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Recent Internet-of-Things (IoT) networks span across a multitude of stationary and robotic devices, namely unmanned ground vehicles, surface vessels, and aerial drones, to carry out mission-critical services such as search and rescue operations, wildfire monitoring, and flood/hurricane impact assessment. Achieving communication synchrony, reliability, and minimal communication jitter among these devices is a key challenge both at the simulation and system levels of implementation due to the underpinning differences between a physics-based robot operating system (ROS) simulator that is time-based and a network-based wireless simulator that is event-based, in addition to the complex dynamics of mobile and heterogeneous IoT devices deployed in a real environment. Nevertheless, synchronization between physics (robotics) and network simulators is one of the most difficult issues to address in simulating a heterogeneous multi-robot system before transitioning it into practice. The existing TCP/IP communication protocol-based synchronizing middleware mostly relied on Robot Operating System 1 (ROS1), which expends a significant portion of communication bandwidth and time due to its master-based architecture. To address these issues, we design a novel synchronizing middleware between robotics and traditional wireless network simulators, relying on the newly released real-time ROS2 architecture with a master-less packet discovery mechanism. Additionally, we propose a ground and aerial agents’ velocity-aware customized QoS policy for Data Distribution Service (DDS) to minimize the packet loss and transmission latency between a diverse set of robotic agents, and we offer the theoretical guarantee of our proposed QoS policy. We performed extensive network performance evaluations both at the simulation and system levels in terms of packet loss probability and average latency with line-of-sight (LOS) and non-line-of-sight (NLOS) and TCP/UDP communication protocols over our proposed ROS2-based synchronization middleware. Moreover, for a comparative study, we presented a detailed ablation study replacing NS-3 with a real-time wireless network simulator, EMANE, and masterless ROS2 with master-based ROS1. Our proposed middleware attests to the promise of building a largescale IoT infrastructure with a diverse set of stationary and robotic devices that achieve low-latency communications (12% and 11% reduction in simulation and reality, respectively) while satisfying the reliability (10% and 15% packet loss reduction in simulation and reality, respectively) and high-fidelity requirements of mission-critical applications. 

We conduct a global comparison of the consumption of energy by human populations throughout the Holocene and statistically quantify coincident changes in the consumption of energy over space and time—an ecological phenomenon known as synchrony. When populations synchronize, adverse changes in ecosystems and social systems may cascade from society to society. Thus, to develop policies that favor the sustained use of resources, we must understand the processes that cause the synchrony of human populations. To date, it is not clear whether human societies display long-term synchrony or, if they do, the poten- tial causes. Our analysis begins to fill this knowledge gap by quantifying the long-term synchrony of human societies, and we hypothesize that the synchrony of human populations results from (i) the creation of social ties that couple populations over smaller scales and (ii) much larger scale, globally convergent tra- jectories of cultural evolution toward more energy-consuming political economies with higher carrying capacities. Our results suggest that the process of globalization is a natural consequence of evolutionary trajectories that increase the carrying capacities of human societies. 

Abstract The Pandora Software Development Kit and algorithm libraries perform reconstruction of neutrino interactions in liquid argon time projection chamber detectors. Pandora is the primary event reconstruction software used at the Deep Underground Neutrino Experiment, which will operate four large-scale liquid argon time projection chambers at the far detector site in South Dakota, producing high-resolution images of charged particles emerging from neutrino interactions. While these high-resolution images provide excellent opportunities for physics, the complex topologies require sophisticated pattern recognition capabilities to interpret signals from the detectors as physically meaningful objects that form the inputs to physics analyses. A critical component is the identification of the neutrino interaction vertex. Subsequent reconstruction algorithms use this location to identify the individual primary particles and ensure they each result in a separate reconstructed particle. A new vertex-finding procedure described in this article integrates a U-ResNet neural network performing hit-level classification into the multi-algorithm approach used by Pandora to identify the neutrino interaction vertex. The machine learning solution is seamlessly integrated into a chain of pattern-recognition algorithms. The technique substantially outperforms the previous BDT-based solution, with a more than 20% increase in the efficiency of sub-1 cm vertex reconstruction across all neutrino flavours. 

A<sc>bstract</sc> A search for beyond-the-standard-model neutral Higgs bosons decaying to a pair of bottom quarks, and produced in association with at least one additional bottom quark, is performed with the CMS detector. The data were recorded in proton-proton collisions at a centre-of-mass energy of 13 TeV at the CERN LHC and correspond to an integrated luminosity of 36.7–126.9 fb⁻¹, depending on the probed mass range. No signal above the standard model background expectation is observed. Upper limits on the production cross section times branching fraction are set for Higgs bosons in the mass range of 125–1800 GeV. The results are interpreted in benchmark scenarios of the minimal supersymmetric standard model, as well as suitable classes of two-Higgs-doublet models. 

