Virtual reality applications in robotic simulations

Virtual reality (VR) provides a means to practice integrated extravehicular activities (EVA)/remote manipulator system (RMS) operations in the on-orbit configuration with no discomfort or risk to crewmembers. VR afforded the STS-61 crew the luxury of practicing the integrated EVA/RMS operations in an on-orbit configuration prior to the actual flight. The VR simulation was developed by the Automation and Robotics Division's Telepresence/Virtual Reality Lab and Integrated Graphics, Operations, and Analysis Lab (IGOAL) at JSC. The RMS Part Task Trainer (PTT) was developed by the IGOAL for RMS training in 1988 as a fully functional, kinematic simulation of the shuttle RMS and served as the RMS portion of the integrated VR simulation. Because the EVA crewmember could get a realistic view of the shuttle and payload bay in the VR simulation, he/she could explore different positions and views to determine the best method for performing a specific task, thus greatly increasing the efficiency of use of the neutral buoyancy facilities

Disk Dominated States of 4U 1957+11: Chandra, XMM, and RXTE Observations of Ostensibly the Most Rapidly Spinning Galactic Black Hole

We present simultaneous Chandra-HETG and RXTE observations of a moderate flux `soft state' of the black hole candidate 4U1957+11. These spectra, having a minimally discernible hard X-ray excess, are an excellent test of modern disk atmosphere models that include the effects of black hole spin. The HETG data show that the soft disk spectrum is only very mildly absorbed with N_H =1-2 X 10^{21} cm^-2. These data additionally reveal 13.449 A NeIX absorption consistent with the warm/hot phase of the interstellar medium. The fitted disk model implies a highly inclined disk around a low mass black hole rapidly rotating with normalized spin a*~1. We show, however, that pure Schwarzschild black hole models describe the data extremely well, albeit with large disk atmosphere ``color-correction'' factors. Standard color-correction factors can be attained if one additionally incorporates mild Comptonization. We find that the Chandra observations do not uniquely determine spin. Similarly, XMM/RXTE observations, taken only six weeks later, are equally unconstraining. This lack of constraint is partly driven by the unknown mass and unknown distance of 4U1957+11; however, it is also driven by the limited bandpass of Chandra and XMM. We therefore present a series of 48 RXTE observations taken over the span of several years and at different brightness/hardness levels. These data prefer a spin of a*~1, even when including a mild Comptonization component; however, they also show evolution of the disk atmosphere color-correction factors. If the rapid spin models with standard atmosphere color-correction factors of h_d=1.7 are to be believed, then the RXTE observations predict that 4U1957+11 can range from a 3 M_sun black hole at 10 kpc with a*~0.83 to a 16 M_sun black hole at 22 kpc with a* ~ 1, with the latter being statistically preferred.Comment: 16 pages (emulateapj style). Accepted for Publication in the Astrophysical Journa

X-ray and Radio Monitoring of GX 339-4 and Cyg X-1

Previous work by Motch et al. (1985) suggested that in the low/hard state of GX339-4, the soft X-ray power-law extrapolated backward in energy agrees with the IR flux level. Corbel and Fender (2002) later showed that the typical hard state radio power-law extrapolated forward in energy meets the backward extrapolated X-ray power-law at an IR spectral break, which was explicitly observed twice in GX339-4. This has been cited as further evidence that jet synchrotron radiation might make a significant contribution to the observed X-rays in the hard state. We explore this hypothesis with a series of simultaneous radio/X-ray hard state observations of GX339-4. We fit these spectra with a simple, but remarkably successful, doubly broken power-law model that indeed requires a spectral break in the IR. For most of these observations, the break position as a function of X-ray flux agrees with the jet model predictions. We then examine the radio flux/X-ray flux correlation in Cyg X-1 through the use of 15 GHz radio data, obtained with the Ryle radio telescope, and Rossi X-ray Timing Explorer data, from the All Sky Monitor and pointed observations. We find evidence of `parallel tracks' in the radio/X-ray correlation which are associated with `failed transitions' to, or the beginning of a transition to, the soft state. We also find that for Cyg X-1 the radio flux is more fundamentally correlated with the hard, rather than the soft, X-ray flux.Comment: To Appear in the Proceedings of "From X-ray Binaries to Quasars: Black Hole Accretion on All Mass Scales" (Amsterdam, July 2004). Eds. T Maccarone, R. Fender, L. H

