Modelling and Verification of Timed Robotic Controllers

Designing robotic systems can be very challenging, yet controllers are often specified using informal notations with development driven primarily by simulations and physical experiments, without relation to abstract models of requirements. The ability to perform formal analysis and replicate results across different robotic platforms is hindered by the lack of well-defined formal notations. In this paper we present a timed state-machine based formal notation for robotics that is informed by current practice. We motivate our work with an example from swarm robotics and define a compositional CSP-based discrete timed semantics suitable for refinement. Our results support verification and, importantly, enable rigorous connection with sound simulations and deployments.</p

Jet-associated deuteron production in pp collisions at s=13 TeV

Deuteron production in high-energy collisions is sensitive to the space–time evolution of the collision system, and is typically described by a coalescence mechanism. For the first time, we present results on jet-associated deuteron production in pp collisions at s=13 TeV, providing an opportunity to test the established picture for deuteron production in events with a hard scattering. Using a trigger particle with high transverse-momentum (pT>5 GeV/c) as a proxy for the presence of a jet at midrapidity, we observe a measurable population of deuterons being produced around the jet proxy. The associated deuteron yield measured in a narrow angular range around the trigger particle differs by 2.4–4.8 standard deviations from the uncorrelated background. The data are described by PYTHIA model calculations featuring baryon coalescence

Jet-associated deuteron production in pp collisions at s=13 TeV

Deuteron production in high-energy collisions is sensitive to the space–time evolution of the collision system, and is typically described by a coalescence mechanism. For the first time, we present results on jet-associated deuteron production in pp collisions at s=13 TeV, providing an opportunity to test the established picture for deuteron production in events with a hard scattering. Using a trigger particle with high transverse-momentum (pT>5 GeV/c) as a proxy for the presence of a jet at midrapidity, we observe a measurable population of deuterons being produced around the jet proxy. The associated deuteron yield measured in a narrow angular range around the trigger particle differs by 2.4–4.8 standard deviations from the uncorrelated background. The data are described by PYTHIA model calculations featuring baryon coalescence