Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators

This paper presents a dual-resolution local sensor based planning method for hyper-redundant robot mechanisms. Two classes of sensor feedback control methods, working at different sampling rates and different spatial resolutions, are considered: full shape modification (FSM), and partial shape modification (PSM). FSM and PSM cooperate to utilize a mechanism's hyper-redundancy to enable both local obstacle avoidance and end-effector placement in real-time. These methods have been implemented on a thirty degree of freedom hyper-redundant manipulator which has 11 ultrasonic distance measurement sensors and 20 infrared proximity sensors. The implementation of these algorithms in a dual CPU real-time control computer, an innovative sensor bus architecture, and a novel graphical control interface are described. Experimental results obtained using this test bed show the efficacy of the proposed method

Rest-Frame R-band Lightcurve of a z~1.3 Supernova Obtained with Keck Laser Adaptive Optics

We present Keck diffraction limited H-band photometry of a z~1.3 Type Ia supernova (SN) candidate, first identified in a Hubble Space Telescope (HST) search for SNe in massive high redshift galaxy clusters. The adaptive optics (AO) data were obtained with the Laser Guide Star facility during four observing runs from September to November 2005. In the analysis of data from the observing run nearest to maximum SN brightness, the SN was found to have a magnitude H=23.9 +/- 0.14 (Vega). We present the H-band (approximately rest-frame R) light curve and provide a detailed analysis of the AO photometric uncertainties. By constraining the aperture correction with a nearby (4" separation) star we achieve 0.14 magnitude photometric precision, despite the spatially varying AO PSF.Comment: 11 pages, 8 figures, Accepted for Publication in AJ Updated the citations, fixed typo

Subaru FOCAS Spectroscopic Observations of High-Redshift Supernovae

We present spectra of high-redshift supernovae (SNe) that were taken with the Subaru low resolution optical spectrograph, FOCAS. These SNe were found in SN surveys with Suprime-Cam on Subaru, the CFH12k camera on the Canada-France-Hawaii Telescope (CFHT), and the Advanced Camera for Surveys (ACS) on the Hubble Space Telescope (HST). These SN surveys specifically targeted z>1 Type Ia supernovae (SNe Ia). From the spectra of 39 candidates, we obtain redshifts for 32 candidates and spectroscopically identify 7 active candidates as probable SNe Ia, including one at z=1.35, which is the most distant SN Ia to be spectroscopically confirmed with a ground-based telescope. An additional 4 candidates are identified as likely SNe Ia from the spectrophotometric properties of their host galaxies. Seven candidates are not SNe Ia, either being SNe of another type or active galactic nuclei. When SNe Ia are observed within a week of maximum light, we find that we can spectroscopically identify most of them up to z=1.1. Beyond this redshift, very few candidates were spectroscopically identified as SNe Ia. The current generation of super red-sensitive, fringe-free CCDs will push this redshift limit higher.Comment: 19 pages, 26 figures. PASJ in press. see http://www.supernova.lbl.gov/2009ClusterSurvey/ for additional information pertaining to the HST Cluster SN Surve

The Hubble Space Telescope Cluster Supernova Survey: VI. The Volumetric Type Ia Supernova Rate

We present a measurement of the volumetric Type Ia supernova (SN Ia) rate out to z ~ 1.6 from the Hubble Space Telescope Cluster Supernova Survey. In observations spanning 189 orbits with the Advanced Camera for Surveys we discovered 29 SNe, of which approximately 20 are SNe Ia. Twelve of these SNe Ia are located in the foregrounds and backgrounds of the clusters targeted in the survey. Using these new data, we derive the volumetric SN Ia rate in four broad redshift bins, finding results consistent with previous measurements at z > 1 and strengthening the case for a SN Ia rate that is equal to or greater than ~0.6 x 10^-4/yr/Mpc^3 at z ~ 1 and flattening out at higher redshift. We provide SN candidates and efficiency calculations in a form that makes it easy to rebin and combine these results with other measurements for increased statistics. Finally, we compare the assumptions about host-galaxy dust extinction used in different high-redshift rate measurements, finding that different assumptions may induce significant systematic differences between measurements.Comment: 11 pages, 7 figures. Submitted to the Astrophysical Journal. Revised version following referee comments. See the HST Cluster SN Survey website at http://supernova.lbl.gov/2009ClusterSurvey for control time simulations in a machine-readable table and a complete listing of transient candidates from the surve

