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We implement a local model for a spherical collapsing/expanding gas cloud into the Athena++ magnetohydrodynamic code. This local model consists of a Cartesian periodic box with time-dependent geometry. We present a series of benchmark test problems, including non-linear solutions and linear perturbations of the local model, confirming the code's desired performance. During a spherical collapse, a horizontal shear flow is amplified, corresponding to angular momentum conservation of zonal flows in the global problem; wave speed and amplitude of sound waves increase in the local frame, due to the reduction in the characteristic length scale of the box, which can lead to an anisotropic effective sound speed in the local box. Our code conserves both mass and momentum to machine precision. This numerical implementation of the local model has potential applications to the study of local physics and hydrodynamic instabilities during protostellar collapse, providing a powerful framework for better understanding the earliest stages of star and planet formation., Comment: 14 pages, 9 figures, plus appendix (3 pages, 1 figure). Accepted for publication in Astronomy & Astrophysics

The radiative lifetime of the $A$ $^2 \Pi_{1/2}$ (v=0) state in radium monofluoride (RaF) is measured to be 35(1) ns. The lifetime of this state and the related decay rate $\Gamma = 2.86(8) \times 10^7$ $s^{-1}$ are of relevance to the laser cooling of RaF via the optically closed $A$ $^2 \Pi_{1/2} \leftarrow X$ $^2\Sigma_{1/2}$ transition, which makes the molecule a promising probe to search for new physics. RaF is found to have a comparable photon-scattering rate to homoelectronic laser-coolable molecules. Thanks to its highly diagonal Franck-Condon matrix, it is expected to scatter an order of magnitude more photons than other molecules when using just 3 cooling lasers, before it decays to a dark state. The lifetime measurement in RaF is benchmarked by measuring the lifetime of the $8P_{3/2}$ state in Fr to be 83(3) ns, in agreement with literature., Comment: Accepted as a Letter in Physical Review A; 8 pages of main text, 5 pages of supplemental material

There is a common assumption in the particulate disc community that the pressure in particulate discs is essentially zero and that the disc streamlines follow Keplerian orbits, in the absence of self-gravity or external perturbations. It is also often assumed that the fluid description of particulate discs is not valid in the presence of crossing orbits (e.g. from nonzero free eccentricities). These stem from the misconception that fluid pressure arises due to the (typically rare) collisions between particles and that the velocity of particles in fluids are single-valued in space. In reality, pressure is a statistical property of the particle distribution function which arises precisely because there is a distribution of velocities at a given position. In this letter we demonstrate, with simple examples, that pressure in particulate discs is non-zero and is related to the inclination and free eccentricity distributions of the constituent particles in the discs. This means many common models of debris discs implicitly assume a nonzero, and potentially quite significant, dust pressure. We shall also demonstrate that the bulk motion of the dust is not the same as the particle motion and that the presence of pressure gradients can lead to strong departures from Keplerian motion., Comment: 5 pages, 3 figures, accepted for publication in MNRAS letters

Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot knows its pose and the desired formation moments, and simultaneously estimates the current moments of the entire swarm while controlling its motion to better achieve the desired group moments. The estimator is a distributed optimization, requiring no centralized processing, and self-healing, meaning that the process is robust to initialization errors, packet drops, and robots being added to or removed from the swarm. Our experimental results with a swarm of 50 robots, suffering nearly 50% packet loss, show that distributed estimation and control of image moments effectively achieves desired swarm formations.