Evaluation of Bird Shield as a blackbird repellent in ripening rice and sunflower fields

Chemical repellents sometimes can provide a nonlethal alternative for reducing wildlife impacts to agricultural production. In late summer and autumn 2002, we evaluated Bird Shield™ (active ingredient: methyl anthranilate, Bird Shield Repellent Corporation, Spokane, Wash.) as a blackbird (Icteridae) repellent in Missouri rice fields and North Dakota sunflower fields. We selected 5 pairs of ripening rice fields in southeastern Missouri and randomly allocated treatments (treated and control) within pairs. The repellent was aerially applied by fixed-winged aircraft at the recommended label rate and volume (1.17 L Bird Shield/ha and 46.7 L/ha, respectively); 1 field received 2X the label rate. We observed no difference in average bird activity (birds/minute) between treated and control fields over the 3-day posttreatment period (P = 0.503). We used reversed-phase liquid chromatography to quantify methyl anthranilate residues in treated fields. The maximum concentration of methyl anthranilate in rice samples was 4.71 μg/g. This concentration was below reported threshold values that irritate birds. In North Dakota we selected 6 pairs of sunflower fields used by foraging blackbirds. We randomly selected 1 field from each pair for 2 aerial applications of Bird Shield at the label-recommended rate ~1 week apart. The remaining 6 fields served as controls. Daily bird counts, starting the first day of application and continuing for 5–7 days after the second application, showed similar numbers of blackbirds within treated and control fields (P = 0.964). We observed no difference in sunflower damage within treated and control fields (P = 0.172) prior and subsequent to the treatment. Bird Shield was not effective for repelling blackbirds from ripening rice and sunflower fields

Evaluation of Bird Shield as a blackbird repellent in ripening rice and sunflower fields

Chemical repellents sometimes can provide a nonlethal alternative for reducing wildlife impacts to agricultural production. In late summer and autumn 2002, we evaluated Bird Shield™ (active ingredient: methyl anthranilate, Bird Shield Repellent Corporation, Spokane, Wash.) as a blackbird (Icteridae) repellent in Missouri rice fields and North Dakota sunflower fields. We selected 5 pairs of ripening rice fields in southeastern Missouri and randomly allocated treatments (treated and control) within pairs. The repellent was aerially applied by fixed-winged aircraft at the recommended label rate and volume (1.17 L Bird Shield/ha and 46.7 L/ha, respectively); 1 field received 2X the label rate. We observed no difference in average bird activity (birds/minute) between treated and control fields over the 3-day posttreatment period (P = 0.503). We used reversed-phase liquid chromatography to quantify methyl anthranilate residues in treated fields. The maximum concentration of methyl anthranilate in rice samples was 4.71 μg/g. This concentration was below reported threshold values that irritate birds. In North Dakota we selected 6 pairs of sunflower fields used by foraging blackbirds. We randomly selected 1 field from each pair for 2 aerial applications of Bird Shield at the label-recommended rate ~1 week apart. The remaining 6 fields served as controls. Daily bird counts, starting the first day of application and continuing for 5–7 days after the second application, showed similar numbers of blackbirds within treated and control fields (P = 0.964). We observed no difference in sunflower damage within treated and control fields (P = 0.172) prior and subsequent to the treatment. Bird Shield was not effective for repelling blackbirds from ripening rice and sunflower fields

Is the plateau state in GRS 1915+105 equivalent to canonical hard states?

GRS1915+105 is a very peculiar black hole binary that exhibits accretion-related states that are not observed in any other stellar-mass black hole system. One of these states, however -- referred to as the plateau state -- may be related to the canonical hard state of black hole X-ray binaries. Both the plateau and hard state are associated with steady, relatively lower X-ray emission and flat/inverted radio emission, that is sometimes resolved into compact, self-absorbed jets. However, while generally black hole binaries quench their jets when the luminosity becomes too high, GRS1915+105 seems to sustain them despite the fact that it accretes at near- or super-Eddington rates. In order to investigate the relationship between the plateau and the hard state, we fit two multi-wavelength observations using a steady-state outflow-dominated model, developed for hard state black hole binaries. The data sets consist of quasi-simultaneous observations in radio, near-infrared and X-ray bands. Interestingly, we find both significant differences between the two plateau states, as well as between the best-fit model parameters and those representative of the hard state. We discuss our interpretation of these results, and the possible implications for GRS 1915+105's relationship to canonical black hole candidates.Comment: accepted for publication in MNRA

