Bow Shocks from Neutron Stars: Scaling Laws and HST Observations of the Guitar Nebula

The interaction of high-velocity neutron stars with the interstellar medium produces bow shock nebulae, where the relativistic neutron star wind is confined by ram pressure. We present multi-wavelength observations of the Guitar Nebula, including narrow-band H-alpha imaging with HST/WFPC2, which resolves the head of the bow shock. The HST observations are used to fit for the inclination of the pulsar velocity vector to the line of sight, and to determine the combination of spindown energy loss, velocity, and ambient density that sets the scale of the bow shock. We find that the velocity vector is most likely in the plane of the sky. We use the Guitar Nebula and other observed neutron star bow shocks to test scaling laws for their size and H-alpha emission, discuss their prevalence, and present criteria for their detectability in targeted searches. The set of H-alpha bow shocks shows remarkable consistency, in spite of the expected variation in ambient densities and orientations. Together, they support the assumption that a pulsar's spindown energy losses are carried away by a relativistic wind that is indistinguishable from being isotropic. Comparison of H-alpha bow shocks with X-ray and nonthermal, radio-synchrotron bow shocks produced by neutron stars indicates that the overall shape and scaling is consistent with the same physics. It also appears that nonthermal radio emission and H-alpha emission are mutually exclusive in the known objects and perhaps in all objects.Comment: 12 pages, 7 figures (3 degraded), submitted to ApJ; minor revisions and updates in response to referee report. (AASTeX, includes emulateapj5 and onecolfloat5.

Optimization Model for Planning Precision Grasps with Multi-Fingered Hands

Precision grasps with multi-fingered hands are important for precise placement and in-hand manipulation tasks. Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape, high-dimensionality, collision and undesired properties of the sensing and positioning. This paper proposes an optimization model to search for precision grasps with multi-fingered hands. The model takes noisy point cloud of the object as input and optimizes the grasp quality by iteratively searching for the palm pose and finger joints positions. The collision between the hand and the object is approximated and penalized by a series of least-squares. The collision approximation is able to handle the point cloud representation of the objects with complex shapes. The proposed optimization model is able to locate collision-free optimal precision grasps efficiently. The average computation time is 0.50 sec/grasp. The searching is robust to the incompleteness and noise of the point cloud. The effectiveness of the algorithm is demonstrated by experiments.Comment: Submitted to IROS2019, experiment on BarrettHand, 8 page

A pan-chromatic view of the galaxy cluster XMMU J1230.3+1339 at z=0.975 - Observing the assembly of a massive system

We present a comprehensive galaxy cluster study of XMMU J1230.3+1339 based on a joint analysis of X-ray data, optical imaging and spectroscopy observations, weak lensing results, and radio properties for achieving a detailed multi-component view of this newly discovered system at z=0.975. We find an optically very rich and massive system with M200$\simeq$(4.2$\pm$0.8)$\times$10^14 M\sun, Tx$\simeq$5.3(+0.7--0.6)keV, and Lx$\simeq$(6.5$\pm$0.7)$\times$10^44 erg/s, for which various widely used mass proxies are measured and compared. We have identified multiple cluster-related components including a central fly-through group close to core passage with associated marginally extended 1.4GHz radio emission possibly originating from the turbulent wake region of the merging event. On the cluster outskirts we see evidence for an on-axis infalling group with a second Brightest Cluster Galaxy (BCG) and indications for an additional off-axis group accretion event. We trace two galaxy filaments beyond the nominal cluster radius and provide a tentative reconstruction of the 3D-accretion geometry of the system. In terms of total mass, ICM structure, optical richness, and the presence of two dominant BCG-type galaxies, the newly confirmed cluster XMMU J1230.3+1339 is likely the progenitor of a system very similar to the local Coma cluster, differing by 7.6 Gyr of structure evolution.Comment: 26 pages, 14 color figures, accepted for publication in A&

3D Shape Reconstruction from Sketches via Multi-view Convolutional Networks

We propose a method for reconstructing 3D shapes from 2D sketches in the form of line drawings. Our method takes as input a single sketch, or multiple sketches, and outputs a dense point cloud representing a 3D reconstruction of the input sketch(es). The point cloud is then converted into a polygon mesh. At the heart of our method lies a deep, encoder-decoder network. The encoder converts the sketch into a compact representation encoding shape information. The decoder converts this representation into depth and normal maps capturing the underlying surface from several output viewpoints. The multi-view maps are then consolidated into a 3D point cloud by solving an optimization problem that fuses depth and normals across all viewpoints. Based on our experiments, compared to other methods, such as volumetric networks, our architecture offers several advantages, including more faithful reconstruction, higher output surface resolution, better preservation of topology and shape structure.Comment: 3DV 2017 (oral

Vorticity generation in large-scale structure caustics

A fundamental hypothesis for the interpretation of the measured large-scale line-of-sight peculiar velocities of galaxies is that the large-scale cosmic flows are irrotational. In order to assess the validity of this assumption, we estimate, within the frame of the gravitational instability scenario, the amount of vorticity generated after the first shell crossings in large-scale caustics. In the Zel'dovich approximation the first emerging singularities form sheet like structures. Here we compute the expectation profile of an initial overdensity under the constraint that it goes through its first shell crossing at the present time. We find that this profile corresponds to rather oblate structures in Lagrangian space. Assuming the Zel'dovich approximation is still adequate not only at the first stages of the evolution but also slightly after the first shell crossing, we calculate the size and shape of those caustics and their vorticity content as a function of time and for different cosmologies. The average vorticity created in these caustics is small: of the order of one (in units of the Hubble constant). To illustrate this point we compute the contribution of such caustics to the probability distribution function of the filtered vorticity at large scales. We find that this contribution that this yields a negligible contribution at the 10 to 15 $h^{-1}$Mpc scales. It becomes significant only at the scales of 3 to 4 $h^{-1}$Mpc, that is, slightly above the galaxy cluster scales.Comment: 25 pages 16 figures; accepted for publication by A&A vol 342 (1999