While machine learning (ML) includes a valuable array of tools for analyzing biomedical data, significant time and expertise is required to assemble effective, rigorous, and unbiased pipelines. Automated ML (AutoML) tools seek to facilitate ML application by automating a subset of analysis pipeline elements. In this study we develop and validate a Simple, Transparent, End-to-end Automated Machine Learning Pipeline (STREAMLINE) and apply it to investigate the added utility of photography-based phenotypes for predicting obstructive sleep apnea (OSA); a common and underdiagnosed condition associated with a variety of health, economic, and safety consequences. STREAMLINE is designed to tackle biomedical binary classification tasks while adhering to best practices and accommodating complexity, scalability, reproducibility, customization, and model interpretation. Benchmarking analyses validated the efficacy of STREAMLINE across data simulations with increasingly complex patterns of association. Then we applied STREAMLINE to evaluate the utility of demographics (DEM), self-reported comorbidities (DX), symptoms (SYM), and photography-based craniofacial (CF) and intraoral (IO) anatomy measures in predicting any OSA or moderate/severe OSA using 3,111 participants from Sleep Apnea Global Interdisciplinary Consortium (SAGIC). OSA analyses identified a significant increase in ROC-AUC when adding CF to DEM+DX+SYM to predict moderate/severe OSA. A consistent but non-significant increase in PRC-AUC was observed with the addition of each subsequent feature set to predict any OSA, with CF and IO yielding minimal improvements. Application of STREAMLINE to OSA data suggests that CF features provide additional value in predicting moderate/severe OSA, but neither CF nor IO features meaningfully improved the prediction of any OSA beyond established demographics, comorbidity and symptom characteristics., Comment: 23 pages, 7 figures, 1 table, 1 supplemental information document (77 pages), and 7 ancillary files

Legged robot locomotion is hindered by a mismatch between applications where legs can outperform wheels or treads, most of which feature deformable substrates, and existing tools for planning and control, most of which assume flat, rigid substrates. In this study we focus on the ramifications of plastic terrain deformation on the hop-to-hop energy dynamics of a spring-legged monopedal hopping robot animated by a switched-compliance energy injection controller. From this deliberately simple robot-terrain template, we derive a hop-to-hop energy return map, and we use physical experiments and simulations to validate the hop-to-hop energy map for a real robot hopping on a real deformable substrate. The dynamical properties (fixed points, eigenvalues, basins of attraction) of this map provide insights into efficient, responsive, and robust locomotion on deformable terrain. Specifically, we identify constant-fixed-point surfaces in a controller parameter space that suggest it is possible to tune control parameters for efficiency or responsiveness while targeting a desired gait energy level. We also identify conditions under which fixed points of the energy map are globally stable, and we further characterize the basins of attraction of fixed points when these conditions are not satisfied. We conclude by discussing the implications of this hop-to-hop energy map for planning, control, and estimation for efficient, agile, and robust legged locomotion on deformable terrain., Comment: 20 pages, 13 figures, submitted to IEEE Transactions on Robotics

Our understanding of nuclear properties in the vicinity of 100Sn, suggested to be the heaviest doubly magic nucleus with equal numbers of protons (Z=50) and neutrons (N=50), has been a long-standing challenge for experimental and theoretical nuclear physics. Contradictory experimental evidence exists on the role of nuclear collectivity in this region of the nuclear chart. Using precision laser spectroscopy, we measured the ground-state electromagnetic moments of indium (Z=49) isotopes approaching the N=50 neutron number down to 101In, and nuclear charge radii of 101-131In spanning almost the complete range between the two major neutron closed-shells at N=50 and N=82. Our results for both nuclear charge radii and quadrupole moments reveal striking parabolic trends as a function of the neutron number, with a clear reduction toward these two neutron closed-shells, thus supporting a doubly magic character of 100Sn. Two complementary nuclear many-body frameworks, density functional theory and ab initio methods, elucidate our findings. A detailed comparison with our experimental results exposes deficiencies of nuclear models, establishing a benchmark for future theoretical developments., Comment: 12 pages, 6 figures, 4 tables; data and code availability statements added; reference titles added

