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  1. Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and efficiently perform such an inspection is an extremely difficult algorithmic challenge. In this work we consider an abstraction of the inspection planning problem which we term Graph Inspection. We give two exact algorithms for this problem, using dynamic programming and integer linear programming. We analyze the performance of these methods, and present multiple approaches to achieve scalability. We demonstrate significant improvement both in path weight and inspection coverage over a state-of-the-art approach on two robotics tasks in simulation, a bridge inspection task by a UAV and a surgical inspection task using a medical robot. 
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    Free, publicly-accessible full text available October 7, 2025
  2. In social networks, a node’s position is, in and of itself, a form of social capital. Better-positioned members not only benefit from (faster) access to diverse information, but innately have more potential influence on information spread. Structural biases often arise from network formation, and can lead to significant disparities in information access based on position. Further, processes such as link recommendation can exacerbate this inequality by relying on network structure to augment connectivity. In this paper, we argue that one can understand and quantify this social capital through the lens of information flow in the network. In contrast to prior work, we consider the setting where all nodes may be sources of distinct information, and a node’s (dis)advantage takes into account its ability to access all information available on the network, not just that from a single source. We introduce three new measures of advantage (broadcast, influence, and control), which are quantified in terms of position in the network using access signatures – vectors that represent a node’s ability to share information with each other node in the network. We then consider the problem of improving equity by making interventions to increase the access of the least-advantaged nodes. Since all nodes are already sources of information in our model, we argue that edge augmentation is most appropriate for mitigating bias in the network structure, and frame a budgeted intervention problem for maximizing broadcast (minimum pairwise access) over the network. Finally, we propose heuristic strategies for selecting edge augmentations and empirically evaluate their performance on a corpus of real-world social networks. We demonstrate that a small number of interventions can not only significantly increase the broadcast measure of access for the least-advantaged nodes (over 5 times more than random), but also simultaneously improve the minimum influence. Additional analysis shows that edge augmentations targeted at improving minimum pairwise access can also dramatically shrink the gap in advantage between nodes (over ) and reduce disparities between their access signatures. 
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  3. Abstract The southern green stink bug (SGSB) Nezara viridula L. is one of the most common stink bug species in the United States and can cause significant yield loss in a variety of crops. A suitable marker for the assessment of gene-editing tools in SGSB has yet to be characterized. The white gene, first documented in Drosophila , has been a useful target to assess the efficiency of introduced mutations in many species as it controls pigmentation processes and mutants display readily identifiable phenotypes. In this study we used the RNAi technique to investigate functions and phenotypes associated with the white ortholog in the SGSB and to validate white as a marker for genetic transformation in this species. This study revealed that white may be a suitable marker for germline transformation in the SGSB as white transcript knockdown was not lethal, did not impair embryo development and provided a distinguishable phenotype. Our results demonstrated that the white ortholog in SGSB is involved in the pathway for ommochrome synthesis and suggested additional functions of this gene such as in the integument composition, management of hemolymph compounds and riboflavin mobilization. 
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  4. Abstract We report the first direct detection of molecular hydrogen associated with the Galactic nuclear wind. The Far-Ultraviolet Spectroscopic Explorer spectrum of LS 4825, a B1 Ib–II star at l , b = 1.67°,−6.63° lying d = 9.9 − 0.8 + 1.4 kpc from the Sun, ∼1 kpc below the Galactic plane near the Galactic center, shows two high-velocity H 2 components at v LSR = −79 and −108 km s −1 . In contrast, the FUSE spectrum of the nearby (∼0.6° away) foreground star HD 167402 at d = 4.9 − 0.7 + 0.8 kpc reveals no H 2 absorption at these velocities. Over 60 lines of H 2 from rotational levels J = 0 to 5 are identified in the high-velocity clouds. For the v LSR = −79 km s −1 cloud we measure total log N (H 2 ) ≥ 16.75 cm −2 , molecular fraction f H 2 ≥ 0.8%, and T 01 ≥ 97 and T 25 ≤ 439 K for the ground- and excited-state rotational excitation temperatures. At v LSR = −108 km s −1 , we measure log N (H 2 ) = 16.13 ± 0.10 cm −2 , f H 2 ≥ 0.5%, and T 01 = 77 − 18 + 34 and T 25 = 1092 − 117 + 149 K, for which the excited-state ortho- to para-H 2 is 1.0 − 0.1 + 0.3 , much less than the equilibrium value of 3 expected for gas at this temperature. This nonequilibrium ratio suggests that the −108 km s −1 cloud has been recently excited and has not yet had time to equilibrate. As the LS 4825 sight line passes close by a tilted section of the Galactic disk, we propose that we are probing a boundary region where the nuclear wind is removing gas from the disk. 
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  5. Abstract

    Gravitational lensing by massive objects along the line of sight to the source causes distortions to gravitational wave (GW) signals; such distortions may reveal information about fundamental physics, cosmology, and astrophysics. In this work, we have extended the search for lensing signatures to all binary black hole events from the third observing run of the LIGO-Virgo network. We search for repeated signals from strong lensing by (1) performing targeted searches for subthreshold signals, (2) calculating the degree of overlap among the intrinsic parameters and sky location of pairs of signals, (3) comparing the similarities of the spectrograms among pairs of signals, and (4) performing dual-signal Bayesian analysis that takes into account selection effects and astrophysical knowledge. We also search for distortions to the gravitational waveform caused by (1) frequency-independent phase shifts in strongly lensed images, and (2) frequency-dependent modulation of the amplitude and phase due to point masses. None of these searches yields significant evidence for lensing. Finally, we use the nondetection of GW lensing to constrain the lensing rate based on the latest merger-rate estimates and the fraction of dark matter composed of compact objects.

     
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    Free, publicly-accessible full text available July 31, 2025
  6. Abstract

    We report the observation of a coalescing compact binary with component masses 2.5–4.5Mand 1.2–2.0M(all measurements quoted at the 90% credible level). The gravitational-wave signal GW230529_181500 was observed during the fourth observing run of the LIGO–Virgo–KAGRA detector network on 2023 May 29 by the LIGO Livingston observatory. The primary component of the source has a mass less than 5Mat 99% credibility. We cannot definitively determine from gravitational-wave data alone whether either component of the source is a neutron star or a black hole. However, given existing estimates of the maximum neutron star mass, we find the most probable interpretation of the source to be the coalescence of a neutron star with a black hole that has a mass between the most massive neutron stars and the least massive black holes observed in the Galaxy. We provisionally estimate a merger rate density of5547+127Gpc3yr1for compact binary coalescences with properties similar to the source of GW230529_181500; assuming that the source is a neutron star–black hole merger, GW230529_181500-like sources may make up the majority of neutron star–black hole coalescences. The discovery of this system implies an increase in the expected rate of neutron star–black hole mergers with electromagnetic counterparts and provides further evidence for compact objects existing within the purported lower mass gap.

     
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    Free, publicly-accessible full text available July 26, 2025
  7. Free, publicly-accessible full text available April 30, 2025
  8. null (Ed.)