A dust-parallax distance of 19 megaparsecs to the supermassive black hole in NGC 4151

The active galaxy NGC 4151 has a crucial role as one of only two active galactic nuclei for which black hole mass measurements based on emission line reverberation mapping can be calibrated against other dynamical methods. Unfortunately, effective calibration requires an accurate distance to NGC 4151, which is currently not available. Recently reported distances range from 4 to 29 megaparsecs (Mpc). Strong peculiar motions make a redshift-based distance very uncertain, and the geometry of the galaxy and its nucleus prohibit accurate measurements using other techniques. Here we report a dust-parallax distance to NGC 4151 of $D_A = 19.0^{+2.4}_{-2.6}$ Mpc. The measurement is based on an adaptation of a geometric method proposed previously using the emission line regions of active galaxies. Since this region is too small for current imaging capabilities, we use instead the ratio of the physical-to-angular sizes of the more extended hot dust emission as determined from time-delays and infrared interferometry. This new distance leads to an approximately 1.4-fold increase in the dynamical black hole mass, implying a corresponding correction to emission line reverberation masses of black holes if they are calibrated against the two objects with additional dynamical masses.Comment: Authors' version of a letter published in Nature (27 November 2014); 8 pages, 5 figures, 1 tabl

Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio

Effect of double bonds on the dynamics of hydrocarbon chains

©1992 American Institute of PhysicsThe electronic version of this article is the complete one and can be found online at: http://link.aip.org/link/?JCPSA6/97/1240/1DOI:10.1063/1.463250Brownian dynamics simulations of isolated 18-carbon chains have been performed, both for saturated and unsaturated hydrocarbons. The effect of one or several (nonconjugated) double bonds on the properties of the chains is discussed in terms of both equilibrium and dynamic properties. The introduction of a cis double bond increases the relaxation rates of the unsaturated chain with respect to the saturated alkane. On the other hand, coupling effects in the torsional transitions around a trans double bond make the dynamics of this unsaturated chain very similar to the saturated one. Based on these results, the parameters and moves of a dynamic Monte Carlo algorithm are tuned to reproduce the observed behavior, providing an efficient method for the study of more complicated systems

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Interpreting the extended emission around three nearby debris disc host stars

Cool debris discs are a relic of the planetesimal formation process around their host star, analogous to the solar system's Edgeworth-Kuiper belt. As such, they can be used as a proxy to probe the origin and formation of planetary systems like our own. The Herschel Open Time Key Programmes "DUst around NEarby Stars" (DUNES) and "Disc Emission via a Bias-free Reconnaissance in the Infrared/Submillimetre" (DEBRIS) observed many nearby, sun-like stars at far-infrared wavelengths seeking to detect and characterize the emission from their circumstellar dust. Excess emission attributable to the presence of dust was identified from around $\sim$ 20% of stars. Herschel's high angular resolution ($\sim$ 7" FWHM at 100 $\mu$m) provided the capacity for resolving debris belts around nearby stars with radial extents comparable to the solar system (50 to 100 au). As part of the DUNES and DEBRIS surveys, we obtained observations of three debris disc stars, HIP 22263 (HD 30495), HIP 62207 (HD 110897), and HIP 72848 (HD 131511), at far-infrared wavelengths with the Herschel PACS instrument. Combining these new images and photometry with ancilliary data from the literature, we undertook simultaneous multi-wavelength modelling of the discs' radial profiles and spectral energy distributions using three different methodologies: single annulus, modified black body, and a radiative transfer code. We present the first far-infrared spatially resolved images of these discs and new single-component debris disc models. We characterize the capacity of the models to reproduce the disc parameters based on marginally resolved emission through analysis of two sets of simulated systems (based on the HIP 22263 and HIP 62207 data) with the noise levels typical of the Herschel images. We find that the input parameter values are recovered well at noise levels attained in the observations presented here.Comment: 13 pages, 5 figures, 5 tables, accepted for publication in A&

Active SLAM for autonomous underwater exploration

Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping (SLAM) and view planning, there is no exploration framework, tailored to underwater vehicles, that faces exploration combining mapping, active localization, and view planning in a unified way. We propose an exploration framework, based on an active SLAM strategy, that combines three main elements: a view planner, an iterative closest point algorithm (ICP)-based pose-graph SLAM algorithm, and an action selection mechanism that makes use of the joint map and state entropy reduction. To demonstrate the benefits of the active SLAM strategy, several tests were conducted with the Girona 500 AUV, both in simulation and in the real world. The article shows how the proposed framework makes it possible to plan exploratory trajectories that keep the vehicle’s uncertainty bounded; thus, creating more consistent maps.Peer ReviewedPostprint (published version

Revisiting the Parallax of the Isolated Neutron Star RX J185635-3754 Using HST/ACS Imaging

We have redetermined the parallax and proper motion of the nearby isolated neutron star RX~J185635-3754. We used eight observations with the high resolution camera of the HST/ACS taken from 2002 through 2004. We performed the astrometric fitting using five independent methods, all of which yielded consistent results. The mean estimate of the distance is 123 (+11, -15) pc (1 sigma), in good agreement with our earlier published determination