Svestka's Research: Then and Now

Zdenek Svestka's research work influenced many fields of solar physics, especially in the area of flare research. In this article I take five of the areas that particularly interested him and assess them in a "then and now" style. His insights in each case were quite sound, although of course in the modern era we have learned things that he could not readily have envisioned. His own views about his research life have been published recently in this journal, to which he contributed so much, and his memoir contains much additional scientific and personal information (Svestka, 2010).Comment: Invited review for "Solar and Stellar Flares," a conference in honour of Prof. Zden\v{e}k \v{S}vestka, Prague, June 23-27, 2014. This is a contribution to a Topical Issue in Solar Physics, based on the presentations at this meeting (Editors Lyndsay Fletcher and Petr Heinzel

Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding algorithm, discrete-RRT (dRRT), is an adaptation of the celebrated RRT algorithm for the discrete case of a graph, and it enables a rapid exploration of the high-dimensional configuration space by carefully walking through an implicit representation of a tensor product of roadmaps for the individual robots. We demonstrate our approach experimentally on scenarios of up to 60 degrees of freedom where our algorithm is faster by a factor of at least ten when compared to existing algorithms that we are aware of.Comment: Kiril Solovey and Oren Salzman contributed equally to this pape

Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons

We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in $O(n\log n+mn+m^2)$ time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multi-robot motion-planning problem for discs moving in a simple polygon, which is known to be strongly NP-hard

Sampling-based path planning for multi-robot systems with co-safe linear temporal logic specifications

© 2017, Springer International Publishing AG. This paper addresses the problem of path planning for multiple robots under high-level specifications given as syntactically co-safe linear temporal logic formulae. Most of the existing solutions use the notion of abstraction to obtain a discrete transition system that simulates the dynamics of the robot. Nevertheless, these solutions have poor scalability with the dimension of the configuration space of the robots. For problems with a single robot, sampling-based methods have been presented as a solution to alleviate this limitation. The proposed solution extends the idea of sampling methods to the multiple robot case. The method samples the configuration space of the robots to incrementally constructs a transition system that models the motion of all the robots as a group. This transition system is then combined with a Büchi automaton, representing the specification, in a Cartesian product. The product is updated with each expansion of the transition system until a solution is found. We also present a new algorithm that improves the performance of the proposed method by guiding the expansion of the transition system. The method is demonstrated with examples considering different number of robots and specifications

Low-energy particle events associated with sector boundaries

Onsets of some 40 to 45 low-energy proton events during the years 1957–1969 coincided in time with transits of well-defined sector boundaries across the Earth. These events can be interpreted as long-lived proton streams filling up some of the magnetic sectors, indicating an acceleration of protons which is not associated with typical proton-producing flares. The sharp onsets of these particle streams, as well as a deficiency of flare-associated particle events shortly before the boundary transit, indicate that in some cases magnetic sector boundaries can inhibit transverse propagation of low-energy particles in the solar corona or in interplanetary space.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/43744/1/11207_2004_Article_BF00155310.pd

Imaging Spectroscopy of a White-Light Solar Flare

We report observations of a white-light solar flare (SOL2010-06-12T00:57, M2.0) observed by the Helioseismic Magnetic Imager (HMI) on the Solar Dynamics Observatory (SDO) and the Reuven Ramaty High-Energy Solar Spectroscopic Imager (RHESSI). The HMI data give us the first space-based high-resolution imaging spectroscopy of a white-light flare, including continuum, Doppler, and magnetic signatures for the photospheric FeI line at 6173.34{\AA} and its neighboring continuum. In the impulsive phase of the flare, a bright white-light kernel appears in each of the two magnetic footpoints. When the flare occurred, the spectral coverage of the HMI filtergrams (six equidistant samples spanning \pm172m{\AA} around nominal line center) encompassed the line core and the blue continuum sufficiently far from the core to eliminate significant Doppler crosstalk in the latter, which is otherwise a possibility for the extreme conditions in a white-light flare. RHESSI obtained complete hard X-ray and \Upsilon-ray spectra (this was the first \Upsilon-ray flare of Cycle 24). The FeI line appears to be shifted to the blue during the flare but does not go into emission; the contrast is nearly constant across the line profile. We did not detect a seismic wave from this event. The HMI data suggest stepwise changes of the line-of-sight magnetic field in the white-light footpoints.Comment: 14 pages, 7 figures, Accepted by Solar Physic

Study of the post-flare loops on 29 July 1973

We present revised values of temperature and density for the flare loops of 29 July 1973 and compare the revised parameters with those obtained aboard the SMM for the two-ribbon flare of 21 May 1980. The 21 May flare occurred in a developed sunspot group; the 29 July event was a spotless two-ribbon flare. We find that the loops in the spotless flare extended higher (by a factor of 1.4–2.2), were less dense (by a factor of 5 or more in the first hour of development), were generally hotter, and the whole loop system decayed much slower than in the spotted flare (i.e. staying at higher temperature for a longer time). We also align the hot X-ray loops of the 29 July flare with the bright Hα ribbons and show that the Hα emission is brightest at the places where the spatial density of the hot elementary loops is enhanced.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/43753/1/11207_2004_Article_BF00151609.pd

