Range-only benthic Rover localization off the central California coast

Nowadays, the use of autonomous vehicles for ocean research has increased, since these vehicles have a better cost/performance ratio than crewed vessels or oceanographic ships. For example, autonomous surface vehicles can be used to localize underwater targets. This paper describes a mission to find a crawling robot - Benthic Rover - on the abyssal plain in the north eastern Pacific, using single-beacon localization from onboard a Wave Glider autonomous surface vehicle. While the Wave Glider is moving around the surface in the target zone, it takes ranges between the target and itself using acoustic modems. With these ranges it can compute the target location, as a Long Baseline (LBL) system. The benefit of this approach is the reduction of cost and complexity relative to deployment of a traditional shipboard LBL system. Additionally, this is a mobile system, and can cover long distances, and can geolocate multiple targets over a large area.Postprint (author's final draft

Range-only underwater target localization : error characterization

Locating a target from range measurements using only one mobile transducer has been increased over the last years. This method allows us to reduce the high costs of deployment and maintenance of traditional fixed systems on the seafloor such as Long Baseline. The range-only single-beacon is one of the new architectures developed using the new capabilities of modern acoustic underwater modems, which can be time synchronization, time stamp, and range measurements. This document presents a method to estimate the sources of error in this type of architecture so as to obtain a mathematical model which allows us to develop simulations and study the best localization algorithms. Different simulations and real field tests have been carried out in order to verify a good performance of the model proposed.Postprint (published version

The hydrogen and helium lines of the symbiotic binary Z And during its brightening at the end of 2002

High resolution observations in the region of the lines Halpha, He II 4686 and Hgamma of the spectrum of the symbiotic binary Z And were performed during its small-amplitude brightening at the end of 2002. The profiles of the hydrogen lines were double-peaked. These profiles give a reason to suppose that the lines can be emitted mainly by an optically thin accretion disc. The Halpha line is strongly contaminated by the emission of the envelope, therefore for consideration of accretion disc properties we use the Hgamma line. The Halpha line had broad wings which are supposed to be determined mostly from radiation damping but high velocity stellar wind from the compact object in the system can also contribute to their appearance. The Hgamma line had a broad emission component which is assumed to be emitted mainly from the inner part of the accretion disc. The line He II 4686 had a broad emission component too, but it is supposed to appear in a region of a high velocity stellar wind. The outer radius of the accretion disc can be calculated from the shift between the peaks. Assuming, that the orbit inclination can ranges from 47$^\circ$ to 76$^\circ$, we estimate the outer radius as 20 - 50 R_sun. The behaviour of the observed lines can be considered in the framework of the model proposed for interpretation of the line spectrum during the major 2000 - 2002 brightening of this binary.Comment: 19 pages, 5 figures. Accepted for publication in Astronomy Report

X-Ray Flares and Oscillations from the Black Hole Candidate X-Ray Transient XTE J1650-500 at Low Luminosity

We report on X-ray observations made with the Rossi X-ray Timing Explorer of the black hole candidate (BHC) transient XTE J1650-500 at the end of its first, and currently only, outburst. By monitoring the source at low luminosities over several months, we found 6 bright ~100 second X-ray flares and long time scale oscillations of the X-ray flux. The oscillations are aperiodic with a characteristic time scale of 14.2 days and an order of magnitude variation in the 2.8-20 keV flux. The oscillations may be related to optical "mini-outbursts" that have been observed at the ends of outbursts for other short orbital period BHC transients. The X-ray flares have durations between 62 and 215 seconds and peak fluxes that are 5-24 times higher than the persistent flux. The flares have non-thermal energy spectra and occur when the persistent luminosity is near 3E34 (d/4 kpc)^2 erg/s (2.8-20 keV). The rise time for the brightest flare demonstrates that physical models for BHC systems must be able to account for the situation where the X-ray flux increases by a factor of up to 24 on a time scale of seconds. We discuss the flares in the context of observations and theory of Galactic BHCs and compare the flares to those detected from Sgr A*, the super-massive black hole at the Galactic center. We also compare the flares to X-ray bursts that are seen in neutron star systems. While some of the flare light curves are similar to those of neutron star bursts, the flares have non-thermal energy spectra in contrast to the blackbody spectra exhibited in bursts. This indicates that X-ray bursts should not be taken as evidence that a given system contains a neutron star unless the presence of a blackbody component in the burst spectrum can be demonstrated.Comment: 9 pages, accepted by Ap

