Dynamic update of a virtual cell for programming and safe monitoring of an industrial robot

A hardware/software architecture for robot motion planning and on-line safe monitoring has been developed with the objective to assure high flexibility in production control, safety for workers and machinery, with user-friendly interface. The architecture, developed using Microsoft Robotics Developers Studio and implemented for a six-dof COMAU NS 12 robot, established a bidirectional communication between the robot controller and a virtual replica of the real robotic cell. The working space of the real robot can then be easily limited for safety reasons by inserting virtual objects (or sensors) in such a virtual environment. This paper investigates the possibility to achieve an automatic, dynamic update of the virtual cell by using a low cost depth sensor (i.e., a commercial Microsoft Kinect) to detect the presence of completely unknown objects, moving inside the real cell. The experimental tests show that the developed architecture is able to recognize variously shaped mobile objects inside the monitored area and let the robot stop before colliding with them, if the objects are not too small

Homogeneous Photometry VI: Variable Stars in the Leo I Dwarf Spheroidal Galaxy

We have characterized the pulsation properties of 164 candidate RR Lyrae variables (RRLs) and 55 candidate Anomalous and/or short-period Cepheids in Leo I dwarf spheroidal galaxy. On the basis of its RRLs Leo I is confirmed to be an Oosterhoff-intermediate type galaxy, like several other dwarfs. We show that in their pulsation properties, the RRLs representing the oldest stellar population in the galaxy are not significantly different from those of five other nearby, isolated dwarf spheroidal galaxies. A similar result is obtained when comparing them to RR Lyrae stars in recently discovered ultra-faint dwarf galaxies. We are able to compare the period distributions and period-amplitude relations for a statistically significant sample of ab type RR Lyrae stars in dwarf galaxies (~1300stars) with those in the Galactic halo field (~14,000stars) and globular clusters (~1000stars). Field RRLs show a significant change in their period distribution when moving from the inner (dG14kpc) halo regions. This suggests that the halo formed from (at least) two dissimilar progenitors or types of progenitor. Considered together, the RRLs in classical dwarf spheroidal and ultra-faint dwarf galaxies-as observed today-do not appear to follow the well defined pulsation properties shown by those in either the inner or the outer Galactic halo, nor do they have the same properties as RRLs in globular clusters. In particular, the samples of fundamental-mode RRLs in dwarfs seem to lack High Amplitudes and Short Periods ("HASP":AV>1.0mag and P <0.48d) when compared with those observed in the Galactic halo field and globular clusters. The observed properties of RRLs do not support the idea that currently existing classical dwarf spheroidal and ultra-faint dwarf galaxies are surviving representative examples of the original building blocks of the Galactic halo.Comment: 49 pages in referee format, 12 figure

Relative Frequencies of Blue Stragglers in Galactic Globular Clusters: Constraints for the Formation Mechanisms

We discuss the main properties of the Galactic globular cluster (GC) blue straggler stars (BSS), as inferred from our new catalog containing nearly 3000 BSS. The catalog has been extracted from the photometrically homogeneous V vs. (B-V) color-magnitude diagrams (CMD) of 56 GCs, based on WFPC2 images of their central cores. In our analysis we used consistent relative distances based on the same photometry and calibration. The number of BSS has been normalized to obtain relative frequencies (F_{BSS}) and specific densities (N_S) using different stellar populations extracted from the CMD. The cluster F_{BSS} is significantly smaller than the relative frequency of field BSS. We find a significant anti-correlation between the BSS relative frequency in a cluster and its total absolute luminosity (mass). There is no statistically significant trend between the BSS frequency and the expected collision rate. F_{BSS} does not depend on other cluster parameters, apart from a mild dependence on the central density. PCC clusters act like normal clusters as far as the BSS frequency is concerned. We also show that the BSS luminosity function for the most luminous clusters is significantly different, with a brighter peak and extending to brighter luminosities than in the less luminous clusters. These results imply that the efficiency of BSS production mechanisms and their relative importance vary with the cluster mass.Comment: 12 pages, 3 figures. accepted for publication in ApJ

