Low time resolution analysis of polar ice cores cannot detect impulsive nitrate events

Ice cores are archives of climate change and possibly large solar proton events (SPEs). Wolff et al. (2012) used a single event, a nitrate peak in the GISP2-H core, which McCracken et al. (2001a) time associated with the poorly quantified 1859 Carrington event, to discredit SPE-produced, impulsive nitrate deposition in polar ice. This is not the ideal test case. We critique the Wolff et al. analysis and demonstrate that the data they used cannot detect impulsive nitrate events because of resolution limitations. We suggest re-examination of the top of the Greenland ice sheet at key intervals over the last two millennia with attention to fine resolution and replicate sampling of multiple species. This will allow further insight into polar depositional processes on a sub-seasonal scale, including atmospheric sources, transport mechanisms to the ice sheet, post-depositional interactions, and a potential SPE association.Comment: 22 pages, 7 figures in Journal of Geophysical Research: Space Physics 119, 201

Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding algorithm, discrete-RRT (dRRT), is an adaptation of the celebrated RRT algorithm for the discrete case of a graph, and it enables a rapid exploration of the high-dimensional configuration space by carefully walking through an implicit representation of a tensor product of roadmaps for the individual robots. We demonstrate our approach experimentally on scenarios of up to 60 degrees of freedom where our algorithm is faster by a factor of at least ten when compared to existing algorithms that we are aware of.Comment: Kiril Solovey and Oren Salzman contributed equally to this pape

Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons

We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in $O(n\log n+mn+m^2)$ time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multi-robot motion-planning problem for discs moving in a simple polygon, which is known to be strongly NP-hard

Analysis of a global Moreton wave observed on October 28, 2003

We study the well pronounced Moreton wave that occurred in as- sociation with the X17.2 are/CME event of October 28, 2003. This Moreton wave is striking for its global propagation and two separate wave centers, which implies that two waves were launched simultane- ously. The mean velocity of the Moreton wave, tracked within different sectors of propagation direction, lies in the range of v ~ 900-1100 km/s with two sectors showing wave deceleration. The perturbation profile analysis of the wave indicates amplitude growth followed by amplitude weakening and broadening of the perturbation profile, which is con- sistent with a disturbance first driven and then evolving into a freely propagating wave. The EIT wavefront is found to lie on the same kinematical curve as the Moreton wavefronts indicating that both are different signatures of the same physical process. Bipolar coronal dim- mings are observed on the same opposite East-West edges of the active region as the Moreton wave ignition centers. The radio type II source, which is co-spatially located with the first wave front, indicates that the wave was launched from an extended source region (& 60 Mm). These findings suggest that the Moreton wave is initiated by the CME expanding flanks.Comment: accepted to Ap

Sun-as-a-star Observation of White-Light Flares

Solar flares radiates energy at all wavelengths, but the spectral distribution of this energy is still poorly known. White-light continuum emission is sometimes observed and the flares are then termed "white-light flares" (WLF). In this paper, we investigate if all flares are white-light flares and how is the radiated energy spectrally distributed. We perform a superposed epoch analysis of spectral and total irradiance measurements obtained since 1996 by the SOHO and GOES spacecrafts at various wavelength, from Soft X-ray to the visible domain. The long-term record of solar irradiance and excellent duty cycle of the measurements allow us to detect a signal in visible irradiance even for moderate (C-class) flares, mainly during the impulsive phase. We identify this signal as continuum emission emitted by white-light flares, and find that it is consistent with a blackbody emission at ~9000K. We estimate for several sets of flares the contribution of the WL continuum and find it to be of ~70% of the total radiated energy. We re-analyse the X17 flare that occurred on 28 October 2003 and find similar results. This paper brings evidence that all flares are white-light flares and that the white-light continuum is the main contributor to the total radiated energy; this continuum is consistent with blackbody spectrum at ~9000K. These observational results are important in order to understand the physical mechanisms during flares and open the way to a possible contribution of flares to TSI variations

Sampling-based path planning for multi-robot systems with co-safe linear temporal logic specifications

