1.6 GHz VLBI Observations of SN 1979C: almost-free expansion

We report on 1.6 GHz Very-Long-Baseline-Interferometry (VLBI) observations of supernova SN 1979C made on 18 November 2002. We derive a model-dependent supernova size. We also present a reanalysis of VLBI observations made by us on June 1999 and by other authors on February 2005. We conclude that, contrary to our earlier claim of strong deceleration in the expansion, SN 1979C has been undergoing almost-free expansion ($m = 0.91\pm0.09$; $R \propto t^m$) for over 25 years.Comment: 4 pages, 4 figures; submitted to A&A on 14 May 2009. Accepted on 7 Jul 200

Radio emission of SN1993J: the complete picture. I. Re-analysis of all the available VLBI data

We have performed a complete re-calibration and re-analysis of all the available VLBI observations of supernova SN1993J, following an homogeneous and well-defined methodology. Observations of SN1993J at 69 epochs, spanning 13 years, were performed by two teams, which used different strategies and analysis tools. The results obtained by each group are similar, but their conclusions on the supernova expansion and the shape and evolution of the emitting region differ significantly. From our analysis of the combined set of observations, we have obtained an expansion curve with unprecedented time resolution and coverage. We find that the data from both teams are compatible when analyzed with the same methodology. One expansion index ($m_3 = 0.87 \pm 0.02$) is enough to model the expansion observed at 1.7\,GHz, while two expansion indices ($m_1 = 0.933\pm0.010$ and $m_2 = 0.796\pm0.005$), separated by a break time, $t_{br} = 390\pm30$ days, are needed to model the data, at frequencies higher than 1.7\,GHz, up to day 4000 after explosion. We thus confirm the wavelength dependence of the size of the emitting region reported by one of the groups. We also find that all sizes measured at epochs later than day 4000 after explosion are systematically smaller than our model predictions. We estimate the fractional shell width ($0.31 \pm 0.02$, average of all epochs and frequencies) and the level of opacity to the radio emission by the ejecta. We find evidence of a spectral-index radial gradient in the supernova shell, which is indicative of a frequency-dependent ejecta opacity. Finally, we study the distribution and evolution of the azimuthal anisotropies (hot spots) found around the radio shell during the expansion. These anisotropies have intensities of $\sim 20$% of the mean flux density of the shell, and appear to systematically evolve during the expansion.Comment: 13 pages, 9 figures, accepted for publication in A&

Design and integration of vision based sensors for unmanned aerial vehicles navigation and guidance

In this paper we present a novel Navigation and Guidance System (NGS) for Unmanned Aerial Vehicles (UAVs) based on Vision Based Navigation (VBN) and other avionics sensors. The main objective of our research is to design a lowcost and low-weight/volume NGS capable of providing the required level of performance in all flight phases of modern small- to medium-size UAVs, with a special focus on automated precision approach and landing, where VBN techniques can be fully exploited in a multisensory integrated architecture. Various existing techniques for VBN are compared and the Appearance-based Navigation (ABN) approach is selected for implementation

Carrier-phase GNSS attitude determination and control for small UAV applications

As part of our recent research to assess the potential of low-cost navigation sensors for Unmanned Aerial Vehicle (UAV) applications, we investigated the potential of carrier-phase Global Navigation Satellite System (GNSS) for attitude determination and control of small size UAVs. Recursive optimal estimation algorithms were developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations), and their efficiencies were tested in various dynamic conditions. The proposed algorithms converged rapidly and produced the required output even during high dynamics manoeuvres. Results of theoretical performance analysis and simulation activities are presented in this paper, with emphasis on the advantages of the GNSS interferometric approach in UAV applications (i.e., low cost, high data-rate, low volume/weight, low signal processing requirements, etc.). The simulation activities focussed on the AEROSONDE UAV platform and considered the possible augmentation provided by interferometric GNSS techniques to a low-cost and low-weight/volume integrated navigation system (presented in the first part of this series) which employed a Vision-Based Navigation (VBN) system, a MicroElectro-Mechanical Sensor (MEMS) based Inertial Measurement Unit (IMU) and code-range GNSS (i.e., GPS and GALILEO) for position and velocity computations. The integrated VBN-IMU-GNSS (VIG) system was augmented using the inteferometric GNSS Attitude Determination (GAD)sensor data and a comparison of the performance achieved with the VIG and VIG/GAD integrated Navigation and Guidance Systems (NGS) is presented in this paper. Finally, the data provided by these NGS are used to optimise the design of a hybrid controller employing Fuzzy Logic and Proportional-Integral-Derivative (PID) techniques for the AEROSONDE UAV

Low-cost vision sensors and integrated systems for unmanned aerial vehicle navigation

