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The 2021 Champlain Towers South Condominiums collapse in Surfside, Florida, resulted 98 deaths. Nine people are thought to have survived the initial collapse, and might have been rescued if rescue workers could have located them. Perhaps, if rescue workers had been able to use robots to search the interior of the rubble pile, outcomes might have been better. An improved understanding of the environment in which a robot would have to operate to be able to search the interior of a rubble pile would help roboticists develop better suited robotic platforms and control strategies. To this end, this work offers an approach to characterize and visualize the interior of a rubble pile and conduct a preliminary analysis of the occurrence of voids. Specifically, the analysis makes opportunistic use of four days of aerial imagery gathered from responders at Surfside to create a 3D volumetric aggregated model of the collapse in order to identify and characterize void spaces in the interior of the rubble. The preliminary results confirm expectations of small number and scale of these interior voids. The results can inform better selection and control of existing robots for disaster response, aid in determining the design specifications (specifically scale and form factor), and improve control of future robotic platforms developed for search operations in rubble. 

3D representations of geographical surfaces in the form of dense point clouds can be a valuable tool for documenting and reconstructing a structural collapse, such as the 2021 Champlain Towers Condominium collapse in Surfside, Florida. Point cloud data reconstructed from aerial footage taken by uncrewed aerial systems at frequent intervals from a dynamic search and rescue scene poses significant challenges. Properly aligning large point clouds in this context, or registering them, poses noteworthy issues as they capture multiple regions whose geometries change over time. These regions denote dynamic features such as excavation machinery, cones marking boundaries and the structural collapse rubble itself. In this paper, the performances of commonly used point cloud registration methods for dynamic scenes present in the raw data are studied. The use of Iterative Closest Point (ICP), Rigid - Coherent Point Drift (CPD) and PointNetLK for registering dense point clouds, reconstructed sequentially over a time- frame of five days, is studied and evaluated. All methods are compared by error in performance, execution time, and robustness with a concluding analysis and a judgement of the preeminent method for the specific data at hand is provided. 

Abstract The recent IceCube detection of TeV neutrino emission from the nearby active galaxy NGC 1068 suggests that active galactic nuclei (AGNs) could make a sizable contribution to the diffuse flux of astrophysical neutrinos. The absence of TeVγ-rays from NGC 1068 indicates neutrino production in the vicinity of the supermassive black hole, where the high radiation density leads toγ-ray attenuation. Therefore, any potential neutrino emission from similar sources is not expected to correlate with high-energyγ-rays. Disk-corona models predict neutrino emission from Seyfert galaxies to correlate with keV X-rays because they are tracers of coronal activity. Using through-going track events from the Northern Sky recorded by IceCube between 2011 and 2021, we report results from a search for individual and aggregated neutrino signals from 27 additional Seyfert galaxies that are contained in the Swift's Burst Alert Telescope AGN Spectroscopic Survey. Besides the generic single power law, we evaluate the spectra predicted by the disk-corona model assuming stochastic acceleration parameters that match the measured flux from NGC 1068. Assuming all sources to be intrinsically similar to NGC 1068, our findings constrain the collective neutrino emission from X-ray bright Seyfert galaxies in the northern sky, but, at the same time, show excesses of neutrinos that could be associated with the objects NGC 4151 and CGCG 420-015. These excesses result in a 2.7σsignificance with respect to background expectations. 

This work generalizes graph neural networks (GNNs) beyond those based on the Weisfeiler- Lehman (WL) algorithm, graph Laplacians, and diffusions. Our approach, denoted Relational Pooling (RP), draws from the theory of finite partial exchangeability to provide a framework with maximal representation power for graphs. RP can work with existing graph representation models and, somewhat counterintuitively, can make them even more powerful than the orig- inal WL isomorphism test. Additionally, RP allows architectures like Recurrent Neural Net- works and Convolutional Neural Networks to be used in a theoretically sound approach for graph classification. We demonstrate improved perfor- mance of RP-based graph representations over state-of-the-art methods on a number of tasks. 

We consider a simple and overarching representation for permutation-invariant functions of sequences (or multiset functions). Our approach, which we call Janossy pooling, expresses a permutation-invariant function as the average of a permutation-sensitive function applied to all reorderings of the input sequence. This allows us to leverage the rich and mature literature on permutation-sensitive functions to construct novel and flexible permutation-invariant functions. If car- ried out naively, Janossy pooling can be computationally prohibitive. To allow computational tractability, we consider three kinds of approximations: canonical orderings of sequences, functions with k-order interactions, and stochastic opti- mization algorithms with random permutations. Our framework unifies a variety of existing work in the literature, and suggests possible modeling and algorithmic extensions. We explore a few in our experiments, which demonstrate improved performance over current state-of-the-art methods. 

We report a study of the inelasticity distribution in the scattering of neutrinos of energy 80–560 GeV off nucleons. Using atmospheric muon neutrinos detected in IceCube’s sub-array DeepCore during 2012–2021, we fit the observed inelasticity in the data to a parameterized expectation and extract the values that describe it best. Finally, we compare the results to predictions from various combinations of perturbative QCD calculations and atmospheric neutrino flux models. Published by the American Physical Society2025 

Abstract The nature of dark matter remains unresolved in fundamental physics. Weakly Interacting Massive Particles (WIMPs), which could explain the nature of dark matter, can be captured by celestial bodies like the Sun or Earth, leading to enhanced self-annihilation into Standard Model particles including neutrinos detectable by neutrino telescopes such as the IceCube Neutrino Observatory. This article presents a search for muon neutrinos from the center of the Earth performed with 10 years of IceCube data using a track-like event selection. We considered a number of WIMP annihilation channels ($$\chi \chi \rightarrow \tau ^+\tau ^-$$ $\chi \chi \to {\tau }^{+}{\tau }^{-}$/$$W^+W^-$$ $W^{+}{W}^{-}$/$$b\bar{b}$$ $b\overline{b}$) and masses ranging from 10 GeV to 10 TeV. No significant excess over background due to a dark matter signal was found while the most significant result corresponds to the annihilation channel$$\chi \chi \rightarrow b\bar{b}$$ $\chi \chi \to b\overline{b}$for the mass$$m_{\chi }=250$$ $m_{\chi }=250$ GeV with a post-trial significance of$$1.06\sigma $$ $1.06\sigma$. Our results are competitive with previous such searches and direct detection experiments. Our upper limits on the spin-independent WIMP scattering are world-leading among neutrino telescopes for WIMP masses$$m_{\chi }>100$$ $m_{\chi }>100$ GeV.