The sensing and perception subsystem of the NASA research telerobot

A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described

The First Spectroscopically Resolved Sub-parsec Orbit of a Supermassive Binary Black Hole

One of the most intriguing scenarios proposed to explain how active galactic nuclei are triggered involves the existence of a supermassive binary black hole system in their cores. Here we present an observational evidence for the first spectroscopically resolved sub-parsec orbit of a such system in the core of Seyfert galaxy NGC 4151. Using a method similar to those typically applied for spectroscopic binary stars we obtained radial velocity curves of the supermassive binary system, from which we calculated orbital elements and made estimates about the masses of components. Our analysis shows that periodic variations in the light and radial velocity curves can be accounted for an eccentric, sub-parsec Keplerian orbit of a 15.9-year period. The flux maximum in the lightcurve correspond to the approaching phase of a secondary component towards the observer. According to the obtained results we speculate that the periodic variations in the observed H{\alpha} line shape and flux are due to shock waves generated by the supersonic motion of the components through the surrounding medium. Given the large observational effort needed to reveal this spectroscopically resolved binary orbital motion we suggest that many such systems may exist in similar objects even if they are hard to find. Detecting more of them will provide us with insight into black hole mass growth process.Comment: 29 pages, 10 figures, published in ApJ, 759, 11

Black hole mass estimates in quasars - A comparative analysis of high- and low-ionization lines

The inter-line comparison between high- and low-ionization emission lines has yielded a wealth of information on the quasar broad line region (BLR) structure and dynamics, including perhaps the earliest unambiguous evidence in favor of a disk + wind structure in radio-quiet quasars. We carried out an analysis of the CIV 1549 and Hbeta line profiles of 28 Hamburg-ESO high luminosity quasars and of 48 low-z, low luminosity sources in order to test whether the high-ionization line CIV 1549 width could be correlated with Hbeta and be used as a virial broadening estimator. We analyze intermediate- to high-S/N, moderate resolution optical and NIR spectra covering the redshifted CIV and H$\beta$ over a broad range of luminosity log L ~ 44 - 48.5 [erg/s] and redshift (0 - 3), following an approach based on the quasar main sequence. The present analysis indicates that the line width of CIV 1549 is not immediately offering a virial broadening estimator equivalent to H$\beta$. At the same time a virialized part of the BLR appears to be preserved even at the highest luminosities. We suggest a correction to FWHM(CIV) for Eddington ratio (using the CIV blueshift as a proxy) and luminosity effects that can be applied over more than four dex in luminosity. Great care should be used in estimating high-L black hole masses from CIV 1549 line width. However, once corrected FWHM(CIV) values are used, a CIV-based scaling law can yield unbiased MBH values with respect to the ones based on H$\beta$ with sample standard deviation ~ 0.3 dex.Comment: 43 pages, 15 Figures, submitted to A&

Quasars: from the Physics of Line Formation to Cosmology

Quasars accreting matter at very high rates (known as extreme Population A [xA] or super-Eddington accreting massive black holes) provide a new class of distance indicators covering cosmic epochs from the present-day Universe up to less than 1 Gyr from the Big Bang. The very high accretion rate makes it possible that massive black holes hosted in xA quasars radiate at a stable, extreme luminosity-to-mass ratio. This in turns translates into stable physical and dynamical conditions of the mildly ionized gas in the quasar low-ionization line emitting region. In this contribution, we analyze the main optical and UV spectral properties of extreme Population A quasars that make them easily identifiable in large spectroscopic surveys at low-z (z < 1) and intermediate-z (2 < z < 2.6), and the physical conditions that are derived for the formation of their emission lines. Ultimately, the analysis supports the possibility of identifying a virial broadening estimator from low-ionization line widths, and the conceptual validity of the redshift-independent luminosity estimates based on virial broadening for a known luminosity-to-mass ratio.Comment: 13 pages, 5 figures. Invited lecture at SPIG 2018, Belgrade. To appear in Ato

An ASCA Study of the W51 Complex

We present the analysis of ASCA archival data from the Galactic source W51. The ASCA spectra show that the soft (kT<= 2.5 keV) X-rays are of thermal origin and are compatible with W51C being a single, isothermal (kT~0.3 keV) supernova remnant at the far-side of the Sagittarius arm. The ASCA images reveal hard (kT>=2.5 keV) X-ray sources which were not seen in previous X-ray observations. Some of these sources are coincident with massive star-forming regions and the spectra are used to derive X-ray parameters. By comparing the X-ray absorbing column density with atomic hydrogen column density, we infer the location of star-forming regions relative to molecular clouds. There are unidentified hard X-ray sources superposed on the supernova remnant and we discuss the possibility of their association.Comment: 13 pages, 11 figures, to be published in Astronomical Journa

Detailed Analysis of Balmer Lines in a Sloan Digital Sky Survey Sample of 90 Broad Line Active Galactic Nuclei