A novel low cost navigation system based on Vision Based Navigation (VBN) and other avionics sensors is presented, which is designed for small size Unmanned Aerial Vehicle (UAV) applications. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensory integrated architecture. Various existing techniques for VBN are compared and the Appearance-based Navigation (ABN) approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we address the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors and also the use of Aircraft Dynamics Models (ADMs) to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UAV platform in real-time. Two different integrated navigation system architectures are implemented. The first uses VBN at 20 Hz and GPS at 1 Hz to augment the MEMS-IMU running at 100 Hz. The second mode also includes the ADM (computations performed at 100 Hz) to provide augmentation of the attitude channel. Simulation of these two modes is performed in a significant portion of the AEROSONDE UAV operational flight envelope and performing a variety of representative manoeuvres (i.e., straight climb, level turning, turning descent and climb, straight descent, etc.). Simulation of the first integrated navigation system architecture (VBN/IMU/GPS) shows that the integrated system can reach position, velocity and attitude accuracies compatible with CAT-II precision approach requirements. Simulation of the second system architecture (VBN/IMU/GPS/ADM) also shows promising results since the achieved attitude accuracy is higher using the ADM/VBS/IMU than using VBS/IMU only. However, due to rapid divergence of the ADM virtual sensor, there is a need for frequent re-initialisation of the ADM data module, which is strongly dependent on the UAV flight dynamics and the specific manoeuvring transitions performed

Carrier-phase GNSS attitude determination and control system for unmanned aerial vehicle applications

This paper presents the results of a research activity performed by Cranfield University to assess the potential of carrierphase Global Navigation Satellite Systems (GNSS) for attitude determination and control of small to medium size Unmanned Aerial Vehicles (UAV). Both deterministic and recursive (optimal estimation) algorithms are developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations), and their efficiencies are tested in various dynamic conditions. The proposed algorithms converge rapidly and produce the required output even during high dynamics manoeuvres. Results of theoretical performance analysis and simulation activities are presented in this paper, with emphasis on the advantages of the GNSS interferometric approach in UAV applications (i.e., low cost, high data-rate, low volume/weight, low signal processing requirements, etc.). Modelling and simulation activities focussed on the AEROSONDE UAV platform and considered the possible augmentation provided by interferometric GNSS techniques to a low-cost and low-weight/volume integrated navigation system recently developed at Cranfield University, which employs a Vision-based Navigation (VBN) system, a Micro-Electro-mechanical Sensor (MEMS) based Inertial Measurement Unit (IMU) and code-range GNSS (i.e., GPS and GALILEO) for position and velocity computations. The integrated VBN-IMU-GNSS (VIG) system is augmented by using the inteferometric GNSS Attitude Determination (GAD) and a comparison of the performance achievable with the VIG and VIG/GAD integrated Navigation and Guidance Systems (NGS) is presented. Finally, the data provided by these NGS are used to optimise the design of an hybrid controller employing Fuzzy Logic and Proportional-Integral-Derivative (PID) techniques for the AEROSONDE UAV

The \u3cem\u3elet-7\u3c/em\u3e MicroRNA Family Members \u3cem\u3emir\u3c/em\u3e-48, \u3cem\u3emir\u3c/em\u3e-84, and mir-241 Function Together to Regulate Developmental Timing in \u3cem\u3eCaenorhabditis elegans\u3c/em\u3e

The microRNA let-7 is a critical regulator of developmental timing events at the larval-to-adult transition in C. elegans. Recently, microRNAs with sequence similarity to let-7 have been identified. We find that doubly mutant animals lacking the let-7 family microRNA genes mir-48 and mir-84 exhibit retarded molting behavior and retarded adult gene expression in the hypodermis. Triply mutant animals lacking mir-48, mir-84, and mir-241 exhibit repetition of L2-stage events in addition to retarded adult-stage events. mir-48, mir-84, and mir-241 function together to control the L2-to-L3 transition, likely by base pairing to complementary sites in the hbl-1 3′ UTR and downregulating hbl-1 activity. Genetic analysis indicates that mir-48, mir-84, and mir-241 specify the timing of the L2-to-L3 transition in parallel to the heterochronic genes lin-28 and lin-46. These results indicate that let-7 family microRNAs function in combination to affect both early and late developmental timing decisions

Light-particle emission from the fissioning nuclei 126Ba, 188Pt and (266,272,278)/110: theoretical predictions and experimental results

We present a comparison of our model treating fission dynamics in conjunction with light-particle (n, p, alpha) evaporation with the available experimental data for the nuclei 126Ba, 188Pt and three isotopes of the element Z=110. The dynamics of the symmetric fission process is described through the solution of a classical Langevin equation for a single collective variable characterizing the nuclear deformation along the fission path. A microscopic approach is used to evaluate the emission rates for pre-fission light particles. Entrance-channel effects are taken into account by generating an initial spin distribution of the compound nucleus formed by the fusion of two deformed nuclei with different relative orientations

Quantum calculations of Coulomb reorientation for sub-barrier fusion

Classical mechanics and Time Dependent Hartree-Fock (TDHF) calculations of heavy ions collisions are performed to study the rotation of a deformed nucleus in the Coulomb field of its partner. This reorientation is shown to be independent on charges and relative energy of the partners. It only depends upon the deformations and inertias. TDHF calculations predict an increase by 30% of the induced rotation due to quantum effects while the nuclear contribution seems negligible. This reorientation modifies strongly the fusion cross-section around the barrier for light deformed nuclei on heavy collision partners. For such nuclei a hindrance of the sub-barrier fusion is predicted.Comment: accepted for publication in Physical Review Lette