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Small Unmanned Aerial Systems (sUAS) must meet rigorous safety standards when deployed in high-stress emergency response scenarios; however many reported accidents have involved humans in the loop. In this paper, we, therefore, present the HiFuzz testing framework, which uses fuzz testing to identify system vulnerabilities associated with human interactions. HiFuzz includes three distinct levels that progress from a low-cost, limited-fidelity, large-scale, no-hazard environment, using fully simulated Proxy Human Agents, via an intermediate level, where proxy humans are replaced with real humans, to a high-stakes, high-cost, real-world environment. Through applying HiFuzz to an autonomous multi-sUAS system-under-test, we show that each test level serves a unique purpose in revealing vulnerabilities and making the system more robust with respect to human mistakes. While HiFuzz is designed for testing sUAS system, we further show that it is applicable across a broader range of Cyber-Physical Systems. 

Small Unmanned Aerial Systems (sUAS) must meet rigorous safety standards when deployed in high-stress emergency response scenarios; however many reported accidents have involved humans in the loop. In this paper, we, therefore, present the HiFuzz testing framework, which uses fuzz testing to identify system vulnerabilities associated with human interactions. HiFuzz includes three distinct levels that progress from a low-cost, limited-fidelity, large-scale, no-hazard environment, using fully simulated Proxy Human Agents, via an intermediate level, where proxy humans are replaced with real humans, to a high-stakes, high-cost, real-world environment. Through applying HiFuzz to an autonomous multi-sUAS system-under-test, we show that each test level serves a unique purpose in revealing vulnerabilities and making the system more robust with respect to human mistakes. While HiFuzz is designed for testing sUAS systems, we further discuss its potential for use in other Cyber-Physical Systems. 

In emergency response scenarios, autonomous small Unmanned Aerial Systems (sUAS) must be configured and deployed quickly and safely to perform mission-specific tasks. In this paper, we present \DR, a Software Product Line for rapidly configuring and deploying a multi-role, multi-sUAS mission whilst guaranteeing a set of safety properties related to the sequencing of tasks within the mission. Individual sUAS behavior is governed by an onboard state machine, combined with coordination handlers which are configured dynamically within seconds of launch and ultimately determine the sUAS' behaviors, transition decisions, and interactions with other sUAS, as well as human operators. The just-in-time manner in which missions are configured precludes robust upfront testing of all conceivable combinations of features -- both within individual sUAS and across cohorts of collaborating ones. To ensure the absence of common types of configuration failures and to promote safe deployments, we check vital properties of the dynamically generated sUAS specifications and coordination handlers before sUAS are assigned their missions. We evaluate our approach in two ways. First, we perform validation tests to show that the end-to-end configuration process results in correctly executed missions, and second, we apply fault-based mutation testing to show that our safety checks successfully detect incorrect task sequences. 

The MAPE-K feedback loop has been established as the primary reference model for self-adaptive and autonomous systems in domains such as autonomous driving, robotics, and Cyber-Physical Systems. At the same time, the Human Machine Teaming (HMT) paradigm is designed to promote partnerships between humans and autonomous machines. It goes far beyond the degree of collaboration expected in human-on-the-loop and human-in-the-loop systems and emphasizes interactions, partnership, and teamwork between humans and machines. However, while MAPE-K enables fully autonomous behavior, it does not explicitly address the interactions between humans and machines as intended by HMT. In this paper, we present the MAPE-K-HMT framework which augments the traditional MAPE-K loop with support for HMT. We identify critical human-machine teaming factors and describe the infrastructure needed across the various phases of the MAPE-K loop in order to effectively support HMT. This includes runtime models that are constructed and populated dynamically across monitoring, analysis, planning, and execution phases to support human-machine partnerships. We illustrate MAPE-KHMT using examples from an autonomous multi-UAV emergency response system, and present guidelines for integrating HMT into MAPE-K. 

