Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.Comment: 10 pages, 6 figures, ISER 2018 conference submissio

The metal absorption systems of the Hubble Deep Field South QSO

The Hubble Deep Field South (HDFS) has been recently selected and the observations are planned for October 1998. We present a high resolution (FWHM $\simeq 14$ \kms) spectrum of the quasar J2233--606 ($z_{em}\simeq2.22$) which is located 5.1 arcmin East of the HDFS. The spectrum obtained with the New Technology Telescope redward of the Lyman--$\alpha$ emission line covers the spectral range 4386--8270 \AA. This range corresponds to redshift intervals for CIV and MgII intervening systems of $z=1.83-2.25$ and $z=0.57-1.95$ respectively. The data reveal the presence of two complex intervening CIV systems at redshift $z=1.869$ and $z=1.943$ and two complex associated ($z_{abs} \approx z_{em}$) systems. Other two CIV systems at $z=1.7865$ and $z=2.077$, suggested by the presence of strong Lyman--$\alpha$ lines in low resolution ground based and Hubble Space Telescope (HST) STIS observations (Sealey et al. 1998) have been identified. The system at $z=1.943$ is also responsible for the Lyman limit absorption seen in the HST/STIS spectrum. The main goal of the present work is to provide astronomers interested in the Hubble Deep Field South program with information related to absorbing structures at high redshift, which are distributed along the nearby QSO line of sight. For this purpose, the reduced spectrum, obtained from three hours of integration time, has been released to the astronomical community.Comment: revisited version accepted for publication by Astronomical Journal; minor changes; typographical errors corrected; results and discussion unchange

SN 1987A's Circumstellar Envelope, II: Kinematics of the Three Rings and the Diffuse Nebula

We present several different measurements of the velocities of structures within the circumstellar envelope of SN 1987A, including the inner, equatorial ring (ER), outer rings (ORs), and the diffuse nebulosity at radii < 5 pc, based on CTIO 4m and HST data. A comparison of STIS and WFPC2 [N II]6583 loci for the rings show that the ER is expanding in radius at 10.5+-0.3 km/s, with the northern OR expanding along the line of sight at about 26 km/s, and for the southern OR, about 23 km/s. Similar results are found with CTIO 4m data. Accounting for inclination, the best fit to all data show both ORs with an expansion from the SN of 26 km/s. The ratio of the ER to OR velocities is nearly equal to the ratio of ER to OR radii, so the rings are roughly homologous, all having kinematic ages corresponding to about 20,000 yr before the SN explosion. This makes previously reported, large compositional differences between the ER and ORs difficult to understand. Additionally, a grid of longslit 4m/echelle spectra centered on the SN shows two velocity components over a region roughly coextensive with the outer circumstellar envelope extending about 5 pc (20 arcsec) from the SN. One component is blueshifted and the other redshifted from the SN centroid by about 10 km/s each. These features may represent a bipolar flow expanding from the SN, in which the ORs are propelled 10-15 km/s faster than that of the surrounding envelope into which they propogate. The kinematic timescale for the entire nebula is at least about 350,000 yr. The kinematics of these various structures constrain possible models for the evolution of the progenitor and its formation of a mass loss nebula.Comment: 25 pages AASTeX text plus 12 figures. ApJ, in pres

Physical Conditions in Circumstellar Gas surrounding SN 1987A 12 Years After Outburst

Two-dimensional spectra of Supernova 1987A were obtained on 1998 November 14-15 (4282 days after outburst) with the Space Telescope Imaging Spectrograph (STIS) on board the Hubble Space Telescope (HST). The slit sampled portions of the inner circumstellar ring at the east and west ansae as well as small sections of both the northern and southern outer rings. The temperature and density at these locations are estimated by nebular analysis of [N II], [O III], and [S II] emission line ratios, and with time-dependent photoionization/recombination models. The results from these two methods are mutually consistent. The electron density in the inner ring is ~ 4000 cm-3 for S II, with progressively lower densities for N II and O III. The electron temperatures determined from [N II] and [O III] line ratios are ~11,000 K and \~22,000 K, respectively. These results are consistent with evolutionary trends in the circumstellar gas from similar measurements at earlier epochs. We find that emission lines from the outer rings come from gas of lower density (n_e \la 2000 cm-3) than that which emits the same line in the inner ring. The N/O ratio appears to be the same in all three rings. Our results also suggest that the CNO abundances in the northern outer ring are the same as in the inner ring, contrary to earlier results of Panagia et al. (1996). Physical conditions in the southern outer ring are less certain because of poorer signal-to-noise data. The STIS spectra also reveal a weak Ha emission redshifted by ~100 km s-1 at p.a. 103\arcdeg that coincides with the recently discovered new regions that are brightening (Lawrence et al. 2000). This indicates that the shock interaction in the SE section of the inner ring commenced over a year before it became apparent in HST images.Comment: 25 pages, 6 figures, to appear in December 1, 2000 Astrophysical Journa

