A description is provided of the software algorithms developed for the CMS tracker both for reconstructing charged-particle trajectories in proton-proton interactions and for using the resulting tracks to estimate the positions of the LHC luminous region and individual primary-interaction vertices. Despite the very hostile environment at the LHC, the performance obtained with these algorithms is found to be excellent. For tt events under typical 2011 pileup conditions, the average trackreconstruction efficiency for promptly-produced charged particles with transverse momenta of p T > 0.9 GeV is 94% for pseudorapidities of |η| < 0.9 and 85% for 0.9 < |η| < 2.5. The inefficiency is caused mainly by hadrons that undergo nuclear interactions in the tracker material. For isolated muons, the corresponding efficiencies are essentially 100%. For isolated muons of p T = 100 GeV emitted at |η| < 1.4, the resolutions are approximately 2.8% in p T , and respectively, 10 µm and 30 µm in the transverse and longitudinal impact parameters. The position resolution achieved for reconstructed primary vertices that correspond to interesting pp collisions is 10-12 µm in each of the three spatial dimensions. The tracking and vertexing software is fast and flexible, and easily adaptable to other functions, such as fast tracking for the trigger, or dedicated tracking for electrons that takes into account bremsstrahlung.

The T2K experiment has observed electron neutrino appearance in a muon neutrino beam produced 295 km from the Super-Kamiokande detector with a peak energy of 0.6 GeV. A total of 28 electron neutrino events were detected with an energy distribution consistent with an appearance signal, PRL 112, 061802 (2014) P H Y S I C A L R E V I E W L E T T E R Sweek ending 14 FEBRUARY 2014 061802-2 corresponding to a significance of 7.3σ when compared to 4.92 AE 0.55 expected background events. In the Pontecorvo-Maki-Nakagawa-Sakata mixing model, the electron neutrino appearance signal depends on several parameters including three mixing angles θ 12 , θ 23 , θ 13 , a mass difference Δm 2 32 and a CP violating phase δ CP . In this neutrino oscillation scenario, assuming jΔm 2 32 j ¼ 2.4 × 10 −3 eV 2 , sin 2 θ 23 ¼ 0.5, and Δm −0.037 ) is obtained at δ CP ¼ 0. When combining the result with the current best knowledge of oscillation parameters including the world average value of θ 13 from reactor experiments, some values of δ CP are disfavored at the 90% C.L. DOI: 10.1103/PhysRevLett.112.061802 PACS numbers: 14.60.Pq, 14.60.Lm, 25.30.Pt, 29.40.Ka Introduction.-The discovery of neutrino oscillations using atmospheric neutrinos was made by SuperKamiokande in 1998 [1]. Since then, many other experiments have confirmed the phenomenon of neutrino oscillations through various disappearance modes of flavor transformations. However, to date, there has not been an observation of the explicit appearance of a different neutrino flavor from neutrinos of another flavor through neutrino oscillations. In 2011, the T2K collaboration published the first indication of electron neutrino appearance from a muon neutrino beam at 2.5σ significance based on a data set corresponding to 1.43 × 10 20 protons on target (POT) [2,3]. This result was followed by the publication of further evidence for electron neutrino appearance at 3.1σ in early 2013 [4]. This Letter presents new results from the T2K experiment that establish, at greater than 5σ, the observation of electron-neutrino appearance from a muon-neutrino beam.In a three-flavor framework, neutrino oscillations are described by the Pontecorvo-Maki-Nakagawa-Sakata (PMNS) matrix [5,6] which is parametrized by three mixing angles θ 12 , θ 23 , θ 13 , and a CP violating phase δ CP . In this framework, the probability for ν μ → ν e oscillation can be expressed [7] as where L is the neutrino propagation distance and E is the neutrino energy. The measurement of ν μ → ν e oscillations is of particular interest because this mode is sensitive to both θ 13 and δ CP . The first indication of nonzero θ 13 was published by T2K [3] based on the measurement of ν μ → ν e oscillations. More recently, indications of ν μ → ν e oscillations were also reported by the MINOS experiment [8]. The value of θ 13 is now precisely known to be 9.1°AE 0.6°from measurements ofν e disappearance in reactor neutrino experiments [9][10][11][12]. Using the reactor measurement of θ 13 , the ν μ → ν e appearance mode can be used to ...

SUMMARYWe review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

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Results on two-particle angular correlations for charged particles produced in pp collisions at a centerof-mass energy of 13 TeV are presented. The data were taken with the CMS detector at the LHC and correspond to an integrated luminosity of about 270 nb −1 . The correlations are studied over a broad range of pseudorapidity (jηj < 2.4) and over the full azimuth (ϕ) as a function of charged particle multiplicity and transverse momentum (p T ). In high-multiplicity events, a long-range (jΔηj > 2.0), near-side (Δϕ ≈ 0) structure emerges in the two-particle Δη-Δϕ correlation functions. The magnitude of the correlation exhibits a pronounced maximum in the range 1.0 < p T < 2.0 GeV=c and an approximately linear increase with the charged particle multiplicity, with an overall correlation strength similar to that found in earlier pp data at ffiffi ffi s p ¼ 7 TeV. The present measurement extends the study of near-side long-range correlations up to charged particle multiplicities N ch ∼ 180, a region so far unexplored in pp collisions. The observed longrange correlations are compared to those seen in pp, pPb, and PbPb collisions at lower collision energies.

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