k-Color Multi-Robot Motion Planning

We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to a specific target, but rather to some target placement that is assigned to its group. We call this problem k-color multi-robot motion planning and provide a sampling-based algorithm specifically designed for solving it. At the heart of the algorithm is a novel technique where the k-color problem is reduced to several discrete multi-robot motion planning problems. These reductions amplify basic samples into massive collections of free placements and paths for the robots. We demonstrate the performance of the algorithm by an implementation for the case of disc robots and polygonal robots translating in the plane. We show that the algorithm successfully and efficiently copes with a variety of challenging scenarios, involving many robots, while a simplified version of this algorithm, that can be viewed as an extension of a prevalent sampling-based algorithm for the k-color case, fails even on simple scenarios. Interestingly, our algorithm outperforms a well established implementation of PRM for the standard multi-robot problem, in which each robot has a distinct color.Comment: 2

Dust in the Local Interstellar Wind

The gas-to-dust mass ratios found for interstellar dust within the Solar System, versus values determined astronomically for the cloud around the Solar System, suggest that large and small interstellar grains have separate histories, and that large interstellar grains preferentially detected by spacecraft are not formed exclusively by mass exchange with nearby interstellar gas. Observations by the Ulysses and Galileo satellites of the mass spectrum and flux rate of interstellar dust within the heliosphere are combined with information about the density, composition, and relative flow speed and direction of interstellar gas in the cloud surrounding the solar system to derive an in situ value for the gas-to-dust mass ratio, $R_{g/d} = 94^{+46}_{-38}$. Hubble observations of the cloud surrounding the solar system yield a gas-to-dust mass ratio of Rg/d=551+61-251 when B-star reference abundances are assumed. The exclusion of small dust grains from the heliosheath and heliosphere regions are modeled, increasing the discrepancy between interstellar and in situ observations. The shock destruction of interstellar grains is considered, and comparisons are made with interplanetary and presolar dust grains.Comment: 87 pages, 9 figures, 6 tables, accepted for publication in Astrophysical Journal. Uses AASTe

Evolution of an eruptive flare loop system

<p><b>Context:</b> Flares, eruptive prominences and coronal mass ejections are phenomena where magnetic reconnection plays an important role. However, the location and the rate of the reconnection, as well as the mechanisms of particle interaction with ambient and chromospheric plasma are still unclear.</p> <p><b>Aims:</b> In order to contribute to the comprehension of the above mentioned processes we studied the evolution of the eruptive flare loop system in an active region where a flare, a prominence eruption and a CME occurred on August 24, 2002.</p> <p><b>Methods:</b> We measured the rate of expansion of the flare loop arcade using TRACE 195 Å images and determined the rising velocity and the evolution of the low and high energy hard X-ray sources using RHESSI data. We also fitted HXR spectra and considered the radio emission at 17 and 34 GHZ.</p> <p><b>Results:</b> We observed that the top of the eruptive flare loop system initially rises with a linear behavior and then, after 120 mn from the start of the event registered by GOES at 1–8 Å, it slows down. We also observed that the heating source (low energy X-ray) rises faster than the top of the loops at 195 Å and that the high energy X-ray emission (30–40 keV) changes in time, changing from footpoint emission at the very onset of the flare to being coincident during the flare peak with the whole flare loop arcade.</p> <p><b>Conclusions:</b> The evolution of the loop system and of the X-ray sources allowed us to interpret this event in the framework of the Lin & Forbes model (2000), where the absolute rate of reconnection decreases when the current sheet is located at an altitude where the Alfvén speed decreases with height. We estimated that the lower limit for the altitude of the current sheet is km. Moreover, we interpreted the unusual variation of the high energy HXR emission as a manifestation of the non thermal coronal thick-target process which appears during the flare in a manner consistent with the inferred increase in coronal column density.</p&gt

The Influence of Solar Flares on the Lower Solar Atmosphere: Evidence from the Na D Absorption Line Measured by GOLF/SOHO

Solar flares presumably have an impact on the deepest layers of the solar atmosphere and yet the observational evidence for such an impact is scarce. Using ten years of measurements of the Na D$_{1}$ and Na D$_2$ Fraunhofer lines, measured by GOLF onboard SOHO, we show that this photospheric line is indeed affected by flares. The effect of individual flares is hidden by solar oscillations, but a statistical analysis based on conditional averaging reveals a clear signature. Although GOLF can only probe one single wavelength at a time, we show that both wings of the Na line can nevertheless be compared. The varying line asymmetry can be interpreted as an upward plasma motion from the lower solar atmosphere during the peak of the flare, followed by a downward motion.Comment: 13 pages, 7 figure

Review of Coronal Oscillations - An Observer's View

Recent observations show a variety of oscillation modes in the corona. Early non-imaging observations in radio wavelengths showed a number of fast-period oscillations in the order of seconds, which have been interpreted as fast sausage mode oscillations. TRACE observations from 1998 have for the first time revealed the lateral displacements of fast kink mode oscillations, with periods of ~3-5 minutes, apparently triggered by nearby flares and destabilizing filaments. Recently, SUMER discovered with Doppler shift measurements loop oscillations with longer periods (10-30 minutes) and relatively short damping times in hot (7 MK) loops, which seem to correspond to longitudinal slow magnetoacoustic waves. In addition, propagating longitudinal waves have also been detected with EIT and TRACE in the lowest density scale height of loops near sunspots. All these new observations seem to confirm the theoretically predicted oscillation modes and can now be used as a powerful tool for ``coronal seismology'' diagnostic.Comment: 5 Figure