Performance constraints and compensation for teleoperation with delay

A classical control perspective is used to characterize performance constraints and evaluate compensation techniques for teleoperation with delay. Use of control concepts such as open and closed loop performance, stability, and bandwidth yield insight to the delay problem. Teleoperator performance constraints are viewed as an open loop time delay lag and as a delay-induced closed loop bandwidth constraint. These constraints are illustrated with a simple analytical tracking example which is corroborated by a real time, 'man-in-the-loop' tracking experiment. The experiment also provides insight to those controller characteristics which are unique to a human operator. Predictive displays and feedforward commands are shown to provide open loop compensation for delay lag. Low pass filtering of telemetry or feedback signals is interpreted as closed loop compensation used to maintain a sufficiently low bandwidth for stability. A new closed loop compensation approach is proposed that uses a reactive (or force feedback) hand controller to restrict system bandwidth by impeding operator inputs

PSR J0737-3039B: A probe of radio pulsar emission heights

In the double pulsar system PSR J0737-3039A/B the strong wind produced by pulsar A distorts the magnetosphere of pulsar B. The influence of these distortions on the orbital-dependent emission properties of pulsar B can be used to determine the location of the coherent radio emission generation region in the pulsar magnetosphere. Using a model of the wind-distorted magnetosphere of pulsar B and the well defined geometrical parameters of the system, we determine the minimum emission height to be ~ 20 neutron star radii in the two bright orbital longitude regions. We can determine the maximum emission height by accounting for the amount of deflection of the polar field line with respect to the magnetic axis using the analytical magnetic reconnection model of Dungey and the semi-empirical numerical model of Tsyganenko. Both of these models estimate the maximum emission height to be ~ 2500 neutron star radii. The minimum and maximum emission heights we calculate are consistent with those estimated for normal isolated pulsars.Comment: 29 pages, 14 figures, Accepted by ApJ on 3 March 201

K-shell x-ray spectroscopy of atomic nitrogen

Absolute {\it K}-shell photoionization cross sections for atomic nitrogen have been obtained from both experiment and state-of-the-art theoretical techniques. Due to the difficulty of creating a target of neutral atomic nitrogen, no high-resolution {\it K}-edge spectroscopy measurements have been reported for this important atom. Interplay between theory and experiment enabled identification and characterization of the strong $1s$ $\rightarrow$ $np$ resonance features throughout the threshold region. An experimental value of 409.64 $\pm$ 0.02 eV was determined for the {\it K}-shell binding energy.Comment: 4 pages, 2 graphs, 1 tabl

Ultracold, radiative charge transfer in hybrid Yb ion - Rb atom traps

Ultracold hybrid ion-atom traps offer the possibility of microscopic manipulation of quantum coherences in the gas using the ion as a probe. However, inelastic processes, particularly charge transfer can be a significant process of ion loss and has been measured experimentally for the Yb$^{+}$ ion immersed in a Rb vapour. We use first-principles quantum chemistry codes to obtain the potential energy curves and dipole moments for the lowest-lying energy states of this complex. Calculations for the radiative decay processes cross sections and rate coefficients are presented for the total decay processes. Comparing the semi-classical Langevin approximation with the quantum approach, we find it provides a very good estimate of the background at higher energies. The results demonstrate that radiative decay mechanisms are important over the energy and temperature region considered. In fact, the Langevin process of ion-atom collisions dominates cold ion-atom collisions. For spin dependent processes \cite{kohl13} the anisotropic magnetic dipole-dipole interaction and the second-order spin-orbit coupling can play important roles, inducing couplingbetween the spin and the orbital motion. They measured the spin-relaxing collision rate to be approximately 5 orders of magnitude higher than the charge-exchange collision rate \cite{kohl13}. Regarding the measured radiative charge transfer collision rate, we find that our calculation is in very good agreement with experiment and with previous calculations. Nonetheless, we find no broad resonances features that might underly a strong isotope effect. In conclusion, we find, in agreement with previous theory that the isotope anomaly observed in experiment remains an open question.Comment: 7 figures, 1 table accepted for publication in J. Phys. B: At. Mol. Opt. Phys. arXiv admin note: text overlap with arXiv:1107.114

Photoionization of tungsten ions: experiment and theory for W4+^{4+}

Experimental and theoretical results are reported for single-photon single ionization of the tungsten ion W$^{4+}$. Absolute cross sections have been measured employing the photon-ion merged-beams setup at the Advanced Light Source in Berkeley. Detailed photon-energy scans were performed at 200~meV bandwidth in the 40 -- 105~eV range. Theoretical results have been obtained from a Dirac-Coulomb R-matrix approach employing basis sets of 730 levels for the photoionization of W$^{4+}$. Calculations were carried out for the $4f^{14}5s^2 5p^6 5d^2 \; {^3}{\rm F}_{J}$, $J$=2, ground level and the associated fine-structure levels with $J$=3 and 4 for the W$^{4+}$ ions. In addition, cross sections have been calculated for the metastable levels $4f^{14}5s^2 5p^6 5d^2 \; {^3}{\rm P}_{0,1,2},{^1}{\rm D}_{2},{^1}{\rm G}_{4},{^1}{\rm S}_{0}$. Very satisfying agreement of theory and experiment is found for the photoionization cross section of W$^{4+}$ which is remarkable given the complexity of the electronic structure of tungsten ions in low charge states.Comment: 15 pages, 3 figures, to appear in the Journal of Physics B: Atomic, Molecular and Optical Physic

Discovery of two pulsars towards the Galactic Centre

We report the discovery of two highly dispersed pulsars in the direction of the Galactic Centre made during a survey at 3.1 GHz with the Parkes radio telescope. Both PSRs J1745-2912 and J1746-2856 have an angular separation from the Galactic Centre of less than 0.3 degrees and dispersion measures in excess of 1100 cm-3pc, placing them in the top 10 pulsars when ranked on this value. The frequency dependence of the scatter-broadening in PSR J1746-2856 is much shallower than expected from simple theory. We believe it likely that the pulsars are located between 150 and 500 pc from the Galactic Centre on the near side, and are part of an excess population of neutron stars associated with the Centre itself. A second survey made at 8.4 GHz did not detect any pulsars. This implies either that there are not many bright, long-period pulsars at the Galactic Centre or that the scattering is more severe at high frequencies than current models would suggest.Comment: Submitted to MNRAS Letter

The Evolution of PSR J0737-3039B and a Model for Relativistic Spin Precession

We present the evolution of the radio emission from the 2.8-s pulsar of the double pulsar system PSR J0737-3039A/B. We provide an update on the Burgay et al. (2005) analysis by describing the changes in the pulse profile and flux density over five years of observations, culminating in the B pulsar's radio disappearance in 2008 March. Over this time, the flux density decreases by 0.177 mJy/yr at the brightest orbital phases and the pulse profile evolves from a single to a double peak, with a separation rate of 2.6 deg/yr. The pulse profile changes are most likely caused by relativistic spin precession, but can not be easily explained with a circular hollow-cone beam as in the model of Clifton & Weisberg (2008). Relativistic spin precession, coupled with an elliptical beam, can model the pulse profile evolution well. This particular beam shape predicts geometrical parameters for the two bright orbital phases which are consistent and similar to those derived by Breton et al. (2008). However, the observed decrease in flux over time and B's eventual disappearance cannot be easily explained by the model and may be due to the changing influence of A on B.Comment: 20 pages, 18 figures, Accepted by ApJ on 2 August 201