Chemical Enrichment at High Redshifts

We have tried to understand the recent observations related to metallicity in Ly $\alpha$ forest clouds in the framework of the two component model suggested by Chiba & Nath (1997). We find that even if the mini-halos were chemically enriched by an earlier generation of stars, to have [C/H] $\simeq$ -2.5, the number of C IV lines with column density $>10^{12} cm^{-2}$, contributed by the mini-halos, at the redshift of 3, would be only about 10% of the total number of lines, for a chemical enrichment rate of $(1+z)^{-3}$ in the galaxies. Recently reported absence of heavy element lines associated with most of the Ly $\alpha$ lines with H I column density between $10^{13.5} cm^{-2}$ and $10^{14} cm^{-2}$ by Lu et al (1998), if correct, gives an upper limit on [C/H]=-3.7, not only in the mini-halos, but also in the outer parts of galactic halos. This is consistent with the results of numerical simulations, according to which, the chemical elements associated with the Ly $\alpha$ clouds are formed in situ in clouds, rather than in an earlier generation of stars. However, the mean value of $7 \times 10^{-3}$ for the column density ratio of C IV and H I, determined by Cowie and Songaila (1998) for low Lyman alpha optical depths, implies an abundance of [C/H] =-2.5 in mini-halos as well as in most of the region in galactic halos, presumably enriched by an earlier generation of stars. The redshift and column density distribution of C IV has been shown to be in reasonable agreement with the observations.Comment: 23 pages, 6 figures, To appear in Astrophysical Journa

Spatial Variability in the Ratio of Interstellar Atomic Deuterium to Hydrogen. I. Observations toward delta Orionis by the Interstellar Medium Absorption Profile Spectrograph

Studies of the abundances of deuterium in different astrophysical sites are of fundamental importance to answering the question about how much deuterium was produced during big bang nucleosynthesis and what fraction of it was destroyed later. With this in mind, we used the Interstellar Medium Absorption Profile Spectrograph (IMAPS) on the ORFEUS-SPAS II mission to observe at a wavelength resolution of 4 km/s (FWHM) the L-delta and L-epsilon absorption features produced by interstellar atomic deuterium in the spectrum of delta Ori A. A chi-square analysis indicated that 0.96 < N(D I)< 1.45e15 cm^{-2} at a 90% level of confidence, and the gas is at a temperature of about 6000K. To obtain an accurate value of N(H I) needed for a determination of the atomic ratio of D to H, we measured the L-alpha absorption features in 57 spectra of delta Ori in the IUE archive. From our measurement of N(H I)= 1.56e20 cm^{-2}, we found that N(D I)/N(H I)= 7.4(+1.9,-1.3)e-6 (90% confidence). Our result for D/H contrasts with the more general finding along other lines of sight that D/H is approximately 1.5e-5. The underabundance of D toward delta Ori A is not accompanied by an overabundance of N or O relative to H, as one might expect if the gas were subjected to more stellar processing than usual.Comment: 37 pages, 6 figures. Submitted to the Astrophysical Journa

