Towards Informative Path Planning for Acoustic SLAM

Acoustic scene mapping is a challenging task as microphone arrays can often localize sound sources only in terms of their directions. Spatial diversity can be exploited constructively to infer source-sensor range when using microphone arrays installed on moving platforms, such as robots. As the absolute location of a moving robot is often unknown in practice, Acoustic Simultaneous Localization And Mapping (a-SLAM) is required in order to localize the moving robot’s positions and jointly map the sound sources. Using a novel a-SLAM approach, this paper investigates the impact of the choice of robot paths on source mapping accuracy. Simulation results demonstrate that a-SLAM performance can be improved by informatively planning robot paths

A TiO study of the black-hole binary GRO J0422+32 in a very low state

We present 53 simultaneous photometric (I band) and spectroscopic (6900-9500 Angstroms) observations of J0422+32, taken during December 1997. From these we determine that J0422+32 was in its lowest state yet observed, at I=20.44+/-0.08. Using relative spectrophotometry, we show that it is possible to correct very accurately for telluric absorption. Following this, we use the TiO bands at 7055 Angstroms and 7589 Angstroms for a radial velocity study and thereby obtain a semi-amplitude of 378+/-16kms-1, which yields f(M)=1.191+/-0.021M_solar and q=9.0+2.2-2.7, consistent with previous observations. We further demonstrate that this little explored method is very powerful for such systems. We also determine a new orbital ephemeris of HJD=2450274.4156+/-0.0009 + 0.2121600+/-0.0000002E. We see some evidence for an ellipsoidal modulation, from which we determine the orbital inclination of J0422+32 to be less than 45 degrees. We therefore calculate a minimum mass for the primary of 2.22M_solar, consistent with a black hole, but not necessarily the super-massive one proposed by Beekman et al (1997). We obtain an M4-5 spectral type for the secondary star and determine that the secondary contributes 38+/-2% of the flux that we observe from J0422+32 over the range 6950-8400 Angstroms. From this we calculate the distance to the system to be 1.39+/-0.15kpc.Comment: (1) Department of Physics, Keele University, Keele, Staffordshire, ST5 5BG (2) Department of Astrophysics, Nuclear Physics Laboratory, Keble Road, Oxfo rd, OX1 3RH Accepted, to appear in MNRAS 8 pages, 5 figure

Wave transformation across a macrotidal shore platform under low to moderate energy conditions

We investigate how waves are transformed across a shore platform as this is a central question in rock coast geomorphology. We present results from deployment of three pressure transducers over four days, across a sloping, wide (~200 m) cliff-backed shore platform in a macrotidal setting, in South Wales, United Kingdom. Cross shore variations in wave heights were evident under the predominantly low to moderate (significant wave height < 1.4 m) energy conditions measured. At the outer transducer 50 m from the seaward edge of the platform (163 m from the cliff) high tide water depths were 8+ m meaning that waves crossed the shore platform without breaking. At the mid platform position water depth was 5 m. Water depth at the inner transducer (6 m from the cliff platform junction) at high tide was 1.4 m. This shallow water depth forced wave breaking, thereby limiting wave heights on the inner platform. Maximum wave height at the middle and inner transducers were 2.41 and 2.39 m respectively and significant wave height 1.35 m and 1.34 m respectively. Inner platform high tide wave heights were generally larger where energy was up to 335% greater than near the seaward edge where waves were smaller. Infragravity energy was less than 13% of the total energy spectra with energy in the swell, wind and capillary frequencies accounting for 87% of the total energy. Wave transformation is thus spatially variable and is strongly modulated by platform elevation and the tidal range. While shore platforms in microtidal environments have been shown to be highly dissipative, in this macro-tidal setting up to 90% of the offshore wave energy reached the landward cliff at high tide, so that the shore platform cliff is much more reflective

Localization of Moving Microphone Arrays from Moving Sound Sources for Robot Audition

Acoustic Simultaneous Localization and Mapping (a-SLAM) jointly localizes the trajectory of a microphone array installed on a moving platform, whilst estimating the acoustic map of surrounding sound sources, such as human speakers. Whilst traditional approaches for SLAM in the vision and optical research literature rely on the assumption that the surrounding map features are static, in the acoustic case the positions of talkers are usually time-varying due to head rotations and body movements. This paper demonstrates that tracking of moving sources can be incorporated in a-SLAM by modelling the acoustic map as a Random Finite Set (RFS) of multiple sources and explicitly imposing models of the source dynamics. The proposed approach is verified and its performance evaluated for realistic simulated data

A new mass-ratio for the X-ray Binary X2127+119 in M15?