In order to contribute to the general effort aiming at the improvement of our knowledge about the physical conditions within the Broad Line Region (BLR) of Active Galactic Nuclei (AGN), here we present the results achieved by our analysis of the spectral properties of a sample of 90 broad line emitting sources, collected at the Sloan Digital Sky Survey (SDSS) database. By focusing our attention mainly onto the Balmer series of hydrogen emission lines, which is the dominant feature in the optical wavelength range of many BLR spectra, we extracted several flux and profile measurements, which we related to other source properties, such as optical continuum luminosities, inferred black hole masses, and accretion rates. Using the Boltzmann Plot method to investigate the Balmer line flux ratios as a function of the line profiles, we found that broader line emitting AGN typically have larger H_alpha / H_beta and smaller H_gamma / H_beta and H_delta / H_beta line ratios. With the help of some recent investigations, we model the structure of the BLR and we study the influence of the accretion process on the properties of the BLR plasma.Comment: 14 pages, 11 figures, fixes the wrong names of 4 objects; published on Ap

THE VISIBILITY AND INVISIBILITY OF HERDERS' KRAALS IN SOUTHERN AFRICA, WITH REFERENCE TO A POSSIBLE EARLY CONTACT PERIOD KHOEKHOE KRAAL AT KFS 5, WESTERN CAPE

The Europeans who landed on the shores of the South African Cape from the late 15th century onwards encountered local herders whom they later referred to as the Hottentots (now known as the Khoekhoe). There are written references to the settlements and livestock of these pastoralists, but archaeologists have not had much success in discovering any such sites. This absence of archaeological evidence for recent Khoekhoe kraals has been interpreted by some scholars as an indication for a general archaeological invisibility of nomadic pastoralist sites. This article reports on the archaeology of an extensive, low density surface spread of artefacts, KFS 5 (Western Cape), which possibly represents a Khoekhoe kraal dating to the time of the first contact with Europeans. Data are compared to other archaeological evidence of cattle pens in southern Africa and the issues of the visibility of prehistoric and historic kraals are re-addresse

[Fe II] and H2 filaments in the Supernova Remnant G11.2-0.3: Supernova Ejecta and Presupernova Circumstellar Wind

We present the results of near-infrared imaging and spectroscopic observations of the young, core-collapse supernova remnant (SNR) G11.2-0.3. In the [Fe II] 1.644 um image, we first discover long, clumpy [Fe II] filaments within the radio shell of the SNR, together with some faint, knotty features in the interior of the remnant. We have detected several [Fe II] lines and HI Br-G line toward the peak position of the bright southeastern [Fe II] filament. The derived extinction is large (Av=13 mag) and it is the brightest [Fe II] filament detected toward SNRs to date. By analyzing two [Fe II] 1.644 um images obtained in 2.2 yrs apart, we detect a proper motion corresponding to an expansion rate of 0.''035 (0.''013) /yr [or 830 (310) km/s]. We also discover two small H2 filaments. One is bright and along the SE boundary of the radio shell, while the other is faint and just outside of its NE boundary. We have detected H2 (2-1) S(3) line toward the former filament and derive an excitation temperature of 2,100 K. We suggest that the H2 filaments are dense clumps in a presupernova circumstellar wind swept up by the SNR shock while the [Fe II] filaments are probably composed of both shocked wind material and shocked supernova (SN) ejecta. The distribution of [Fe II] filaments may indicate that the SN explosion in G11.2-0.3 was asymmetric as in Cassiopeia A. Our results support the suggestion that G11.2-0.3 is a remnant of a SN IIL/b interacting with a dense red supergiant wind.Comment: 30 pages with 10 figures, To appear in the Astrophysical Journa

Nouvelles données sur la séquence culturelle du site de Brassempouy (Landes) : Fouilles 1997-2002

National audienceThe field of Brassempouy is situated in the south of the Landes departement, two kilometres away from the village and forty kilometres south-east of Mont-de-Marsan in Chalosse. It holds several cavities (cave of the Pope, cave of the Hyenas, Dubalen gallery, Megaceros gallery) which belong to a complex karstic network, dug in a limestone formation of the Eocene, a few metres bellow the natural soil. The purpose of this article is to present the cultural sequence as it appears after the excavations 1997-2002.Le gisement de Brassempouy est localisé au sud du département des Landes (France), à deux kilomètres du village de Brassempouy et à quarante kilomètres au sud-ouest de Mont-de-Marsan, en Chalosse. Il comprend plusieurs cavités (grotte du Pape, grotte des Hyènes, galerie Dubalen, galerie du Mégacéros) qui appartiennent à un réseau karstique complexe creusé dans une formation calcaire de l'Eocène à quelques mètres sous le sol naturel. L'objectif de cet article est de présenter la séquence culturelle telle qu'elle apparaît à l'issue des fouilles 1997-2002