The determination of the direction of a stellar core collapse via its neutrino emission is crucial for the identification of the progenitor for a multimessenger follow-up. A highly effective method of reconstructing supernova directions within the Deep Underground Neutrino Experiment (DUNE) is introduced. The supernova neutrino pointing resolution is studied by simulating and reconstructing electron-neutrino charged-current absorption on ${}^{40}\mathrm{Ar}$and elastic scattering of neutrinos on electrons. Procedures to reconstruct individual interactions, including a newly developed technique called “brems flipping,” as well as the burst direction from an ensemble of interactions are described. Performance of the burst direction reconstruction is evaluated for supernovae happening at a distance of 10 kpc for a specific supernova burst flux model. The pointing resolution is found to be 3.4 degrees at 68% coverage for a perfect interaction-channel classification and a fiducial mass of 40 kton, and 6.6 degrees for a 10 kton fiducial mass respectively. Assuming a 4% rate of charged-current interactions being misidentified as elastic scattering, DUNE’s burst pointing resolution is found to be 4.3 degrees (8.7 degrees) at 68% coverage. Published by the American Physical Society2025 

A<sc>bstract</sc> The measurements of the Higgs boson (H) production cross sections performed by the CMS Collaboration in the four-lepton (4ℓ, ℓ= e,μ) final state at a center-of-mass energy$$\sqrt{s}$$= 13.6 TeV are presented. These measurements are based on data collected with the CMS detector at the CERN LHC in 2022, corresponding to an integrated luminosity of 34.7 fb⁻¹. Cross sections are measured in a fiducial region closely matching the experimental acceptance, both inclusively and differentially, as a function of the transverse momentum and the absolute value of the rapidity of the four-lepton system. The H → ZZ → 4ℓinclusive fiducial cross section is measured to be$${2.89}_{-0.49}^{+0.53}{\left({\text{stat}}\right)}_{-0.21}^{+0.29}\left({\text{syst}}\right)$$fb, in agreement with the standard model expectation of$${3.09}_{-0.24}^{+0.27}$$fb. 

A measurement of the Higgs boson mass and width via its decay to two $Z$bosons is presented. Proton-proton collision data collected by the CMS experiment, corresponding to an integrated luminosity of $138{\mathrm{fb}}^{-1}$at a center-of-mass energy of 13 TeV, is used. The invariant mass distribution of four leptons in the on-shell Higgs boson decay is used to measure its mass and constrain its width. This yields the most precise single measurement of the Higgs boson mass to date, $125.04\pm 0.12\mathrm{GeV}$, and an upper limit on the width ${\mathrm{\Gamma }}_H<330\mathrm{MeV}$at 95% confidence level. A combination of the on- and off-shell Higgs boson production decaying to four leptons is used to determine the Higgs boson width, assuming that no new virtual particles affect the production, a premise that is tested by adding new heavy particles in the gluon fusion loop model. This result is combined with a previous CMS analysis of the off-shell Higgs boson production with decay to two leptons and two neutrinos, giving a measured Higgs boson width of ${3.0}_{-1.5}^{+2.0}\mathrm{MeV}$, in agreement with the standard model prediction of 4.1 MeV. The strength of the off-shell Higgs boson production is also reported. The scenario of no off-shell Higgs boson production is excluded at a confidence level corresponding to 3.8 standard deviations. © 2025 CERN, for the CMS Collaboration2025CERN 

A<sc>bstract</sc> A search for heavy, long-lived, charged particles with large ionization energy loss within the silicon tracker of the CMS experiment is presented. A data set of proton-proton collisions at a center of mass energy at$$ \sqrt{s} $$ $\sqrt{s}$= 13 TeV, collected in 2017 and 2018 at the CERN LHC, corresponding to an integrated luminosity of 101 fb⁻¹, is used in this analysis. Two different approaches for the search are taken. A new method exploits the independence of the silicon pixel and strips measurements, while the second method improves on previous techniques using ionization to determine a mass selection. No significant excess of events above the background expectation is observed. The results are interpreted in the context of the pair production of supersymmetric particles, namely gluinos, top squarks, and tau sleptons, and of the Drell-Yan pair production of fourth generation (τ′) leptons with an electric charge equal to or twice the absolute value of the electron charge (e). An interpretation of a Z’ boson decaying to twoτ′ leptons with an electric charge equal to 2eis presented for the first time. The 95% confidence upper limits on the production cross section are extracted for each of these hypothetical particles.