Detection of Pristine Gas Two Billion Years after the Big Bang

In the current cosmological model, only the three lightest elements were created in the first few minutes after the Big Bang; all other elements were produced later in stars. To date, however, heavy elements have been observed in all astrophysical environments. We report the detection of two gas clouds with no discernible elements heavier than hydrogen. These systems exhibit the lowest heavy-element abundance in the early universe and thus are potential fuel for the most metal poor halo stars. The detection of deuterium in one system at the level predicted by primordial nucleosynthesis provides a direct confirmation of the standard cosmological model. The composition of these clouds further implies that the transport of heavy elements from galaxies to their surroundings is highly inhomogeneous.Comment: 32 pages, 11 figures, SOM included. To appear in Scienc

All insects matter: a review of 160 entomology cases from 1993 to 2007 in Switzerland-part I (Diptera).

Necrophagous Diptera are the most important group of insects used for the purposes of forensic entomology. While the most utilized fly family in this context is the family Calliphoridae, there are several other families that can be of great importance during real-case investigations. This article analyzes the necrophagous flies of all families recorded from 160 real cases in Switzerland between 1993 and 2007. A total of 56 species belonging to 16 families was identified with Calliphoridae being the most dominant family (90.63% of all cases), followed by Muscidae (26.25%), Sarcophagidae (19.38%), Phoridae (14.38%), and Fanniidae (12.50%). For specimens that were difficult to identify morphologically, a new PCR primer has been specifically designed for the amplification of a short, informative COI barcode in degraded museum samples of forensically important Diptera taxa. The richest family in terms of species was the family Muscidae with 16 species. Fannia fuscula (Fallen) and Fannia monilis (Haliday) were recorded from human cadavers for the first time. The study highlights the importance of different fly families in forensic investigation, enhancing our comprehension of their prevalence and dispersion in real cases in Central Europe. The results pave the way for additional exploration, especially regarding the involvement of less frequently observed species in forensic entomology

Safety-Conscious Pushing on Diverse Oriented Surfaces with Underactuated Aerial Vehicles

Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost. Industrial infrastructures often consist of diverse oriented work surfaces. When interacting with such surfaces, the coupled gravity compensation and interaction force generation of underactuated aerial vehicles can present the potential challenge of near-saturation operations. The blind utilization of these platforms for such tasks can lead to instability and accidents, creating unsafe operating conditions and potentially damaging the platform. In order to ensure safe pushing on these surfaces while managing platform saturation, this work establishes a safety assessment process. This process involves the prediction of the saturation level of each actuator during pushing across variable surface orientations. Furthermore, the assessment results are used to plan and execute physical experiments, ensuring safe operations and preventing platform damage.Comment: Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA2024