The unusual volatile composition of the Halley-type comet 8P/Tuttle: Addressing the existence of an Inner Oort Cloud

We measured organic volatiles (CH4, CH3OH, C2H6, H2CO), CO, and water in comet 8P/Tuttle, a comet from the Oort cloud reservoir now in a short-period Halley-type orbit. We compare its composition with two other comets in Halley-type orbits, and with comets of the "organics-normal" and "organics-depleted" classes. Chemical gradients are expected in the comet-forming region of the proto-planetary disk, and an individual comet should reflect its specific heritage. If Halley-type comets came from the inner Oort cloud as proposed, we see no common characteristics that could distinguish such comets from those that were stored in the outer Oort cloud.Comment: 14 pages, including 1 figure and 2 Table

Diagrammatic quantum field formalism for localized electrons

We introduce a diagrammatic quantum field formalism for the evaluation of normalized expectation values of operators, and suitable for systems with localized electrons. It is used to develop a convergent series expansion for the energy in powers of overlap integrals of single-particle orbitals. This method gives intuitive and practical rules for writing down the expansion to arbitrary order of overlap, and can be applied to any spin configuration and to any dimension. Its applicability for systems with well localized electrons has been illustrated with examples, including the two-dimensional Wigner crystal and spin-singlets in the low-density electron gas.Comment: 13 pages, 0 figure

Workspace and Singularity analysis of a Delta like family robot

Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gr{\"o}bner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.Comment: 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France. 201

Phase separation in hydrogen-helium mixtures at Mbar pressures

The properties of hydrogen-helium mixtures at Mbar pressures and intermediate temperatures (4000 to 10000 K) are calculated with first-principles molecular dynamics simulations. We determine the equation of state as a function of density, temperature, and composition and, using thermodynamic integration, we estimate the Gibbs free energy of mixing, thereby determining the temperature, at a given pressure, when helium becomes insoluble in dense metallic hydrogen. These results are directly relevant to models of the interior structure and evolution of Jovian planets. We find that the temperatures for the demixing of helium and hydrogen are sufficiently high to cross the planetary adiabat of Saturn at pressures around 5 Mbar; helium is partially miscible throughout a significant portion of the interior of Saturn, and to a lesser extent in Jupiter.Comment: 6 pages, 7 figures. Published in "Proceedings of the National Academy of Sciences USA

The formation heritage of Jupiter Family Comet 10P/Tempel 2 as revealed by infrared spectroscopy

We present spectral and spatial information for major volatile species in Comet 10P/Tempel 2, based on high-dispersion infrared spectra acquired on UT 2010 July 26 (heliocentric distance Rh = 1.44 AU) and September 18 (Rh = 1.62 AU), following the comet's perihelion passage on UT 2010 July 04. The total production rate for water on July 26 was (1.90 +/- 0.12) x 10^28 molecules s-1, and abundances of six trace gases (relative to water) were: CH3OH (1.58% +/- 0.23), C2H6 (0.39% +/- 0.04), NH3 (0.83% +/- 0.20), and HCN (0.13% +/- 0.02). A detailed analysis of intensities for water emission lines provided a rotational temperature of 35 +/- 3 K. The mean OPR is consistent with nuclear spin populations in statistical equilibrium (OPR = 3.01 +/- 0.18), and the (1-sigma) lower bound corresponds to a spin temperature > 38 K. Our measurements were contemporaneous with a jet-like feature observed at optical wavelengths. The spatial profiles of four primary volatiles display strong enhancements in the jet direction, which favors release from a localized vent on the nucleus. The measured IR continuum is much more sharply peaked and is consistent with a dominant contribution from the nucleus itself. The peak intensities for H2O, CH3OH, and C2H6 are offset by ~200 km in the jet direction, suggesting the possible existence of a distributed source, such as the release of icy grains that subsequently sublimed in the coma. On UT September 18, no obvious emission lines were present in our spectra, nevertheless we obtained a 3-sigma upper limit Q(H2O) < 2.86 x 10^27 molecules s-1

Highly Depleted Ethane and Mildly Depleted Methanol in Comet 21P/Giacobini-Zinner: Application of a New Empirical nu(sub 2) Band Model for CH30H Near 50 K