Abstract We report the first direct measurement of the helium isotope ratio, 3 He/ 4 He, outside of the Local Interstellar Cloud, as part of science-verification observations with the upgraded CRyogenic InfraRed Echelle Spectrograph. Our determination of 3 He/ 4 He is based on metastable He i * absorption along the line of sight toward Θ 2 A Ori in the Orion Nebula. We measure a value 3 He/ 4 He = (1.77 ± 0.13) × 10 −4 , which is just ∼40% above the primordial relative abundance of these isotopes, assuming the Standard Model of particle physics and cosmology, ( 3 He/ 4 He) p = (1.257 ± 0.017) × 10 −4 . We calculate a suite of galactic chemical evolution simulations to study the Galactic build up of these isotopes, using the yields from Limongi & Chieffi for stars in the mass range M = 8–100 M ⊙ and Lagarde et al. for M = 0.8–8 M ⊙ . We find that these simulations simultaneously reproduce the Orion and protosolar 3 He/ 4 He values if the calculations are initialized with a primordial ratio 3 He / 4 He p = ( 1.043 ± 0.089 ) × 10 − 4 . Even though the quoted error does not include the model uncertainty, this determination agrees with the Standard Model value to within ∼2 σ . We also use the present-day Galactic abundance of deuterium (D/H), helium (He/H), and 3 He/ 4 He to infer an empirical limit on the primordial 3 He abundance, 3 He / H p ≤ ( 1.09 ± 0.18 ) × 10 − 5 , which also agrees with the Standard Model value. We point out that it is becoming increasingly difficult to explain the discrepant primordial 7 Li/H abundance with nonstandard physics, without breaking the remarkable simultaneous agreement of three primordial element ratios (D/H, 4 He/H, and 3 He/ 4 He) with the Standard Model values. 

Abstract. Current climate models have difficulty representing realistic wave–mean flow interactions, partly because the contribution from waves with fine vertical scales is poorly known. There are few direct observations of these waves, and most models have difficulty resolving them. This observational challenge cannot be addressed by satellite or sparse ground-based methods. The Strateole-2 long-duration stratospheric superpressure balloons that float with the horizontal wind on constant-density surfaces provide a unique platform for wave observations across a broad range of spatial and temporal scales. For the first time, balloon-borne Global Navigation Satellite System (GNSS) radio occultation (RO) is used to provide high-vertical-resolution equatorial wave observations. By tracking navigation signal refractive delays from GPS satellites near the horizon, 40–50 temperature profiles were retrieved daily, from balloon flight altitude (∼20 km) down to 6–8 km altitude, forming an orthogonal pattern of observations over a broad area (±400–500 km) surrounding the flight track. The refractivity profiles show an excellent agreement of better than 0.2 % with co-located radiosonde, spaceborne COSMIC-2 RO, and reanalysis products. The 200–500 m vertical resolution and the spatial and temporal continuity of sampling make it possible to extract properties of Kelvin waves and gravity waves with vertical wavelengths as short as 2–3 km. The results illustrate the difference in the Kelvin wave period (20 vs. 16 d) in the Lagrangian versus ground-fixed reference and as much as a 20 % difference in amplitude compared to COSMIC-2, both of which impact estimates of momentum flux. A small dataset from the extra Galileo, GLONASS, and BeiDou constellations demonstrates the feasibility of nearly doubling the sampling density in planned follow-on campaigns when data with full equatorial coverage will contribute to a better estimate of wave forcing on the quasi-biennial oscillation (QBO) and improved QBO representation in models. 

In this study, we use published geologic maps and cross-sections to construct a three-dimensional geologic model of major shear zones that make up the Himalayan orogenic wedge. The model incorporates microseismicity, megathrust coupling, and various derivatives of the topography to address several questions regarding observed crustal strain patterns and how they are expressed in the landscape. These questions include: (1) How does vertical thickening vary along strike of the orogen? (2) What is the role of oblique convergence in contributing to along-strike thickness variations and the style of deformation? (3) How do variations in the coupling along the megathrust affect the overlying structural style? (4) Do lateral ramps exist along the megathrust? (5) What structural styles underlie and are possibly responsible for the generation of high-elevation, low-relief landscapes? Our model shows that the orogenic core of the western and central Himalaya displays significant along-strike variation in its thickness, from ∼25−26 km in the western Himalaya to ∼34−42 km in the central Himalaya. The thickness of the orogenic core changes abruptly across the western bounding shear zone of the Gurla Mandhata metamorphic core complex, demonstrating a change in the style of strain there. Pressure-temperature-time results indicate that the thickness of the orogenic core at 37 Ma is 17 km. Assuming this is constant along strike from 81°E to 85°E indicates that, the western and central Nepal Himalaya have been thickened by 0.5 and 1−1.5 times, respectively. West of Gurla Mandhata the orogenic core is significantly thinner and underlies a large 11,000 km2 Neogene basin (Zhada). A broad, thick orogenic core associated with thrust duplexing is collocated with an 8500 km2 high-elevation, low-relief surface in the Mugu-Dolpa region of west Nepal. We propose that these results can be explained by oblique convergence along a megathrust with an along-strike and down-dip heterogeneous coupling pattern influenced by frontal and oblique ramps along the megathrust.