Discovery of a 0.42-s pulsar in the ultraluminous X-ray source NGC 7793 P13

NGC 7793 P13 is a variable (luminosity range ~100) ultraluminous X-ray source (ULX) proposed to host a stellar-mass black hole of less than 15 M$_{\odot}$ in a binary system with orbital period of 64 d and a 18-23 M$_{\odot}$ B9Ia companion. Within the EXTraS project we discovered pulsations at a period of ~0.42 s in two XMM-Newton observations of NGC 7793 P13, during which the source was detected at $L_{\mathrm{X}}\sim2.1\times10^{39}$ and $5\times10^{39}$ erg s$^{-1}$ (0.3-10 keV band). These findings unambiguously demonstrate that the compact object in NGC 7793 P13 is a neutron star accreting at super-Eddington rates. While standard accretion models face difficulties accounting for the pulsar X-ray luminosity, the presence of a multipolar magnetic field with $B$ ~ few $\times$ 10$^{13}$ G close to the base of the accretion column appears to be in agreement with the properties of the system.Comment: 5 pages, 5 figures, 2 tables; Version accepted for publication in MNRAS Letter

The Hilbert-Schmidt Theorem Formulation of the R-Matrix Theory

Using the Hilbert-Schmidt theorem, we reformulate the R-matrix theory in terms of a uniformly and absolutely convergent expansion. Term by term differentiation is possible with this expansion in the neighborhood of the surface. Methods for improving the convergence are discussed when the R-function series is truncated for practical applications.Comment: 16 pages, Late

Calculus and heat flow in metric measure spaces and applications to spaces with Ricci bounds from below

This paper is devoted to a deeper understanding of the heat flow and to the refinement of calculus tools on metric measure spaces (X,d,m). Our main results are: - A general study of the relations between the Hopf-Lax semigroup and Hamilton-Jacobi equation in metric spaces (X,d). - The equivalence of the heat flow in L^2(X,m) generated by a suitable Dirichlet energy and the Wasserstein gradient flow of the relative entropy functional in the space of probability measures P(X). - The proof of density in energy of Lipschitz functions in the Sobolev space W^{1,2}(X,d,m). - A fine and very general analysis of the differentiability properties of a large class of Kantorovich potentials, in connection with the optimal transport problem. Our results apply in particular to spaces satisfying Ricci curvature bounds in the sense of Lott & Villani [30] and Sturm [39,40], and require neither the doubling property nor the validity of the local Poincar\'e inequality.Comment: Minor typos corrected and many small improvements added. Lemma 2.4, Lemma 2.10, Prop. 5.7, Rem. 5.8, Thm. 6.3 added. Rem. 4.7, Prop. 4.8, Prop. 4.15 and Thm 4.16 augmented/reenforced. Proof of Thm. 4.16 and Lemma 9.6 simplified. Thm. 8.6 corrected. A simpler axiomatization of weak gradients, still equivalent to all other ones, has been propose

Porous medium equation with nonlocal pressure

We provide a rather complete description of the results obtained so far on the nonlinear diffusion equation $u_t=\nabla\cdot (u^{m-1}\nabla (-\Delta)^{-s}u)$, which describes a flow through a porous medium driven by a nonlocal pressure. We consider constant parameters $m>1$ and $0<s<1$, we assume that the solutions are non-negative, and the problem is posed in the whole space. We present a theory of existence of solutions, results on uniqueness, and relation to other models. As new results of this paper, we prove the existence of self-similar solutions in the range when $N=1$ and $m>2$, and the asymptotic behavior of solutions when $N=1$. The cases $m = 1$ and $m = 2$ were rather well known.Comment: 24 pages, 2 figure