Infrared spectra of Comet 2lP/Giacobini-Zinner (hereafter 2IP/GZ) were obtained using NIRSPEC at Keck II on UT 2005 June 03, approximately one month before perihelion, that simultaneously measured H2O, C2H6, and CH3OH. For H2O, the production rate of 3.8 x 10(exp 28) molecules / S was consistent with that measured during other apparitions of 21P/GZ retrieved from optical, infrared, and mm-wavelength observations. The water analysis also provided values for rotational temperature (T(sub rot) = 55(epx +3) /-.2 K) and the abundance ratio of ortho- and para-water (3.00 +/-0.15, implying a spin temperature exceeding 50 K). Six Q-branches in the V7 band of C2H6 provided a production rate (5.27 +/- 0.90 x 10(exp 25)/S) that corresponded to an abundance ratio of 0.139 +/- 0.024 % relative to H2O, confirming the previously reported strong depletion of C2H6 from IR observations during the 1998 apparition, and in qualitative agreement with the depletion in C2 known from optical studies. For CH30H, we applied our recently published ab initia model for the v3 band to obtain a rotational temperature (48(exp + 10) / -7 K) consistent with that obtained for H2O. In addition we applied a newly developed empirical model for the CH30H v2 band, and obtained a production rate consistent with that obtained from the v3 band. Combining results from both v2 and v3 bands provided a production rate (47.5 +/- 4.4 x 10(exp 25) / S) that corresponded to an abundance ratio of 1.25 +/- 0.12 % relative to H2O in 21P/GZ. Our study provides the first measure of primary volatile production rates for any Jupiter family comet over multiple apparitions using high resolution IR spectroscopy

CN Morphology Studies of Comet 103P/Hartley 2

We report on narrowband CN imaging of Comet 103P/Hartley 2 obtained at Lowell Observatory on 39 nights from 2010 July until 2011 January. We observed two features, one generally to the north and the other generally to the south. The CN morphology varied during the apparition: no morphology was seen in July; in August and September the northern feature dominated and appeared as a mostly face-on spiral; in October, November, and December the northern and southern features were roughly equal in brightness and looked like more side-on corkscrews; in January the southern feature was dominant but the morphology was indistinct due to very low signal. The morphology changed smoothly during each night and similar morphology was seen from night to night. However, the morphology did not exactly repeat each rotation cycle, suggesting that there is a small non-principal axis rotation. Based on the repetition of the morphology, we find evidence that the fundamental rotation period was increasing: 16.7 hr from August 13-17, 17.2 hr from September 10-13, 18.2 hr from October 12-19, and 18.7 hr from October 31-November 7. We conducted Monte Carlo jet modeling to constrain the pole orientation and locations of the active regions based on the observed morphology. Our preliminary, self-consistent pole solution has an obliquity of 10 deg relative to the comet's orbital plane (i.e., it is centered near RA = 257 deg and Dec=+67 deg with an uncertainty around this position of about 15 deg) and has two mid-latitude sources, one in each hemisphere.Comment: Accepted by The Astronomical Journal; 23 pages of text, 2 tables, 8 figure

Kinematic Characterisation of Hexapods for Industry

International audiencePurpose-The aim of this paper is to propose two simple tools for the kinematic characterization of hexapods. The paper also aims to share the authors' experience with converting a popular commercial motion base (Stewart-Gough platform, hex-apod) to an industrial robot for use in heavy duty aerospace manufacturing processes. Design/methodology/approach-The complete workspace of a hexapod is a six-dimensional entity that is impossible to visualize. Thus, nearly all hexapod manufacturers simply state the extrema of each of the six dimensions, which is very misleading. As a compromise, we propose a special three-dimensional subset of the complete workspace, an approximation of which can be readily obtained using a CAD/CAM software suite, such as CATIA. While calibration techniques for serial robots are readily available, there is still no generally-agreed procedure for calibrating hexapods. We propose a simple calibration method that relies on the use of a laser tracker and requires no programming at all. Instead, the design parameters of the hexapod are directly and individually measured and the few computations involved are performed in a CAD/CAM software such as CATIA. Findings-The conventional octahedral hexapod design has a very limited workspace, though free of singularities. There are important deviations between the actual and the specified kinematic model in a commercial motion base. Practical implications-A commercial motion base can be used as a precision positioning device with its controller retrofit-ted with state-of-the-art motion control technology with accurate workspace and geometric characteristics. Originality/value-A novel geometric approach for obtaining meaningful measures of the workspace is proposed. A novel, systematic procedure for the calibration of a hexapod is outlined. Finally, experimental results are presented and discussed