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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 aerialmore »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.« less

Abstract The Aria cryogenic distillation plant, located in Sardinia, Italy, is a key component of the DarkSide-20k experimental program for WIMP dark matter searches at the INFN Laboratori Nazionali del Gran Sasso, Italy. Aria is designed to purify the argon, extracted from underground wells in Colorado, USA, and used as the DarkSide-20k target material, to detector-grade quality. In this paper, we report the first measurement of argon isotopic separation by distillation with the 26 m tall Aria prototype. We discuss the measurement of the operating parameters of the column and the observation of the simultaneous separation of the three stable argon isotopes: $${}^{36}\hbox {Ar}$$ 36 Ar , $${}^{38}\textrm{Ar}$$ 38 Ar , and $${}^{40}\textrm{Ar}$$ 40 Ar . We also provide a detailed comparison of the experimental results with commercial process simulation software. This measurement of isotopic separation of argon is a significant achievement for the project, building on the success of the initial demonstration of isotopic separation of nitrogen using the same equipment in 2019.

A bstract A search is presented for a heavy W′ boson resonance decaying to a B or T vector-like quark and a t or a b quark, respectively. The analysis is performed using proton-proton collisions collected with the CMS detector at the LHC. The data correspond to an integrated luminosity of 138 fb − 1 at a center-of-mass energy of 13 TeV. Both decay channels result in a signature with a t quark, a Higgs or Z boson, and a b quark, each produced with a significant Lorentz boost. The all-hadronic decays of the Higgs or Z boson and of the t quark are selected using jet substructure techniques to reduce standard model backgrounds, resulting in a distinct three-jet W′ boson decay signature. No significant deviation in data with respect to the standard model background prediction is observed. Upper limits are set at 95% confidence level on the product of the W′ boson cross section and the final state branching fraction. A W′ boson with a mass below 3.1 TeV is excluded, given the benchmark model assumption of democratic branching fractions. In addition, limits are set based on generalizations of these assumptions. These are the most sensitive limits to datemore »for this final state.« less

Abstract A new algorithm is presented to discriminate reconstructed hadronic decays of tau leptons ( τ h ) that originate from genuine tau leptons in the CMS detector against τ h candidates that originate from quark or gluon jets, electrons, or muons. The algorithm inputs information from all reconstructed particles in the vicinity of a τ h candidate and employs a deep neural network with convolutional layers to efficiently process the inputs. This algorithm leads to a significantly improved performance compared with the previously used one. For example, the efficiency for a genuine τ h to pass the discriminator against jets increases by 10–30% for a given efficiency for quark and gluon jets. Furthermore, a more efficient τ h reconstruction is introduced that incorporates additional hadronic decay modes. The superior performance of the new algorithm to discriminate against jets, electrons, and muons and the improved τ h reconstruction method are validated with LHC proton-proton collision data at √ s = 13 TeV.

A bstract The associated production of a W and a Z boson is studied in final states with multiple leptons produced in proton-proton (pp) collisions at a centre-of-mass energy of 13 TeV using 137 fb − 1 of data collected with the CMS detector at the LHC. A measurement of the total inclusive production cross section yields σ tot (pp → WZ) = 50 . 6 ± 0 . 8 (stat) ± 1 . 5 (syst) ± 1 . 1 (lumi) ± 0 . 5 (theo) pb. Measurements of the fiducial and differential cross sections for several key observables are also performed in all the final-state lepton flavour and charge compositions with a total of three charged leptons, which can be electrons or muons. All results are compared with theoretical predictions computed up to next-to-next-to-leading order in quantum chromodynamics plus next-to-leading or- der in electroweak theory and for various sets of parton distribution functions. The results include direct measurements of the charge asymmetry and the W and Z vector boson polarization. The first observation of longitudinally polarized W bosons in WZ production is reported. Anomalous gauge couplings are searched for, leading to new constraints on beyond-the-standard-model contributions to the WZmore »triple gauge coupling.« less

A bstract A search for physics beyond the standard model (SM) in final states with an electron or muon and missing transverse momentum is presented. The analysis uses data from proton-proton collisions at a centre-of-mass energy of 13 TeV, collected with the CMS detector at the LHC in 2016–2018 and corresponding to an integrated luminosity of 138 fb − 1 . No significant deviation from the SM prediction is observed. Model-independent limits are set on the production cross section of W’ bosons decaying into lepton-plus-neutrino final states. Within the framework of the sequential standard model, with the combined results from the electron and muon decay channels a W’ boson with mass less than 5.7 TeV is excluded at 95% confidence level. Results on a SM precision test, the determination of the oblique electroweak W parameter, are presented using LHC data for the first time. These results together with those from the direct W’ resonance search are used to extend existing constraints on composite Higgs scenarios. This is the first experimental exclusion on compositeness parameters using results from LHC data other than Higgs boson measurements.