Where is SGR1806-20?

We apply a statistical method to derive very precise locations for soft gamma repeaters using data from the interplanetary network. We demonstrate the validity of the method by deriving a 600 arcsec^2 error ellipse for SGR1900+14 whose center agrees well with the VLA source position. We then apply it to SGR1806-20, for which we obtain a 230 arcsec^2 error ellipse, the smallest burst error box to date. We find that the most likely position of the source has a small but significant displacement from that of the non-thermal core of the radio supernova remnant G10.0-0.3, which was previously thought to be the position of the repeater. We propose a different model to explain the changing supernova remnant morphology and the positions of the luminous blue variable and the bursting source.Comment: 12 pages and 2 color figures, accepted for publication in Astrophysical Journal Letter

Outburst Morphology in the Soft X-ray Transient Aquila X-1

We present optical and near-IR (OIR) observations of the major outbursts of the neutron star soft X-ray transient binary system Aquila X-1, from summer 1998 -- fall 2007. The major outbursts of the source over the observed timespan seem to exhibit two main types of light curve morphologies, (a) the classical Fast-Rise and Exponential-Decay (FRED) type outburst seen in many soft X-ray transients and (b) the Low-Intensity State (LIS) where the optical-to-soft-X-ray flux ratio is much higher than that seen during a FRED. Thus there is no single correlation between the optical (R-band) and soft X-ray (1.5-12 keV, as seen by the ASM onboard RXTE) fluxes even within the hard state for Aquila X-1, suggesting that LISs and FREDs have fundamentally different accretion flow properties. Time evolution of the OIR fluxes during the major LIS and FRED outbursts is compatible with thermal heating of the irradiated outer accretion disk. No signature of X-ray spectral state changes or any compact jet are seen in the OIR, showing that the OIR color-magnitude diagram (CMD) can be used as a diagnostic tool to separate thermal and non-thermal radiation from X-ray binaries where orbital and physical parameters of the system are reasonably well known. We suggest that the LIS may be caused by truncation of the inner disk in a relatively high mass accretion state, possibly due to matter being diverted into a weak outflow.Comment: Accepted for publication in ApJ. Uses aastex. 27 pages and 10 figure

Scalable Co-Optimization of Morphology and Control in Embodied Machines

Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The task of simultaneously co-optimizing the morphology and controller of an embodied robot has remained a challenge. In psychology, the theory of embodied cognition posits that behavior arises from a close coupling between body plan and sensorimotor control, which suggests why co-optimizing these two subsystems is so difficult: most evolutionary changes to morphology tend to adversely impact sensorimotor control, leading to an overall decrease in behavioral performance. Here, we further examine this hypothesis and demonstrate a technique for "morphological innovation protection", which temporarily reduces selection pressure on recently morphologically-changed individuals, thus enabling evolution some time to "readapt" to the new morphology with subsequent control policy mutations. We show the potential for this method to avoid local optima and converge to similar highly fit morphologies across widely varying initial conditions, while sustaining fitness improvements further into optimization. While this technique is admittedly only the first of many steps that must be taken to achieve scalable optimization of embodied machines, we hope that theoretical insight into the cause of evolutionary stagnation in current methods will help to enable the automation of robot design and behavioral training -- while simultaneously providing a testbed to investigate the theory of embodied cognition