In this paper we develop a framework for studying unstratified, magnetised eccentric discs and compute uniformly precessing eccentric modes in a cylindrical annulus which provide convenient initial conditions for numerical simulations. The presence of a magnetic field in an eccentric disc can be described by an effective gas with a modified equation of state. At magnetic field strengths relevant to the magneto-rotational instability the magnetic field has negligible influence on the evolution of the eccentric disc, however the eccentric disc can significantly enhance the magnetic field strength over that in the a circular disc. We verify the suitability of these eccentric disc solutions by carrying out 2D simulations in RAMSES. Our simulated modes (in 2D) follow a similar evolution to the purely hydrodynamical modes, matching theoretical expectations, provided they are adequately resolved. Such solutions will provide equilibrium states for studies of the eccentric magneto-rotational instability and magnetised parametric instability in unstratified discs and are useful for exploring the response of disc turbulence on top of a fluid flow varying on the orbital timescale., Comment: 16 pages, 12 figures, accepted for publication in MNRAS

We describe SH-SVL, a parameterized family of first-order distributed optimization algorithms that enable a network of agents to collaboratively calculate a decision variable that minimizes the sum of cost functions at each agent. These algorithms are self-healing in that their convergence to the correct optimizer can be guaranteed even if they are initialized randomly, agents join or leave the network, or local cost functions change. We also present simulation evidence that our algorithms are self-healing in the case of dropped communication packets. Our algorithms are the first single-Laplacian methods for distributed convex optimization to exhibit all of these characteristics. We achieve self-healing by sacrificing internal stability, a fundamental trade-off for single-Laplacian methods., Comment: arXiv admin note: substantial text overlap with arXiv:2104.01959

Spherical flows are a classic problem in astrophysics which are typically studied from a global perspective. However, much like with accretion discs, there are likely many instabilities and small scale phenomena which would be easier to study from a local perspective. For this purpose, we develop a local model for a spherically contracting/expanding gas cloud, in the spirit of the shearing box, $\beta$-plane and expanding box models which have had extensive use in studies of accretion discs, planets and stellar winds respectively. The local model consists of a, spatially homogeneous, periodic box with a time varying aspect ratio, along with a scale factor (analogous to that in FRW/Newtonian cosmology) relating the box coordinates to the physical coordinates of the global problem. We derive a number of symmetries and conservation laws exhibited by the local model. Some of these reflect symmetries of the periodic box, modified by the time dependant geometry, while others are local analogues for symmetries of the global problem. The energy, density and vorticity in the box also generically increase(/decrease) as a consequence of the collapse(/expansion). We derive a number of nonlinear solutions, including a local analogue of uniform density zonal flows, which grow as a consequence of angular momentum conservation. Our model is closely related to the accelerated expanding box model of Tenerani \& Velli and is an extension of the isotropic model considered by Robertson \& Goldreich., Comment: 20 pages, 6 figures, accepted for publication in MNRAS

We present Paper II of the Eccentric Debris Disc Morphologies series to explore the effects that significant free and forced eccentricities have on high-resolution millimetre-wavelength observations of debris discs, motivated by recent ALMA images of HD53143's disc. In this work, we explore the effects of free eccentricity, and by varying disc fractional widths and observational resolutions, show for a range of narrow eccentric discs, orbital overlaps result in dust emission distributions that have either one or two radial peaks at apocentre and/or pericentre. The narrowest discs contain two radial peaks, whereas the broadest discs contain just one radial peak. For fixed eccentricities, as fractional disc widths are increased, we show that these peaks merge first at apocentre (producing apocentre glow), and then at pericentre (producing pericentre glow). Our work thus demonstrates that apocentre/pericentre glows in models with constant free and forced eccentricities can be both width and resolution dependent at millimetre wavelengths, challenging the classical assertion that apocentre/pericentre glows are purely wavelength dependent. We discuss future high-resolution observations that can distinguish between competing interpretations of underlying debris disc eccentricity distributions., Comment: 7 pages, 5 figures. Accepted for publication in MNRAS Letters

