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This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF) sensors to generate a sparse point cloud representation of the robot surroundings. By employing computational geometry techniques, we fuse the knowledge of robot geometric model with ToFs sensory feedback to generate whole-body motion tasks, allowing to move both sensorized and non-sensorized links in response to unpredictable events such as human motion. In particular, the proposed algorithm computes the pair of closest points between the environment cloud and the robot links, generating a dynamic avoidance motion that is implemented as the highest priority task in a two-level hierarchical architecture. Such a design choice allows the robot to work safely alongside humans even without a complete sensorization over the whole surface. Experimental validation demonstrates the algorithm effectiveness both in static and dynamic scenarios, achieving comparable performances with respect to well established control techniques that aim to move the sensors mounting positions on the robot body. The presented algorithm exploits any arbitrary point on the robot surface to perform avoidance motion, showing improvements in the distance margin up to 100 mm, due to the rendering of virtual avoidance tasks on non-sensorized links., Comment: Submitted for evaluation at the IEEE/ASME Transactions on Mechatronics Journal

Isospin symmetry is a fundamental concept in nuclear physics. Even though isospin symmetry is partially broken, it holds approximately for most nuclear systems, which makes exceptions very interesting from the nuclear structure perspective. In this framework, it is expected that the spins and parities of the ground states of mirror nuclei should be the same, in particular for the simplest systems where a proton is exchanged with a neutron or vice versa. In this work, we present evidence that this assumption is broken in the mirror pair $^{71}$Br and $^{71}$Kr system. Our conclusions are based on a high-statistics $\beta$ decay study of $^{71}$Kr and on state-of-the-art shell model calculations. In our work, we also found evidence of a new state in $^{70}$Se, populated in the $\beta$-delayed proton emission process which can be interpreted as the long sought coexisting 0$^+$ state., Comment: 8 pages with references, 3 figures. Supplemental material 4 pages (1 table, 3 figures)

The H{\alpha} nebular emission line is an optimal tracer for recent star formation in galaxies. With the advent of JWST, this line has recently become observable at z>3 for the first time. We present a catalog of 1013 H{\alpha} emitters at 3.73 obtained based purely on spectroscopic data, robustly tracing galaxy star formation rates (SFRs) beyond the peak of the cosmic star formation history. We compare our results with theoretical predictions from three different simulations and find good agreement at z~4-6. The UV LFs of this spectroscopically-confirmed sample are in good agreement with pre-JWST measurements obtained with photometrically-selected objects. Finally, we derive SFR functions and integrate these to compute the evolution of the cosmic star-formation rate densities across z~4-6, finding values in good agreement with recent UV estimates from Lyman-break galaxies, which imply a continuous decrease in SFR density by a factor of 3x over z~4 to z~6. Our work shows the power of NIRCam grism observations to efficiently provide new tests for early galaxy formation models based on emission line statistics., Comment: 17 pages, 14 figures

The probabilities for gamma-ray and particle emission as a function of the excitation energy of a decaying nucleus are valuable observables for constraining the ingredients of the models that describe the de-excitation of nuclei near the particle emission threshold. These models are essential in nuclear astrophysics and applications. In this work, we have for the first time simultaneously measured the gamma-ray and neutron emission probabilities of 208Pb. The measurement was performed in inverse kinematics at the Experimental Storage Ring (ESR) of the GSI/FAIR facility, where a 208Pb beam interacted through the 208Pb(p,p') reaction with a hydrogen gas jet target. Instead of detecting the gamma-rays and neutrons emitted by 208Pb, we detected the heavy beam-like residues produced after gamma and neutron emission. These heavy residues were fully separated by a dipole magnet of the ESR and were detected with outstanding efficiencies. The comparison of the measured probabilities with model calculations has allowed us to test and select different descriptions of the gamma-ray strength function and the nuclear level density available in the literature., Comment: 23 pages, 14 figures

We present the census of H$\beta$+[OIII] 4960,5008 \AA emitters at 6.87$ galaxies. We report a rapid decline of the [OIII] luminosity density at $z\gtrsim 6-7$ which cannot be explained by the evolution of the cosmic star-formation rate density. Finally we find that FRESCO detects in only 2h galaxies likely accounting for $\sim 10-20\%$ of the ionising budget at $z=7-8$ (assuming an escape fraction of 10%), raising the prospect of directly detecting a significant fraction of the sources of reionisation with JWST., Comment: 20 pages + appendices. Accepted in MNRAS. Public catalogue release at https://github.com/rameyer/fresco. V3: matching accepted version

We present the first results on the spatial distribution of star formation in 454 star-forming galaxies at $4.8