On the use of asymmetric PSF on NIR images of crowded stellar fields

We present data collected using the camera PISCES coupled with the Firt Light Adaptive Optics (FLAO) mounted at the Large Binocular Telescope (LBT). The images were collected using two natural guide stars with an apparent magnitude of R<13 mag. During these observations the seeing was on average ~0.9". The AO performed very well: the images display a mean FWHM of 0.05 arcsec and of 0.06 arcsec in the J- and in the Ks-band, respectively. The Strehl ratio on the quoted images reaches 13-30% (J) and 50-65% (Ks), in the off and in the central pointings respectively. On the basis of this sample we have reached a J-band limiting magnitude of ~22.5 mag and the deepest Ks-band limiting magnitude ever obtained in a crowded stellar field: Ks~23 mag. J-band images display a complex change in the shape of the PSF when moving at larger radial distances from the natural guide star. In particular, the stellar images become more elongated in approaching the corners of the J-band images whereas the Ks-band images are more uniform. We discuss in detail the strategy used to perform accurate and deep photometry in these very challenging images. In particular we will focus our attention on the use of an updated version of ROMAFOT based on asymmetric and analytical Point Spread Functions. The quality of the photometry allowed us to properly identify a feature that clearly shows up in NIR bands: the main sequence knee (MSK). The MSK is independent of the evolutionary age, therefore the difference in magnitude with the canonical clock to constrain the cluster age, the main sequence turn off (MSTO), provides an estimate of the absolute age of the cluster. The key advantage of this new approach is that the error decreases by a factor of two when compared with the classical one. Combining ground-based Ks with space F606W photometry, we estimate the absolute age of M15 to be 13.70+-0.80 Gyr.Comment: 15 pages, 7 figures, presented at the SPIE conference 201

On the potential and limitations of quantum extreme learning machines

Quantum reservoir computers (QRC) and quantum extreme learning machines (QELM) aim to efficiently post-process the outcome of fixed -- generally uncalibrated -- quantum devices to solve tasks such as the estimation of the properties of quantum states. The characterisation of their potential and limitations, which is currently lacking, will enable the full deployment of such approaches to problems of system identification, device performance optimization, and state or process reconstruction. We present a framework to model QRCs and QELMs, showing that they can be concisely described via single effective measurements, and provide an explicit characterisation of the information exactly retrievable with such protocols. We furthermore find a close analogy between the training process of QELMs and that of reconstructing the effective measurement characterising the given device. Our analysis paves the way to a more thorough understanding of the capabilities and limitations of both QELMs and QRCs, and has the potential to become a powerful measurement paradigm for quantum state estimation that is more resilient to noise and imperfections.Comment: 12 pages, 7 figures, comments welcom

Stellar photometry with Multi Conjugate Adaptive Optics

We overview the current status of photometric analyses of images collected with Multi Conjugate Adaptive Optics (MCAO) at 8-10m class telescopes that operated, or are operating, on sky. Particular attention will be payed to resolved stellar population studies. Stars in crowded stellar systems, such as globular clusters or in nearby galaxies, are ideal test particles to test AO performance. We will focus the discussion on photometric precision and accuracy reached nowadays. We briefly describe our project on stellar photometry and astrometry of Galactic globular clusters using images taken with GeMS at the Gemini South telescope. We also present the photometry performed with DAOPHOT suite of programs into the crowded regions of these globulars reaching very faint limiting magnitudes Ks ~21.5 mag on moderately large fields of view (~1.5 arcmin squared). We highlight the need for new algorithms to improve the modeling of the complex variation of the Point Spread Function across the field of view. Finally, we outline the role that large samples of stellar standards plays in providing a detailed description of the MCAO performance and in precise and accurate colour{magnitude diagrams.Comment: 17 pages, 12 figures, SPIE 201

The Blue Hook Populations of Massive Globular Clusters

We present new HST ultraviolet color-magnitude diagrams of 5 massive Galactic globular clusters: NGC 2419, NGC 6273, NGC 6715, NGC 6388, and NGC 6441. These observations were obtained to investigate the "blue hook" phenomenon previously observed in UV images of the globular clusters omega Cen and NGC 2808. Blue hook stars are a class of hot (approximately 35,000 K) subluminous horizontal branch stars that occupy a region of the HR diagram that is unexplained by canonical stellar evolution theory. By coupling new stellar evolution models to appropriate non-LTE synthetic spectra, we investigate various theoretical explanations for these stars. Specifically, we compare our photometry to canonical models at standard cluster abundances, canonical models with enhanced helium (consistent with cluster self-enrichment at early times), and flash-mixed models formed via a late helium-core flash on the white dwarf cooling curve. We find that flash-mixed models are required to explain the faint luminosity of the blue hook stars, although neither the canonical models nor the flash-mixed models can explain the range of color observed in such stars, especially those in the most metal-rich clusters. Aside from the variation in the color range, no clear trends emerge in the morphology of the blue hook population with respect to metallicity.Comment: Accepted for publication in The Astrophysical Journal. Latex, 14 pages, 1 B&W and 6 color figure

Alpsnmr: an r package for signal processing of fully untargeted nmr-based metabolomics