Acoustic TAG tracking: First experiments

Nowadays, the use of autonomous vehicles for ocean research has increased, since these vehicles have a better cost/performance ratio than crewed vessels or oceanographic ships. For example, autonomous surface vehicles can be used to localize underwater targets. Whereas different research works are focused in target tracking using acoustic modems (or USBL), in this paper a new method called Area-Only target tracking is presented, which uses the signal generated by acoustic TAGs. This document, the first tests are presented and their results discussed, which were conducted in the Monterey Bay.Peer ReviewedPostprint (published version

A bright impulsive solar burst detected at 30 THz

Ground- and space-based observations of solar flares from radio wavelengths to gamma-rays have produced considerable insights but raised several unsolved controversies. The last unexplored wavelength frontier for solar flares is in the range of submillimeter and infrared wavelengths. Here we report the detection of an intense impulsive burst at 30 THz using a new imaging system. The 30 THz emission exhibited remarkable time coincidence with peaks observed at microwave, mm/submm, visible, EUV and hard X-ray wavelengths. The emission location coincides with a very weak white-light feature, and is consistent with heating below the temperature minimum in the atmosphere. However, there are problems in attributing the heating to accelerated electrons. The peak 30 THz flux is several times larger than the usual microwave peak near 9 GHz, attributed to non-thermal electrons in the corona. The 30 THz emission could be consistent with an optically thick spectrum increasing from low to high frequencies. It might be part of the same spectral component found at sub-THz frequencies whose nature remains mysterious. Further observations at these wavelengths will provide a new window for flare studies.Comment: 9 pages, 11 figures, accepted by Astrophysical Journal, March 23, 201

Detection of an optical transient following the 13 March 2000 short/hard gamma-ray burst

We imaged the error box of a gamma-ray burst of the short (0.5 s), hard type (GRB 000313), with the BOOTES-1 experiment in southern Spain, starting 4 min after the gamma-ray event, in the I-band. A bright optical transient (OT 000313) with I = 9.4 +/- 0.1 was found in the BOOTES-1 image, close to the error box (3-sigma) provided by BATSE. Late time VRIK'-band deep observations failed to reveal an underlying host galaxy. If the OT 000313 is related to the short, hard GRB 000313, this would be the first optical counterpart ever found for this kind of events (all counterparts to date have been found for bursts of the long, soft type). The fact that only prompt optical emission has been detected (but no afterglow emission at all, as supported by theoretical models) might explain why no optical counterparts have ever been found for short, hard GRBs.This fact suggests that most short bursts might occur in a low-density medium and favours the models that relate them to binary mergers in very low-density enviroments.Comment: Revised version. Accepted for publication in Astronomy and Astrophysics Letters, 5 pages, 3 figure

The GeoClaw software for depth-averaged flows with adaptive refinement

Many geophysical flow or wave propagation problems can be modeled with two-dimensional depth-averaged equations, of which the shallow water equations are the simplest example. We describe the GeoClaw software that has been designed to solve problems of this nature, consisting of open source Fortran programs together with Python tools for the user interface and flow visualization. This software uses high-resolution shock-capturing finite volume methods on logically rectangular grids, including latitude--longitude grids on the sphere. Dry states are handled automatically to model inundation. The code incorporates adaptive mesh refinement to allow the efficient solution of large-scale geophysical problems. Examples are given illustrating its use for modeling tsunamis, dam break problems, and storm surge. Documentation and download information is available at www.clawpack.org/geoclawComment: 18 pages, 11 figures, Animations and source code for some examples at http://www.clawpack.org/links/awr10 Significantly modified from original posting to incorporate suggestions of referee

On the perturbative S-matrix of generalized sine-Gordon models

Motivated by its relation to the Pohlmeyer reduction of AdS_5 x S^5 superstring theory we continue the investigation of the generalized sine-Gordon model defined by SO(N+1)/SO(N) gauged WZW theory with an integrable potential. Extending our previous work (arXiv:0912.2958) we compute the one-loop two-particle S-matrix for the elementary massive excitations. In the N = 2 case corresponding to the complex sine-Gordon theory it agrees with the charge-one sector of the quantum soliton S-matrix proposed in hep-th/9410140. In the case of N > 2 when the gauge group SO(N) is non-abelian we find a curious anomaly in the Yang-Baxter equation which we interpret as a gauge artifact related to the fact that the scattered particles are not singlets under the residual global subgroup of the gauge group