© 2017, Springer International Publishing AG. This paper addresses the problem of path planning for multiple robots under high-level specifications given as syntactically co-safe linear temporal logic formulae. Most of the existing solutions use the notion of abstraction to obtain a discrete transition system that simulates the dynamics of the robot. Nevertheless, these solutions have poor scalability with the dimension of the configuration space of the robots. For problems with a single robot, sampling-based methods have been presented as a solution to alleviate this limitation. The proposed solution extends the idea of sampling methods to the multiple robot case. The method samples the configuration space of the robots to incrementally constructs a transition system that models the motion of all the robots as a group. This transition system is then combined with a Büchi automaton, representing the specification, in a Cartesian product. The product is updated with each expansion of the transition system until a solution is found. We also present a new algorithm that improves the performance of the proposed method by guiding the expansion of the transition system. The method is demonstrated with examples considering different number of robots and specifications

Solar Flares and Coronal Mass Ejections: A Statistically Determined Flare Flux-CME Mass Correlation

In an effort to examine the relationship between flare flux and corresponding CME mass, we temporally and spatially correlate all X-ray flares and CMEs in the LASCO and GOES archives from 1996 to 2006. We cross-reference 6,733 CMEs having well-measured masses against 12,050 X-ray flares having position information as determined from their optical counterparts. For a given flare, we search in time for CMEs which occur 10-80 minutes afterward, and we further require the flare and CME to occur within +/-45 degrees in position angle on the solar disk. There are 826 CME/flare pairs which fit these criteria. Comparing the flare fluxes with CME masses of these paired events, we find CME mass increases with flare flux, following an approximately log-linear, broken relationship: in the limit of lower flare fluxes, log(CME mass)~0.68*log(flare flux), and in the limit of higher flare fluxes, log(CME mass)~0.33*log(flare flux). We show that this broken power-law, and in particular the flatter slope at higher flare fluxes, may be due to an observational bias against CMEs associated with the most energetic flares: halo CMEs. Correcting for this bias yields a single power-law relationship of the form log(CME mass)~0.70*log(flare flux). This function describes the relationship between CME mass and flare flux over at least 3 dex in flare flux, from ~10^-7 to 10^-4 W m^-2.Comment: 28 pages, 16 figures, accepted to Solar Physic

Multi-wavelength observations of Proxima Centauri

We report simultaneous observations of the nearby flare star Proxima Centauri with VLT/UVES and XMM-Newton over three nights in March 2009. Our optical and X-ray observations cover the star's quiescent state, as well as its flaring activity and allow us to probe the stellar atmospheric conditions from the photosphere into the chromosphere, and then the corona during its different activity stages. Using the X-ray data, we investigate variations in coronal densities and abundances and infer loop properties for an intermediate-sized flare. The optical data are used to investigate the magnetic field and its possible variability, to construct an emission line list for the chromosphere, and use certain emission lines to construct physical models of Proxima Centauri's chromosphere. We report the discovery of a weak optical forbidden Fe xiii line at 3388 AA during the more active states of Proxima Centauri. For the intermediate flare, we find two secondary flare events that may originate in neighbouring loops, and discuss the line asymmetries observed during this flare in H i, He i, and Ca ii lines. The high time-resolution in the H alpha line highlights strong temporal variations in the observed line asymmetries, which re-appear during a secondary flare event. We also present theoretical modelling with the stellar atmosphere code PHOENIX to construct flaring chromospheric models.Comment: 19 pages, 22 figures, accepted by A&

Low-energy particle events associated with sector boundaries

Onsets of some 40 to 45 low-energy proton events during the years 1957–1969 coincided in time with transits of well-defined sector boundaries across the Earth. These events can be interpreted as long-lived proton streams filling up some of the magnetic sectors, indicating an acceleration of protons which is not associated with typical proton-producing flares. The sharp onsets of these particle streams, as well as a deficiency of flare-associated particle events shortly before the boundary transit, indicate that in some cases magnetic sector boundaries can inhibit transverse propagation of low-energy particles in the solar corona or in interplanetary space.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/43744/1/11207_2004_Article_BF00155310.pd

Study of the post-flare loops on 29 July 1973

We present revised values of temperature and density for the flare loops of 29 July 1973 and compare the revised parameters with those obtained aboard the SMM for the two-ribbon flare of 21 May 1980. The 21 May flare occurred in a developed sunspot group; the 29 July event was a spotless two-ribbon flare. We find that the loops in the spotless flare extended higher (by a factor of 1.4–2.2), were less dense (by a factor of 5 or more in the first hour of development), were generally hotter, and the whole loop system decayed much slower than in the spotted flare (i.e. staying at higher temperature for a longer time). We also align the hot X-ray loops of the 29 July flare with the bright Hα ribbons and show that the Hα emission is brightest at the places where the spatial density of the hot elementary loops is enhanced.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/43753/1/11207_2004_Article_BF00151609.pd