Bodyweight Perceptions among Texas Women: The Effects of Religion, Race/Ethnicity, and Citizenship Status

Despite previous work exploring linkages between religious participation and health, little research has looked at the role of religion in affecting bodyweight perceptions. Using the theoretical model developed by Levin et al. (Sociol Q 36(1):157–173, 1995) on the multidimensionality of religious participation, we develop several hypotheses and test them by using data from the 2004 Survey of Texas Adults. We estimate multinomial logistic regression models to determine the relative risk of women perceiving themselves as overweight. Results indicate that religious attendance lowers risk of women perceiving themselves as very overweight. Citizenship status was an important factor for Latinas, with noncitizens being less likely to see themselves as overweight. We also test interaction effects between religion and race. Religious attendance and prayer have a moderating effect among Latina non-citizens so that among these women, attendance and prayer intensify perceptions of feeling less overweight when compared to their white counterparts. Among African American women, the effect of increased church attendance leads to perceptions of being overweight. Prayer is also a correlate of overweight perceptions but only among African American women. We close with a discussion that highlights key implications from our findings, note study limitations, and several promising avenues for future research

A Transient “Changing-look” Active Galactic Nucleus Resolved on Month Timescales from First-year Sloan Digital Sky Survey V Data

We report the discovery of a new “changing-look” active galactic nucleus (CLAGN) event, in the quasar SDSS J162829.17+432948.5 at z = 0.2603, identified through repeat spectroscopy from the fifth Sloan Digital Sky Survey (SDSS-V). Optical photometry taken during 2020-2021 shows a dramatic dimming of Δg ≈ 1 mag, followed by a rapid recovery on a timescale of several months, with the ≲2 month period of rebrightening captured in new SDSS-V and Las Cumbres Observatory spectroscopy. This is one of the fastest CLAGN transitions observed to date. Archival observations suggest that the object experienced a much more gradual dimming over the period of 2011-2013. Our spectroscopy shows that the photometric changes were accompanied by dramatic variations in the quasar-like continuum and broad-line emission. The excellent agreement between the pre- and postdip photometric and spectroscopic appearances of the source, as well as the fact that the dimmest spectra can be reproduced by applying a single extinction law to the brighter spectral states, favor a variable line-of-sight obscuration as the driver of the observed transitions. Such an interpretation faces several theoretical challenges, and thus an alternative accretion-driven scenario cannot be excluded. The recent events observed in this quasar highlight the importance of spectroscopic monitoring of large active galactic nucleus samples on weeks-to-months timescales, which the SDSS-V is designed to achieve

A Transient "Changing-look'' Active Galactic Nucleus Resolved on Month Timescales from First-year Sloan Digital Sky Survey V Data

We report the discovery of a new ``changing-look'' active galactic nucleus (CLAGN) event, in the quasar SDSS J162829.17+432948.5 at z=0.2603, identified through repeat spectroscopy from the fifth Sloan Digital Sky Survey (SDSS-V). Optical photometry taken during 2020--2021 shows a dramatic dimming of ${\Delta}$g${\approx}$1 mag, followed by a rapid recovery on a timescale of several months, with the ${\lesssim}$2 month period of rebrightening captured in new SDSS-V and Las Cumbres Observatory spectroscopy. This is one of the fastest CLAGN transitions observed to date. Archival observations suggest that the object experienced a much more gradual dimming over the period of 2011--2013. Our spectroscopy shows that the photometric changes were accompanied by dramatic variations in the quasar-like continuum and broad-line emission. The excellent agreement between the pre- and postdip photometric and spectroscopic appearances of the source, as well as the fact that the dimmest spectra can be reproduced by applying a single extinction law to the brighter spectral states, favor a variable line-of-sight obscuration as the driver of the observed transitions. Such an interpretation faces several theoretical challenges, and thus an alternative accretion-driven scenario cannot be excluded. The recent events observed in this quasar highlight the importance of spectroscopic monitoring of large active galactic nucleus samples on weeks-to-months timescales, which the SDSS-V is designed to achieve.Comment: Published in ApJ