Height structure of X-ray, EUV and white-light emission in a solar flare

The bulk of solar flare emission originates from very compact sources located in the lower solar atmosphere and seen in various wavelength ranges: near optical, UV, EUV, soft and hard X-rays, and gamma-ray emission, yet very few spatially resolved imaging observations to determine the structure of these regions exist. We investigate the above-the-photosphere heights of hard X-ray (HXR), EUV and white-light continuum sources in the low atmosphere and the corresponding densities at these heights. Simultaneous EUV/continuum images from SDO and HXR RHESSI images are compared to study a well observed gamma-ray limb flare. Using RHESSI X-ray visibilities we determine the height of the HXR sources as a function of energy above the photosphere. Co-aligning AIA/SDO and HMI/SDO images with RHESSI we infer, for the first time, the heights and characteristic densities of HXR, EUV and continuum sources in a flaring footpoint. 35-100 keV HXR sources are found at heights between 1.7 and 0.8 Mm above the photosphere, below the white-light continuum emission which appears at heights 1.5-3 Mm, and the peak of EUV emission originating near 3 Mm. The EUV emission locations are consistent with energy deposition from low energy electrons of ~12 keV occurring in the top layers of the fully ionized chromosphere/low corona and not by >20 keV electrons that produce HXR footpoints in the lower neutral chromosphere. The maximum of white-light emission appears between the HXR and EUV emission, presumably in the transition between ionized and neutral atmospheres suggesting free-bound and free-free continuum emission. We note that the energy deposited by low energy electrons is sufficient to explain the energetics of optical and UV emissions.Comment: 3 figures, submitted to Astronomy and Astrophysics Letter

An Extreme Solar Event of 20 January 2005: Properties of the Flare and the Origin of Energetic Particles

The extreme solar and SEP event of 20 January 2005 is analyzed from two perspectives. Firstly, we study features of the main phase of the flare, when the strongest emissions from microwaves up to 200 MeV gamma-rays were observed. Secondly, we relate our results to a long-standing controversy on the origin of SEPs arriving at Earth, i.e., acceleration in flares, or shocks ahead of CMEs. All emissions from microwaves up to 2.22 MeV line gamma-rays during the main flare phase originated within a compact structure located just above sunspot umbrae. A huge radio burst with a frequency maximum at 30 GHz was observed, indicating the presence of a large number of energetic electrons in strong magnetic fields. Thus, protons and electrons responsible for flare emissions during its main phase were accelerated within the magnetic field of the active region. The leading, impulsive parts of the GLE, and highest-energy gamma-rays identified with pi^0-decay emission, are similar and correspond in time. The origin of the pi^0-decay gamma-rays is argued to be the same as that of lower energy emissions. We estimate the sky-plane speed of the CME to be 2000-2600 km/s, i.e., high, but of the same order as preceding non-GLE-related CMEs from the same active region. Hence, the flare itself rather than the CME appears to determine the extreme nature of this event. We conclude that the acceleration, at least, to sub-relativistic energies, of electrons and protons, responsible for both the flare emissions and the leading spike of SEP/GLE by 07 UT, are likely to have occurred simultaneously within the flare region. We do not rule out a probable contribution from particles accelerated in the CME-driven shock for the leading GLE spike, which seemed to dominate later on.Comment: 34 pages, 14 Postscript figures. Solar Physics, accepted. A typo corrected. The original publication is available at http://www.springerlink.co

Magnetic Flux of EUV Arcade and Dimming Regions as a Relevant Parameter for Early Diagnostics of Solar Eruptions - Sources of Non-Recurrent Geomagnetic Storms and Forbush Decreases

This study aims at the early diagnostics of geoeffectiveness of coronal mass ejections (CMEs) from quantitative parameters of the accompanying EUV dimming and arcade events. We study events of the 23th solar cycle, in which major non-recurrent geomagnetic storms (GMS) with Dst <-100 nT are sufficiently reliably identified with their solar sources in the central part of the disk. Using the SOHO/EIT 195 A images and MDI magnetograms, we select significant dimming and arcade areas and calculate summarized unsigned magnetic fluxes in these regions at the photospheric level. The high relevance of this eruption parameter is displayed by its pronounced correlation with the Forbush decrease (FD) magnitude, which, unlike GMSs, does not depend on the sign of the Bz component but is determined by global characteristics of ICMEs. Correlations with the same magnetic flux in the solar source region are found for the GMS intensity (at the first step, without taking into account factors determining the Bz component near the Earth), as well as for the temporal intervals between the solar eruptions and the GMS onset and peak times. The larger the magnetic flux, the stronger the FD and GMS intensities are and the shorter the ICME transit time is. The revealed correlations indicate that the main quantitative characteristics of major non-recurrent space weather disturbances are largely determined by measurable parameters of solar eruptions, in particular, by the magnetic flux in dimming areas and arcades, and can be tentatively estimated in advance with a lead time from 1 to 4 days. For GMS intensity, the revealed dependencies allow one to estimate a possible value, which can be expected if the Bz component is negative.Comment: 27 pages, 5 figures. Accepted for publication in Solar Physic