Lya emitters (LAEs) are particularly useful objects for the study of the Epoch of Reionization. Lya profiles can be used to estimate the amount of ionizing photons that are able to escape the galaxies, and therefore to understand what objects contributed to reionization. However, Lya is a resonant line and its complex radiative transfer effects make the interpretation of the line challenging and require the use of appropriate radiative transfer methods for anything but the simplest gas distributions. With this work we aim to study the properties of simulated LAEs, and the robustness of these inferred properties under a change in the dust model. We also explore the Lyman Continuum (LyC) escape fraction of these galaxies and compare our results with observationally calibrated methods to infer this quantity from the Lya spectrum. We use the radiative transfer code RASCAS to perform synthetic observations of 13 flux-selected galaxies from the Obelisk simulation at redshift z = 6, towards the end of the Epoch of Reionization. Each galaxy was observed in Lya, ionizing and non-ionizing continuum from 48 different viewing angles. We show that the Lya profiles emitted from a galaxy present large variations with a change in viewing angle and that the relation between peak separation and Lya escape fraction is not as strong as previously found, as we find lines of sight with both low peak separation and low escape fraction, due to their dust content. We also show that the properties of the Lya line are reasonably robust under a change in dust model. Lastly, we compare the LyC escape fractions we derive from the simulation to three observationally calibrated methods of inferring this quantity. We determine that none of these relations reproduce the scatter that we find in our sample, and that high escape fraction lines of sight have both low peak separation and low dust extinction in the UV., Comment: Resubmitted to A&A after the first referee report

Neutron-induced reaction cross sections of short-lived nuclei are imperative to understand the origin of heavy elements in stellar nucleosynthesis and for societal applications, but their measurement is extremely complicated due to the radioactivity of the targets involved. One way of overcoming this issue is to combine surrogate reactions with the unique possibilities offered by heavy-ion storage rings. In this work, we describe the first surrogate-reaction experiment in inverse kinematics, which we successfully conducted at the Experimental Storage Ring (ESR) of the GSI/FAIR facility, using the 208Pb(p,p') reaction as a surrogate for neutron capture on 207Pb. Thanks to the outstanding detection efficiencies possible at the ESR, we were able to measure for the first time the neutron-emission probability as a function of the excitation energy of 208Pb. We have used this probability to select different descriptions of the gamma-ray strength function and nuclear level density, and provide reliable results for the neutron-induced radiative capture cross section of 207Pb at energies for which no experimental data exist., Comment: 10 pages and 5 figures

With the remarkable sensitivity and resolution of JWST in the infrared, measuring rest-optical kinematics of galaxies at $z>5$ has become possible for the first time. This study pilots a new method for measuring galaxy dynamics for highly multiplexed, unbiased samples by combining FRESCO NIRCam grism spectroscopy and JADES medium-band imaging. Here we present one of the first JWST kinematic measurements for a galaxy at $z>5$. We find a significant velocity gradient, which, if interpreted as rotation yields $V_{rot} = 240\pm50$km/s and we hence refer to this galaxy as Twister-z5. With a rest-frame optical effective radius of $r_e=2.25$kpc, the high rotation velocity in this galaxy is not due to a compact size as may be expected in the early universe but rather a high total mass, ${\rm log(M}_{dyn}/{\rm M}_\odot)=11.0\pm0.2$. This is a factor of roughly 4x higher than the stellar mass within the effective radius. We also observe that the radial H$\alpha$ equivalent width profile and the specific star formation rate map from resolved stellar population modeling is centrally depressed by a factor of $\sim1.5$ from the center to $r_e$. Combined with the morphology of the line-emitting gas in comparison to the continuum, this centrally suppressed star formation is consistent with a star-forming disk surrounding a bulge growing inside-out. While large, rapidly rotating disks are common to z~2, the existence of one after only 1Gyr of cosmic time, shown for the first time in ionized gas, adds to the growing evidence that some galaxies matured earlier than expected in the history of the universe., Comment: Fig. 3 shows the main result

We present the JWST Cycle 1 53.8hr medium program FRESCO, short for "First Reionization Epoch Spectroscopically Complete Observations". FRESCO covers 62 arcmin$^2$ in each of the two GOODS/CANDELS fields for a total area of 124 arcmin$^2$ exploiting JWST's powerful new grism spectroscopic capabilities at near-infrared wavelengths. By obtaining ~2 hr deep NIRCam/grism observations with the F444W filter, FRESCO yields unprecedented spectra at R~1600 covering 3.8 to 5.0 $\mu$m for most galaxies in the NIRCam field-of-view. This setup enables emission line measurements over most of cosmic history, from strong PAH lines at z~0.2-0.5, to Pa$\alpha$ and Pa$\beta$ at z~1-3, HeI and [SIII] at z~2.5-4.5, H$\alpha$ and [NII] at z~5-6.5, up to [OIII] and H$\beta$ for z~7-9 galaxies, and possibly even [OII] at z~10-12. FRESCO's grism observations provide total line fluxes for accurately estimating galaxy stellar masses and calibrating slit-loss corrections of NIRSpec/MSA spectra in the same field. Additionally, FRESCO results in a mosaic of F182M, F210M, and F444W imaging in the same fields to a depth of ~28.2 mag (5 $\sigma$ in 0.32" diameter apertures). Together with this publication, the v1 imaging mosaics are released as high-level science products via MAST. Here, we describe the overall survey design and the key science goals that can be addressed with FRESCO. We also highlight several, early science results, including: spectroscopic redshifts of Lyman break galaxies that were identified almost 20 years ago, the discovery of broad-line active galactic nuclei at z>4, and resolved Pa$\alpha$ maps of galaxies at z~1.4. These results demonstrate the enormous power for serendipitous discovery of NIRCam/grism observations., Comment: 12 pages, 11 figures; MNRAS in press; for more information on the survey and data releases, see http://jwst-fresco.astro.unige.ch/ and https://archive.stsci.edu/hlsp/fresco