Nuclear magnetic resonance (NMR)-based metabolomics is widely used to obtain metabolic fingerprints of biological systems. While targeted workflows require previous knowledge of metabolites, prior to statistical analysis, untargeted approaches remain a challenge. Computational tools dealing with fully untargeted NMR-based metabolomics are still scarce or not user-friendly. Therefore, we developed AlpsNMR (Automated spectraL Processing System for NMR), an R package that provides automated and efficient signal processing for untargeted NMR metabolomics. AlpsNMR includes spectra loading, metadata handling, automated outlier detection, spectra alignment and peak-picking, integration and normalization. The resulting output can be used for further statistical analysis. AlpsNMR proved effective in detecting metabolite changes in a test case. The tool allows less experienced users to easily implement this workflow from spectra to a ready-to-use dataset in their routines

Stroemgren - near-infrared photometry of the Baade's Window. I. The bulge globular cluster NGC6528 and the surrounding field

We present Stroemgren-NIR photometry of NGC6528 and its surroundings in the Baade's Window. uvby images were collected with EFOSC2@NTT, while NIR catalogs are based on VIRCAM@VISTA and SOFI@NTT data. The matching with HST photometry allowed us to obtain proper-motion-cleaned samples of cluster and bulge stars. The huge color sensitivity of Stroemgren-NIR CMDs helped us in disentangling age and metallicity effects. The RGB of NGC6528 is reproduced by scaled-solar isochrones with solar abundance or alpha-enhanced isochrones with the same iron content, and an age of t = 11+/-1 Gyr. These findings support literature age estimates for NGC6528. We also performed a theoretical metallicity calibration based on the Stroemgren index m1 and on visual-NIR colors for RGs, by adopting scaled-solar and alpha-enhanced models. We applied the calibration to estimate the metallicity of NGC6528, finding [Fe/H] = -0.04+/-0.02, with an intrinsic dispersion of 0.27 dex (by averaging abundances based on the scaled-solar [m], y - J and [m], y - K Metallicity-Index-Color relations), and of -0.11+/-0.01 (sig = 0.27 dex), by using the m1, y - J and m1, y - K relations. These findings support the results of Zoccali et al. (2004) which give [Fe/H] = -0.10+/-0.2, and a low alpha-enhancement, [alpha/Fe] = 0.1, and of Carretta et al. (2001), that find [Fe/H] = 0.07+/-0.01, with [alpha/Fe] = 0.2. By applying the scaled-solar MIC relations to Baade's window RGs, we find a metallicity distribution extending from [Fe/H] ~ -1.0 to ~ 1 dex, with peaks at [Fe/H] ~ -0.2 and +0.55 ([m], y - J and [m], y - K relations), and [Fe/H] ~ -0.25 and +0.4 (m1, y - J and m1, y - K relations). These findings are in good agreement with the spectroscopic studies of Hill et al. (2011) for the Baade's window, of Uttenthaler et al. (2012) for a region centered at (l,b) = (0, -10), and with the results of the ARGOS survey (Ness et al. 2013a).Comment: 19 pages, 13 figures, 3 tables, accepted for publication on Astronomy & Astrophysic

On the dwarf irregular galaxy NGC 6822. I. Young, intermediate and old stellar populations

We present accurate and deep multi-band ($g,r,i$) photometry of the Local Group dwarf irregular galaxy NGC 6822. The images were collected with wide field cameras at 2m/4m- (INT,CTIO,CFHT) and 8m-class telescopes (SUBARU) covering a 2 square degrees FoV across the center of the galaxy. We performed PSF photometry of $\approx$7,000 CCD images and the final catalog includes more than 1 million objects. We developed a new approach to identify candidate field and galaxy stars, and performed a new estimate of the galaxy center by using old stellar tracers finding that it differs by 1.15 (RA) and 1.53 (DEC) arcmin from previous estimates. We also found that young (Main Sequence, Red Supergiants), intermediate (Red Clump, Asymptotic Giant Branch [AGB]) and old (Red Giant Branch [RGB]) stars display different radial distributions. Old stellar population is spherically distributed and extends to radial distances larger than previously estimated ($\sim$1 degree). The young population shows a well defined bar and a disk-like distribution, as suggested by radio measurements, that is off-center compared with old population. We discuss pros and cons of the different diagnostics adopted to identify AGB stars and develop new ones based on optical-NIR-MIR color-color diagrams (CCDs) to characterize Oxygen and Carbon (C) rich stars. We found a mean population ratio between Carbon and M-type (C/M) stars of 0.67$\pm$0.08 (optical/NIR/MIR) and we used the observed C/M ratio with empirical C/M-metallicity relations to estimate a mean iron abundance of [Fe/H]$\sim$-1.25 ($\sigma$=0.04 dex) that agrees quite well with literature estimates.Comment: Accepted for publication in ApJ, 34 pages, 22 figures, 6 table