Spectroscopic Analysis of H I Absorption Line Systems in 40 HIRES Quasars

We list and analyze H I absorption lines at redshifts 2 < z < 4 with column density (12 < log(N_HI) < 19) in 40 high-resolutional (FWHM = 8.0 km/s) quasar spectra obtained with the Keck+HIRES. We de-blend and fit all H I lines within 1,000 km/s of 86 strong H I lines whose column densities are log(N_HI/[cm^-2]) > 15. Unlike most prior studies, we use not only Lya but also all visible higher Lyman series lines to improve the fitting accuracy. This reveals components near to higher column density systems that can not be seen in Lya. We list the Voigt profile fits to the 1339 H I components that we found. We examined physical properties of H I lines after separating them into several sub-samples according to their velocity separation from the quasars, their redshift, column density and the S/N ratio of the spectrum. We found two interesting trends for lines with 12 < log(N_HI) < 15 which are within 200-1000 km/s of systems with log(N_HI) > 15. First, their column density distribution becomes steeper, meaning relatively fewer high column density lines, at z < 2.9. Second, their column density distribution also becomes steeper and their line width becomes broader by about 2-3 km/s when they are within 5,000 km/s of their quasar.Comment: 32 pages, 14 figures, accepted for publication in the Astronomical Journal. A complete version with all tables and figures is available at http://www.astro.psu.edu/users/misawa/pub/Paper/40hires.ps.g

Geometrical Effects of Baryon Density Inhomogeneities on Primordial Nucleosynthesis

We discuss effects of fluctuation geometry on primordial nucleosynthesis. For the first time we consider condensed cylinder and cylindrical-shell fluctuation geometries in addition to condensed spheres and spherical shells. We find that a cylindrical shell geometry allows for an appreciably higher baryonic contribution to be the closure density (\Omega_b h_{50}^2 \la 0.2) than that allowed in spherical inhomogeneous or standard homogeneous big bang models. This result, which is contrary to some other recent studies, is due to both geometry and recently revised estimates of the uncertainties in the observationally inferred primordial light-element abundances. We also find that inhomogeneous primordial nucleosynthesis in the cylindrical shell geometry can lead to significant Be and B production. In particular, a primordial beryllium abundance as high as [Be] = 12 + log(Be/H) $\approx -3$ is possible while still satisfying all of the light-element abundance constraints.Comment: Latex, 20 pages + 11 figures(not included). Entire ps file with embedded figures available via anonymous ftp at ftp://genova.mtk.nao.ac.jp/pub/prepri/bbgeomet.ps.g

Radiation hydrodynamics of SN 1987A: I. Global analysis of the light curve for the first 4 months

The optical/UV light curves of SN 1987A are analyzed with the multi-energy group radiation hydrodynamics code STELLA. The calculated monochromatic and bolometric light curves are compared with observations shortly after shock breakout, during the early plateau, through the broad second maximum, and during the earliest phase of the radioactive tail. We have concentrated on a progenitor model calculated by Nomoto & Hashimoto and Saio, Nomoto, & Kato, which assumes that 14 solar masses of the stellar mass is ejected. Using this model, we have updated constraints on the explosion energy and the extent of mixing in the ejecta. In particular, we determine the most likely range of E/M (explosion energy over ejecta mass) and R_0 (radius of the progenitor). In general, our best models have energies in the range E = (1.1 +/- 0.3) x 10^{51} ergs, and the agreement is better than in earlier, flux-limited diffusion calculations for the same explosion energy. Our modeled B and V fluxes compare well with observations, while the flux in U undershoots after about 10 days by a factor of a few, presumably due to NLTE and line transfer effects. We also compare our results with IUE observations, and a very good quantitative agreement is found for the first days, and for one IUE band (2500-3000 A) as long as for 3 months. We point out that the V flux estimated by McNaught & Zoltowski should probably be revised to a lower value.Comment: 27 pages AASTeX v.4.0 + 35 postscript figures. ApJ, accepte

The Optical Polarisation of the Vela Pulsar revisited

In this work we present a revised measurement of the phase-averaged optical polarisation of the Vela pulsar (PSR B0833-45), for which only one value has been published so far (Wagner & Seifert 2000). Our measurement has been obtained through an accurate reanalysis of archival polarisation observations obtained with the FORS instrument at the VLT. We have measured a phase-averaged linear polarisation degree P=9.4% +/- 4% and a position angle 146 +/- 11 deg, very close to the ones of the axis of symmetry of the X-ray arcs and jets detected by Chandra and of the pulsar proper motion.We have compared the measured phase-averaged optical polarisation with the expectations of different pulsars' magnetosphere models. We have found that all models consistently predict too large values of the phase-averaged linear polarization with respect to the observed one. This is probably a consequence of present models' limitations which neglect the contributions of various depolarisation effects. Interestingly, for the outer gap model we have found that, assuming synchrotron radiation for the optical emission, the observed polarisation position angle also implies an alignment between the pulsar rotational axis and the axis of symmetry of the X-ray arcs and jets.Comment: 8 pages, 4 figure