The luminous low-mass X-ray binary X2127+119 in the core of the globular cluster M15 (NGC 7078), which has an orbital period of 17 hours, has long been assumed to contain a donor star evolving off the main sequence, with a mass of 0.8 solar masses (the main-sequence turn-off mass for M15). We present orbital-phase-resolved spectroscopy of X2127+119 in the H-alpha and He I 6678 spectral region, obtained with the Hubble Space Telescope. We show that these data are incompatible with the assumed masses of X2127+119's component stars. The continuum eclipse is too shallow, indicating that much of the accretion disc remains visible during eclipse, and therefore that the size of the donor star relative to the disc is much smaller in this high-inclination system than the assumed mass-ratio allows. Furthermore, the flux of X2127+119's He I 6678 emission, which has a velocity that implies an association with the stream-disc impact region, remains unchanged through eclipse, implying that material from the impact region is always visible. This should not be possible if the previously-assumed mass ratio is correct. In addition, we do not detect any spectral features from the donor star, which is unexpected for a 0.8 solar-mass sub-giant in a system with a 17-hour period.Comment: 6 pages, 4 figures, accepted by A&

IUE observations of the 1987 superoutburst of the dwarf nova Z Cha

Low resolution IUE observations of the dwarf nova Z Cha during superoutburst are presented. These cover most of the development of the outburst and have sufficient time resolution to probe continuum and line behavior on orbital phase. The observed modulation on this phase is very similar to that observed in the related object OY Car. The results imply the presence of a cool spot on the edge of the edge of the accretion disk, which periodically occults the brighter inner disk. Details of the line behavior suggest that the line originated in an extended wind-emitting region. In contrast to archive spectra obtained in normal outburst, the continuum is fainter and redder, indicating that the entire superoutburst disk may be geometrically thicker than during a normal outburst

Doctor who? Who gets admission offers in UK medical schools

In the context of the UK Government’s ambitious programme of medical school expansion, it is important to have an understanding of how the medical school admissions process works, and with what effects. The issue is also relevant for the Schwartz Review (2004) into higher education admissions. Using individual-level data for two entire cohorts of medical student applicants in UK universities and exploiting the panel structure of the applicant-medical school information, we estimate models to analyse the probability that an individual student receives an offer of a place. We find that prior qualifications, school type, gender, age, social class and ethnic background are major influences on whether a student receives an offer from a medical school. We also find that the probability of receiving an offer from a particular medical school is influenced by the identity of other medical schools applied to. Finally, we find evidence that certain groups of applicants are particularly disadvantaged the later they apply within the application process

The Submillimeter Array

The Submillimeter Array (SMA), a collaborative project of the Smithsonian Astrophysical Observatory (SAO) and the Academia Sinica Institute of Astronomy and Astrophysics (ASIAA), has begun operation on Mauna Kea in Hawaii. A total of eight 6-m telescopes comprise the array, which will cover the frequency range of 180-900 GHz. All eight telescopes have been deployed and are operational. First scientific results utilizing the three receiver bands at 230, 345, and 690 GHz have been obtained and are presented in the accompanying papers.Comment: 10 pages, 4 figure

Dipolar atomic spin ensembles in a double-well potential

We experimentally study the spin dynamics of mesoscopic ensembles of ultracold magnetic spin-3 atoms located in two separated wells of an optical dipole trap. We use a radio-frequency sweep to selectively flip the spin of the atoms in one of the wells, which produces two separated spin domains of opposite polarization. We observe that these engineered spin domains are metastable with respect to the long-range magnetic dipolar interactions between the two ensembles. The absence of inter-cloud dipolar spin-exchange processes reveals a classical behavior, in contrast to previous results with atoms loaded in an optical lattice. When we merge the two subsystems, we observe spin-exchange dynamics due to contact interactions which enable the first determination of the s-wave scattering length of 52Cr atoms in the S=0 molecular channel a_0=13.5^{+11}_{-10.5}a_B (where a_B is the Bohr radius).Comment: 9 pages, 7 figure