The Hubble Space Telescope Cluster Supernova Survey: II. The Type Ia Supernova Rate in High-Redshift Galaxy Clusters

We report a measurement of the Type Ia supernova (SN Ia) rate in galaxy clusters at 0.9 < z < 1.45 from the Hubble Space Telescope (HST) Cluster Supernova Survey. This is the first cluster SN Ia rate measurement with detected z > 0.9 SNe. Finding 8 +/- 1 cluster SNe Ia, we determine a SN Ia rate of 0.50 +0.23-0.19 (stat) +0.10-0.09 (sys) SNuB (SNuB = 10^-12 SNe L_{sun,B}^-1 yr^-1). In units of stellar mass, this translates to 0.36 +0.16-0.13 (stat) +0.07-0.06 (sys) SNuM (SNuM = 10^-12 SNe M_sun^-1 yr^-1). This represents a factor of approximately 5 +/- 2 increase over measurements of the cluster rate at z < 0.2. We parameterize the late-time SN Ia delay time distribution with a power law (proportional to t^s). Under the assumption of a cluster formation redshift of z_f = 3, our rate measurement in combination with lower-redshift cluster SN Ia rates constrains s = -1.41 +0.47/-0.40, consistent with measurements of the delay time distribution in the field. This measurement is generally consistent with expectations for the "double degenerate" scenario and inconsistent with some models for the "single degenerate" scenario predicting a steeper delay time distribution at large delay times. We check for environmental dependence and the influence of younger stellar populations by calculating the rate specifically in cluster red-sequence galaxies and in morphologically early-type galaxies, finding results similar to the full cluster rate. Finally, the upper limit of one host-less cluster SN Ia detected in the survey implies that the fraction of stars in the intra-cluster medium is less than 0.47 (95% confidence), consistent with measurements at lower redshifts.Comment: 29 pages, 14 figures. Accepted for publication in ApJ on 16 February 2011. See the HST Cluster Supernova Survey website at http://supernova.lbl.gov/2009ClusterSurvey for a version with full-resolution images and a complete listing of transient candidates from the survey. This version fixes a typo in the metadata; the paper is unchanged from v

Epitaxial contact Andreev reflection spectroscopy of NbN/Co₂FeSi layered devices

We investigated the spin polarization P of Co-based Heusler alloy Co2FeSi by epitaxial contact Andreev reflection (ECAR) spectroscopy using epitaxially grown superconductor NbN and Heusler alloy Co2FeSi layered devices. Ferromagnetic Co2FeSi possesses the highest Curie temperature (TC ? 1100 K) and the largest spontaneous magnetic moment (ps ? 6 μB) in the class of Heusler alloys. The ECAR measurements revealed that the P value of Co2FeSi was 54 ± 2% with a finite barrier parameter Z, indicating that an intrinsic P value in ECAR spectroscopy would exceed reported values in point-contact Andreev reflection spectroscopy. We therefore established not only the epitaxial integration of ferromagnetic Co2FeSi with superconductor NbN on an MgO substrate but also the fabrication and evaluation techniques of their ECAR devices. This highly versatile superconducting spintronic system enables fundamental superconducting spintronic studies, and it is also a candidate for practical superconducting spintronic devices

Interesting magnetic properties of Fe1−x_{1-x}Cox_xSi alloys

Solid solution between nonmagnetic narrow gap semiconductor FeSi and diamagnetic semi-metal CoSi gives rise to interesting metallic alloys with long-range helical magnetic ordering, for a wide range of intermediate concentration. We report various interesting magnetic properties of these alloys, including low temperature re-entrant spin-glass like behaviour and a novel inverted magnetic hysteresis loop. Role of Dzyaloshinski-Moriya interaction in the magnetic response of these non-centrosymmetric alloys is discussed.Comment: 11 pages and 3 figure