The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional mobile base and a series-elastic Delta-type parallel manipulator, and it is a specific implementation of a broader class of mobile collaborative robots ("mocobots") suitable for safe human co-manipulation of delicate, flexible, and articulated payloads. Key features of mocobots include passive compliance, for the safety of the human and the payload, and high-fidelity end-effector force control independent of the potentially imprecise motions of the mobile base. We describe general considerations for the design of teams of mocobots; the design of the Omnids in light of these considerations; manipulator and mobile base controllers to achieve useful multirobot collaborative behaviors; and initial experiments in human-multirobot collaborative mobile manipulation of large, unwieldy payloads. For these experiments, the only communication among the humans and Omnids is mechanical, through the payload., Comment: 8 pages, 10 figures. Videos available at https://www.youtube.com/watch?v=SEuFfONryL0. Submitted to IEEE Robotics and Automation Letters (RA-L)

In this paper I develop a nonlinear theory of tightly-wound (highly twisted) eccentric waves in astrophysical discs, based on the averaged Lagrangian method of Whitham. Viscous dissipation is included in the theory by use of a pseudo-Lagrangian. This work is an extension of the theory developed by Lee \& Goodman to 3D discs, with the addition of viscosity. I confirm that linear tightly-wound eccentric waves are overstable and are excited by the presence of a shear viscosity and show this persists for weakly nonlinear waves. I find the waves are damped by shear viscosity when the wave become sufficiently nonlinear, a result previously found in particulate discs. Additionally I compare the results of this model to recent simulations of eccentric waves propagating in the inner regions of black hole discs and show that an ingoing eccentric wave can be strongly damped near the marginally stable orbit, resulting in a nearly circular disc with a strong azimuthal variation in the disc density., Comment: 21 pages, 7 figures, Accepted 2021 November 19. Received 2021 November 19; in original form 2021 October 20

The location of surface brightness maxima (e.g. apocentre and pericentre glow) in eccentric debris discs are often used to infer the underlying orbits of the dust and planetesimals that comprise the disc. However, there is a misconception that eccentric discs have higher surface densities at apocentre and thus necessarily exhibit apocentre glow at long wavelengths. This arises from the expectation that the slower velocities at apocentre lead to a "pile up'" of dust, which fails to account for the greater area over which dust is spread at apocentre. Instead we show with theory and by modelling three different regimes that the morphology and surface brightness distributions of face-on debris discs are strongly dependent on their eccentricity profile (i.e. whether this is constant, rising or falling with distance). We demonstrate that at shorter wavelengths the classical pericentre glow effect remains true, whereas at longer wavelengths discs can either demonstrate apocentre glow or pericentre glow. We additionally show that at long wavelengths the same disc morphology can produce either apocentre glow or pericentre glow depending on the observational resolution. Finally, we show that the classical approach of interpreting eccentric debris discs using line densities is only valid under an extremely limited set of circumstances, which are unlikely to be met as debris disc observations become increasingly better resolved., Comment: 14 pages, 11 figures, Accepted 2021 December 1. Received 2021 September 9; in original form 2021 July 26 - MNRAS

Combining laser spectroscopy in a Versatile Arc Discharge and Laser Ion Source, with Penning-trap mass spectrometry at the CERN-ISOLDE facility, this work reports on mean-square charge radii of neutron-rich mercury isotopes across the $N = 126$ shell closure, the electromagnetic moments of $^{207}$Hg and more precise mass values of $^{206-208}$Hg. The odd-even staggering (OES) of the mean square charge radii and the kink at $N = 126$ are analyzed within the framework of covariant density functional theory (CDFT), with comparisons between different functionals to investigate the dependence of the results on the underlying single-particle structure. The observed features are defined predominantly in the particle-hole channel in CDFT, since both are present in the calculations without pairing. However, the magnitude of the kink is still affected by the occupation of the $1i_{11/2}$ and $2g_{9/2}$ orbitals with a dependence on the relative energies as well as pairing., Comment: 20 pages, 12 figures, Phys. Rev. C in press

