Conversion and verification procedure for goal-based control programs

Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System, developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is developed and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems

Eccentric discs in binaries with intermediate mass ratios: Superhumps in the VY Sculptoris stars

We investigate the role of the eccentric disc resonance in systems with mass ratios q greater than 1/4, and demonstrate the effects that changes in the mass flux from the secondary star have upon the disc radius and structure. The addition of material with low specific angular momentum to its outer edge restricts a disc radially. Should the mass flux from the secondary be reduced, it is possible for the disc in a system with mass ratio as large as 1/3 to expand to the 3:1 eccentric inner Lindblad resonance and for superhumps to be excited.Comment: 6 pages with 7 figures, accepted by MNRA

SPH simulations of irradiation-driven warped accretion discs and the long periods in X-ray binaries

We present three dimensional smoothed particle hydrodynamics (SPH) calculations of irradiation-driven warping of accretion discs. Initially unwarped planar discs are unstable to the radiation reaction when the disc is illuminated by a central radiation source. The disc warps and tilts and precesses slowly in a retrograde direction; its shape continuously flexes in response to the changing orientation of the Roche potential. We simulate ten systems: eight X-ray binaries, one cataclysmic variable (CV), and a `generic' low mass X-ray binary (LMXB). We adopt system parameters from observations and tune a single parameter: our model X-ray luminosity ($L_{*}$) to reproduce the observed or inferred super-orbital periods. Without exception, across a wide range of parameter space, we find an astonishingly good match between the observed $L_{X}$ and the model $L_{*}$. We conclude irradiation-driven warping is the mechanism underlying the long periods in X-ray binaries. Our Her X-1 simulation simultaneously reproduces the observed $L_{X}$, the "main-" and "short-high" X-ray states and the orbital inclination. Our simulations of SS 433 give a maximum warp angle of $18.6^{\circ}$, a good match to the cone traced by the jets, but this angle is reached only in the outer disc. In all cases, the overall disc tilt is less than \degrees{13} and the maximum disc warp is less than and or equal to \degrees{21}.Comment: 17 pages, 14 figures, shorter abstract (24 lines limit

DNA nano-mechanics: how proteins deform the double helix

It is a standard exercise in mechanical engineering to infer the external forces and torques on a body from its static shape and known elastic properties. Here we apply this kind of analysis to distorted double-helical DNA in complexes with proteins. We extract the local mean forces and torques acting on each base-pair of bound DNA from high-resolution complex structures. Our method relies on known elastic potentials and a careful choice of coordinates of the well-established rigid base-pair model of DNA. The results are robust with respect to parameter and conformation uncertainty. They reveal the complex nano-mechanical patterns of interaction between proteins and DNA. Being non-trivially and non-locally related to observed DNA conformations, base-pair forces and torques provide a new view on DNA-protein binding that complements structural analysis.Comment: accepted for publication in JCP; some minor changes in response to review 18 pages, 5 figure + supplement: 4 pages, 3 figure

Hydrodynamic modelling of accretion flows

In the proceedings of this, and of several recent close binary conferences, there have been several contributions describing smoothed particle hydrodynamics simulations of accretion disks. It is apposite therefore to review the numerical scheme itself with emphasis on its advantages for disk modelling, and the methods used for modelling viscous processes.Comment: 3 pages, to appear in proceedings of IAU Colloquium 194: Compact binaries in the galaxy and beyon

Stratigraphical evidence of Elysium sea ice from HiRise images

Abstract not available

Morphological evidence for a sea-ice origin for Elysium Planitia platy terrain

Abstract not available

Comprehensive simulations of superhumps

(Abridged) We use 3D SPH calculations with higher resolution, as well as with more realistic viscosity and sound-speed prescriptions than previous work to examine the eccentric instability which underlies the superhump phenomenon in semi-detached binaries. We illustrate the importance of the two-armed spiral mode in the generation of superhumps. Differential motions in the fluid disc cause converging flows which lead to strong spiral shocks once each superhump cycle. The dissipation associated with these shocks powers the superhump. We compare 2D and 3D results, and conclude that 3D simulations are necessary to faithfully simulate the disc dynamics. We ran our simulations for unprecedented durations, so that an eccentric equilibrium is established except at high mass ratios where the growth rate of the instability is very low. Our improved simulations give a closer match to the observed relationship between superhump period excess and binary mass ratio than previous numerical work. The observed black hole X-ray transient superhumpers appear to have systematically lower disc precession rates than the cataclysmic variables. This could be due to higher disc temperatures and thicknesses. The modulation in total viscous dissipation on the superhump period is overwhelmingly from the region of the disc within the 3:1 resonance radius. As the eccentric instability develops, the viscous torques are enhanced, and the disc consequently adjusts to a new equilibrium state, as suggested in the thermal-tidal instability model. We quantify this enhancement in the viscosity, which is ~10 per cent for q=0.08. We characterise the eccentricity distributions in our accretion discs, and show that the entire body of the disc partakes in the eccentricity.Comment: 18 pages (mn2e LaTeX), 14 figures, 5 tables, Accepted for publication in MNRA

Icelandic debris flow and their relationship to martian gullies

Abstract not available