The Nearest Isolated Member of the TW Hydrae Association is a Giant Planet Analog

In a recent search for unusually red L and T dwarfs, we identified 2MASS J11193254-1137466 as a likely young L7 dwarf and potential member of the TW Hydrae association. We present spectra that confirm the youth of this object. We also measure a radial velocity of 8.5 +/- 3.3 km/s that, together with the sky position, proper motion and photometric distance, results in a 92% probability of membership in the TW Hydrae association, with a calibrated field contamination probability of 0.0005% using the BANYAN II tool. Using the age of TW Hydrae and the luminosity of 2MASS J11193254-1137466, we estimate its mass to be 4.3--7.6 MJup. It is the lowest-mass and nearest isolated member of TW Hydrae at a kinematic distance of 28.9 +/- 3.6 pc, and the second-brightest isolated <10 MJup object discovered to date.Comment: 6 pages, 3 figures, Accepted for publication in ApJ Letter

Discovery of a Possible Early-T Thick-Disk Subdwarf from the AllWISE2 Motion Survey

We have discovered a potential T0 $\pm$ 1 subdwarf from a search for sources in the AllWISE2 Motion Survey that do not have counterparts in surveys at shorter wavelengths. With a tangential velocity of $\sim$170 kms, this object - WISE J071121.36-573634.2 - has kinematics that are consistent with the thick-disk population of the Milky Way. Spectral fits suggest a low-metallicity for this object but also allow for the possibility of unresolved multiplicity. If WISE J0711-5736 is indeed an sdT0 dwarf, it would be only the second early-T subdwarf discovered to date.Comment: 11 pages, 6 figures, accepted to A

Intuitive Teleoperation of an Intelligent Robotic System Using Low-Cost 6-DOF Motion Capture

There is currently a wide variety of six degree-of-freedom (6-DOF) motion capture technologies available. However, these systems tend to be very expensive and thus cost prohibitive. A software system was developed to provide 6-DOF motion capture using the Nintendo Wii remote’s (wiimote) sensors, an infrared beacon, and a novel hierarchical linear-quaternion Kalman filter. The software is made freely available, and the hardware costs less than one hundred dollars. Using this motion capture software, a robotic control system was developed to teleoperate a 6-DOF robotic manipulator via the operator’s natural hand movements. The teleoperation system requires calibration of the wiimote’s infrared cameras to obtain an estimate of the wiimote’s 6-DOF pose. However, since the raw images from the wiimote’s infrared camera are not available, a novel camera-calibration method was developed to obtain the camera’s intrinsic parameters, which are used to obtain a low-accuracy estimate of the 6-DOF pose. By fusing the low-accuracy estimate of 6-DOF pose with accelerometer and gyroscope measurements, an accurate estimation of 6-DOF pose is obtained for teleoperation. Preliminary testing suggests that the motion capture system has an accuracy of less than a millimetre in position and less than one degree in attitude. Furthermore, whole-system tests demonstrate that the teleoperation system is capable of controlling the end effector of a robotic manipulator to match the pose of the wiimote. Since this system can provide 6-DOF motion capture at a fraction of the cost of traditional methods, it has wide applicability in the field of robotics and as a 6-DOF human input device to control 3D virtual computer environments