In an experiment performed at the SPIRAL1 facility of GANIL, the beta decay of 32Ar has been studied by means of the "Silicon Cube" device associated with germanium clover detectors from the EXOGAM array. Beta-delayed protons and gamma rays have been observed and allowed the determination of all relevant decay branches. The Gamow-Teller strength distribution is compared to shell-model calculations and excellent agreement is found. The Fermi strength is inline with expectations. A quasi-complete decay scheme of 32Ar is established., Comment: accepted for publication in EPJA

For the Phase-II Upgrade of the ATLAS Detector, its Inner Detector, consisting of silicon pixel, silicon strip and transition radiation sub-detectors, will be replaced with an all new 100 % silicon tracker, composed of a pixel tracker at inner radii and a strip tracker at outer radii. The future ATLAS strip tracker will include 11,000 silicon sensor modules in the central region (barrel) and 7,000 modules in the forward region (end-caps), which are foreseen to be constructed over a period of 3.5 years. The construction of each module consists of a series of assembly and quality control steps, which were engineered to be identical for all production sites. In order to develop the tooling and procedures for assembly and testing of these modules, two series of major prototyping programs were conducted: an early program using readout chips designed using a 250 nm fabrication process (ABCN-25) and a subsequent program using a follow-up chip set made using 130 nm processing (ABC130 and HCC130 chips). This second generation of readout chips was used for an extensive prototyping program that produced around 100 barrel-type modules and contributed significantly to the development of the final module layout. This paper gives an overview of the components used in ABC130 barrel modules, their assembly procedure and findings resulting from their tests., Comment: 82 pages, 66 figures

We report here the results of a study of the $\beta$ decay of the proton-rich Ge isotopes, $^{60}$Ge and $^{62}$Ge, produced in an experiment at the RIKEN Nishina Center. We have improved our knowledge of the half-lives of $^{62}$Ge (73.5(1) ms), $^{60}$Ge (25.0(3) ms) and its daughter nucleus, $^{60}$Ga (69.4(2) ms). We measured individual $\beta$-delayed proton and $\gamma$ emissions and their related branching ratios. Decay schemes and absolute Fermi and Gamow-Teller transition strengths have been determined. The mass excesses of the nuclei under study have been deduced. A total $\beta$-delayed proton-emission branching ratio of 67(3)% has been obtained for $^{60}$Ge. New information has been obtained on the energy levels populated in $^{60}$Ga and on the 1/2$^-$ excited state in the $\beta p$ daughter $^{59}$Zn. We extracted a ground state to ground state feeding of 85.3(3)% for the decay of $^{62}$Ge. Eight new $\gamma$ lines have been added to the de-excitation of levels populated in the $^{62}$Ga daughter., Comment: 13 pages, 12 figures, 5 tables. Physical Review C 103, 014324 (2021)

Following work done in the energy region above 100 keV, the high-precision calibration of a co-axial high-purity germanium detector has been continued in the energy region below 100 keV. Previous measurements or Monte-Carlo simulations have been repeated with higher statistics and new source measurements have been added. A precision as in the high-energy part, i.e. an absolute precision for the detection efficiency of 0.2%, has been reached. The low-energy behaviour of the germanium detector was further scrutinized by studying the germanium X-ray escape probability for the detection of low-energy photons. In addition, one experimental point, a gamma ray at 2168 keV from the decay of 38K, has been included for the total-to-peak ratios agreeing well with simulations. The same gamma ray was also added for the single- and double-escape probabilities. Finally, the long term stability of the efficiency of the germanium detector was investigated by regularly measuring the full-energy peak efficiency with a precisely calibrated 60Co source and found to be perfectly stable over a period of 10 years.

In an experiment performed at the ISOLDE facility of CERN, the super-allowed beta-decay branching ratio of 10C was determined with a high-precision single-crystal germanium detector. In order to evaluate the contribution of the pile-up of two 511 keV gamma quanta to one of the gamma-ray peaks of interest at 1021.7 keV, data were not only taken with 10C, but also with a 19Ne beam. The final result for the super-allowed decay branch is 1.4638(50)%, in agreement with the average from literature.