decrease. The density and radial velocity profiles for the adiabatic models are qualitatively similar to those for the isothermal Bondi accretion. Steady-state Bondi accretion is reproduced by the highly resolved consistent models with a percent relative error of $\lesssim 1$\% for $\gamma =1$ and $\sim 9$\% for $\gamma =5/3$, with the adiabatic accretion taking longer than the isothermal case to reach steady flow. The performance of the method is assessed by comparing the results with those obtained using the standard Gadget and the Gizmo codes., Comment: Accepted for publication in MNRAS, 31 pages, 15 figures

We investigate the formation of collisionless magnetized shocks triggered by the interaction between magnetized plasma flows and miniature-sized (order of plasma kinetic-scales) magnetic obstacles resorting to massively parallel, full particle-in-cell simulations, including the electron kinetics. The critical obstacle size to generate a compressed plasma region ahead of these objects is determined by independently varying the magnitude of the dipolar magnetic moment and the plasma magnetization. We find that the effective size of the obstacle depends on the relative orientation between the dipolar and plasma internal magnetic fields, and we show that this may be critical to form a shock in small-scale structures. We study the microphysics of the magnetopause in different magnetic field configurations in 2D and compare the results with full 3D simulations. Finally, we evaluate the parameter range where such miniature magnetized shocks can be explored in laboratory experiments.

In this paper we show a plausible mechanism that could lead to the formation of the Dark Lanes in Lunar Swirls, and the electromagnetic shielding of the lunar surface that results in the preservation of the white colour of the lunar regolith. We present the results of a fully self-consistent 2 and 3 dimensional particle-in-cell simulations of mini-magnetospheres that form above the lunar surface and show that they are consistent with the formation of `lunar swirls' such as the archetypal formation Reiner Gamma. The simulations show how the microphysics of the deflection/shielding of plasma operates from a kinetic-scale cavity, and show that this interaction leads to a footprint with sharp features that could be the mechanism behind the generation of `dark lanes'. The physics of mini-magnetospheres is described and shown to be controlled by space-charge fields arising due to the magnetized electrons and unmagnetized ions. A comparison between model and observation is shown for a number of key plasma parameters., Comment: 14 pages, 10 figures

We study geometrical confinement effects in Bi$_{2}$Sr$_{2}$CaCu$_{2}$O$_{8 +\delta}$ mesoscopic vortex-matter with edge-to-surface ratio of $7-12$%. Samples have in-plane square and circular edges, 30\,$\mu$m widths, and $\sim 2\,\mu$m thickness. Direct vortex imaging reveals the compact planes of the structure align with the sample edge by introducing topological defects. The defects density is larger for circular than for square edges. Molecular dynamics simulations suggest this density is not an out-of-equilibrium property but rather determined by the geometrical confinement., Comment: accepted in Journal of Low Temperature Physics