In this paper, we present Demystify, a general tool for creating human-interpretable step-by-step explanations of how to solve a wide range of pen and paper puzzles from a high-level logical description. Demystify is based on Minimal Unsatisfiable Subsets (MUSes), which allow Demystify to solve puzzles as a series of logical deductions by identifying which parts of the puzzle are required to progress. This paper makes three contributions over previous work. First, we provide a generic input language, based on the Essence constraint language, which allows us to easily use MUSes to solve a much wider range of pen and paper puzzles. Second, we demonstrate that the explanations that Demystify produces match those provided by humans by comparing our results with those provided independently by puzzle experts on a range of puzzles. We compare Demystify to published guides for solving a range of different pen and paper puzzles and show that by using MUSes, Demystify produces solving strategies which closely match human-produced guides to solving those same puzzles (on average 89% of the time). Finally, we introduce a new randomised algorithm to find MUSes for more difficult puzzles. This algorithm is focused on optimised search for individual small MUSes.

Machine learning (ML) research has yielded powerful tools for training accurate prediction models despite complex multivariate associations (e.g. interactions and heterogeneity). In fields such as medicine, improved interpretability of ML modeling is required for knowledge discovery, accountability, and fairness. Rule-based ML approaches such as Learning Classifier Systems (LCSs) strike a balance between predictive performance and interpretability in complex, noisy domains. This work introduces the LCS Discovery and Visualization Environment (LCS-DIVE), an automated LCS model interpretation pipeline for complex biomedical classification. LCS-DIVE conducts modeling using a new scikit-learn implementation of ExSTraCS, an LCS designed to overcome noise and scalability in biomedical data mining yielding human readable IF:THEN rules as well as feature-tracking scores for each training sample. LCS-DIVE leverages feature-tracking scores and/or rules to automatically guide characterization of (1) feature importance (2) underlying additive, epistatic, and/or heterogeneous patterns of association, and (3) model-driven heterogeneous instance subgroups via clustering, visualization generation, and cluster interrogation. LCS-DIVE was evaluated over a diverse set of simulated genetic and benchmark datasets encoding a variety of complex multivariate associations, demonstrating its ability to differentiate between them and then applied to characterize associations within a real-world study of pancreatic cancer., Comment: 21 pages, 11 figures, submitted for review on 4/26/21

In this paper we describe a parameterized family of first-order distributed optimization algorithms that enable a network of agents to collaboratively calculate a decision variable that minimizes the sum of cost functions at each agent. These algorithms are self-healing in that their correctness is guaranteed even if they are initialized randomly, agents drop in or out of the network, local cost functions change, or communication packets are dropped. Our algorithms are the first single-Laplacian methods to exhibit all of these characteristics. We achieve self-healing by sacrificing internal stability, a fundamental trade-off for single-Laplacian methods., Comment: Corrected equation (40) by changing "min" to "max", results unaffected

We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling have been studied before, in this paper we provide the first general formulation and solution method for the case of an arbitrary smooth object in single-point rolling contact on an arbitrary smooth hand. Our formulation splits the problem into four subproblems: (1) deriving the second-order rolling kinematics; (2) deriving the three-dimensional rolling dynamics; (3) planning rolling motions that satisfy the rolling dynamics; and (4) feedback stabilization of planned rolling trajectories. The theoretical results are demonstrated in simulation and experiment using feedback from a high-speed vision system., Comment: 18 pages, 15 figures. | Supplemental Video: https://youtu.be/QT55_Q1ePfg | Code: https://github.com/zackwoodruff/rolling_dynamics

Whether tidal disruption events (TDEs) circularise or accrete directly as a highly eccentric disc is the subject of current research and appears to depend sensitively on the disc thermodynamics. In a previous paper we applied the theory of eccentric discs to TDE discs using an $\alpha-$prescription for the disc stress, which leads to solutions that exhibit extreme, potentially unphysical, behaviour. In this paper we further explore the dynamical vertical structure of highly eccentric discs using alternative stress models that are better motivated by the behaviour of magnetic fields in eccentric discs. We find that the presence of a coherent magnetic field has a stabilising effect on the dynamics and can significantly alter the behaviour of highly eccentric radiation dominated discs. We conclude that magnetic fields are important for the evolution of TDE discs., Comment: 20 pages, 20 figure, accepted in MNRAS