A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case

This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da Vinci robot. Extra degrees of freedom require the development of a proper control strategy to guarantee high performance and avoid an increasing complexity of control consoles. However, developing reliable control algorithms while reducing the control side's mechanical complexity is still an open challenge. In the proposed solution, we present a control strategy that projects the human hand motions into the robot actuation space. The human hand motions are tracked by a LeapMotion camera and mapped into the actuation space of the virtualized end-effector. The effectiveness of the proposed method was evaluated in a twofold manner. Firstly, we verified the Lyapunov stability of the algorithm, then an user study with 10 subjects assessed the intuitiveness and usability of the system

Upper Body Pose Estimation Using Wearable Inertial Sensors and Multiplicative Kalman Filter

Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or not wearable/portable. We present a wearable pose estimation system (WePosE), based on inertial measurements units (IMUs), for motion analysis and body tracking. Differently from camera-based approaches, the proposed system does not suffer from occlusion problems and lighting conditions, it is cost effective and it can be used in indoor and outdoor environments. Moreover, since only accelerometers and gyroscopes are used to estimate the orientation, the system can be used also in the presence of iron and magnetic disturbances. An experimental validation using a high precision optical tracker has been performed. Results confirmed the effectiveness of the proposed approach

Chiral 1,4-Benzodiazepines. X. Further Investigations of Configurational Stability of the Chiral Centre C(3)

For various at C(3)-chiral 1,4-benzodiazepin-2-ones rate determinations of racemisation (ka.- for C(3)-0CH3 derivative ( + )-1), degenerate nucleophilic exchange (k0 - for rac. 1 and rac. 2), and solvolysis (k5 - for C(3)-hemisuccinyl derivative 4) have been performed. These investigations revealed; (a) retention of .configuration during methanolysis of ( + )-3, (b) slow racemisation of ( + )-1 during solvolytic degenerate nucleophilic substitution (kefko. - - 4), (c} no participation of SNl retentive reaction, possible via intramolecular transfer of the methoxy group within intermediary compounds 4-6, (d) thermodi:namic parameters for racemisation of ( + )-1 between 20-40 °c; liH"" = 18.0 ± 0.8 kcal/moll**, liS"" = = - 7.2 ± 2.5 e. u.*** Mechanistic scheme is offered which accounts for all experimental results. The effect of the electrocyclic equilibrium on the electronic structure of N(4) protonated benzodiazepines, and its possible consequences for their mechanisms of biological activity on the central nervous system (CNS), have briefly been discussed

Online Minimization of the Robot Silhouette Viewed From Eye-to-Hand Camera

Redundant robots have the potential to perform internal joints motion without modifying the pose of the end-effector by exploiting the null-space of the Jacobian matrix. Capitalizing on that feature, we developed a control technique for minimizing the robot visual appearance when observed from an eye-to-hand camera. Such algorithm is instrumental in contexts where quickly adjusting the perspective to see objects obstructed by the robot is impractical (e.g., teleoperation in narrow environment). Diminished reality techniques are frequently employed in these cases to mitigate the robot intrusion into the environment, although these techniques may sometimes compromise the perceived realism. The experimental evaluation confirmed the effectiveness of our control algorithm, demonstrating an average reduction of 4.67% of the area covered by the robot within the frame when compared to the case without the optimization action

Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control

Supernumerary robotic limbs (SRLs) gained increasing interest in the last years for their applicability as healthcare and assistive technologies. These devices can either support or augment human sensorimotor capabilities, allowing users to complete tasks that are more complex than those feasible for their natural limbs. However, for a successful coordination between natural and artificial limbs, intuitiveness of interaction and perception of autonomy are key enabling features, especially for people suffering from motor disorders and impairments. The development of suitable human-robot interfaces is thus fundamental to foster the adoption of SRLs.With this work, we describe how to control an extra degree of freedom by taking advantage of what we defined the Intrinsic Kinematic Null Space, i.e. the redundancy of the human kinematic chain involved in the ongoing task. Obtained results demonstrated that the proposed control strategy is effective for performing complex tasks with a supernumerary robotic finger, and that practice improves users' control ability