Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio

Influence of environmental factors during seed development and after full-ripeness on pre-harvest sprouting in wheat

Results on environmental and genotypic factors influencing preharvest sprouting of wheat are summarized. Other possible areas where additional research is needed is suggested

Polarization Structures in the Thomson-Scattered Emission Lines in Active Galactic Nuclei

A line photon incident in an electron-scattering medium is transferred in a diffusive way both in real space and in frequency space, and the mean number of scatterings changes as the wavelength shifts from the line center. This leads to the profile broadening and polarization dependence on the wavelength shift as a function of the Thomson optical depth $\tau_T$. We find that the polarization of the Thomson-scattered emission lines has a dip around the line center when $\tau_T$ does not exceed a few. Various structures such as the polarization flip are also seen. An application to an ionized halo component surrounding the broad emission line region in active galactic nuclei is considered and it is found that the polarization structures may still persist. Brief discussions on observational implications are given.Comment: 14 pages, 3 figures, accepted for publication in ApJ Letter

Direct constraints on the dark matter self-interaction cross-section from the merging galaxy cluster 1E0657-56

We compare new maps of the hot gas, dark matter, and galaxies for 1E0657-56, a cluster with a rare, high-velocity merger occurring nearly in the plane of the sky. The X-ray observations reveal a bullet-like gas subcluster just exiting the collision site. A prominent bow shock gives an estimate of the subcluster velocity, 4500 km/s, which lies mostly in the plane of the sky. The optical image shows that the gas lags behind the subcluster galaxies. The weak-lensing mass map reveals a dark matter clump lying ahead of the collisional gas bullet, but coincident with the effectively collisionless galaxies. From these observations, one can directly estimate the cross-section of the dark matter self-interaction. That the dark matter is not fluid-like is seen directly in the X-ray -- lensing mass overlay; more quantitative limits can be derived from three simple independent arguments. The most sensitive constraint, sigma/m<1 cm^2/g, comes from the consistency of the subcluster mass-to-light ratio with the main cluster (and universal) value, which rules out a significant mass loss due to dark matter particle collisions. This limit excludes most of the 0.5-5 cm^2/g interval proposed to explain the flat mass profiles in galaxies. Our result is only an order-of-magnitude estimate which involves a number of simplifying, but always conservative, assumptions; stronger constraints may be derived using hydrodynamic simulations of this cluster.Comment: Text clarified; some numbers changed slightly for consistency with final version of the accompanying lensing paper. 6 pages, uses emulateapj. ApJ in pres

Natural Enemies of Cranberry Fruitworm, \u3ci\u3eAcrobasis Vaccinii\u3c/i\u3e, (Lepidoptera: Pyraudae) in Michigan Highbush Blueberries

A two-year study was conducted in Michigan highbush blueberries to determine the complex of parasitoids attacking cranberry fruitworm, Acrobasis vaccinii. Eight parasitoid species and one fungal pathogen were collected. Parasitism of collected hosts ranged from 6.6% to 28.1%. The more common larval parasitoid encountered was Campoletis patsuiketorum (Hymenoptera: Ichneumonidae). The more common parasitoid recovered from fruitworm hibernacula was Villa lateralis (Diptera: Bombyliidae). This study documented six unreported natural enemies of cranberry fruitworm, including C. patsuiketorum; V. lateralis; Diadegma compressum (Hymenoptera: Ichneumonidae); Compsilura concinnata (Diptera: Tachinidae); Memorilla pyste (Diptera: Tachinidae); an undescribed Microtypus species (Hymenoptera: Braconidae); and a fungal pathogen, Paecilomyces near farinosus. This is the first known host association for the undescribed Microtypus species, and increases the known parasitoid complex of cranberry fruitworm to 17 species

Time-Resolved Intraband Relaxation of Strongly-Confined Electrons and Holes in Colloidal PbSe Nanocrystals

The relaxation of strongly-confined electrons and holes between 1P and 1S levels in colloidal PbSe nanocrystals has been time-resolved using femtosecond transient absorption spectroscopy. In contrast to II-VI and III-V semiconductor nanocrystals, both electrons and holes are strongly confined in PbSe nanocrystals. Despite the large electron and hole energy level spacings (at least 12 times the optical phonon energy), we consistently observe picosecond time-scale relaxation. Existing theories of carrier relaxation cannot account for these experimental results. Mechanisms that could possibly circumvent the phonon bottleneck in IV-VI quantum dots are discussed

Hot Jupiters in binary star systems

Radial velocity surveys find Jupiter mass planets with semi-major axes a less than 0.1 AU around ~1% of solar-type stars; counting planets with $a$ as large as 5 AU, the fraction of stars having planets reaches ~ 10% {Marcy,Butler}. An examination of the distribution of semi-major axes shows that there is a clear excess of planets with orbital periods around 3 or 4 days, corresponding to a~0.03$ AU, with a sharp cutoff at shorter periods (see Figure 1). It is believed that Jupiter mass planets form at large distances from their parent stars; some fraction then migrate in to produce the short period objects. We argue that a significant fraction of the `hot Jupiters' (a<0.1 AU) may arise in binary star systems in which the orbit of the binary is highly inclined to the orbit of the planet. Mutual torques between the two orbits drive down the minimum separation or periapse r_p between the planet and its host star (the Kozai mechanism). This periapse collapse is halted when tidal friction on the planet circularizes the orbit faster than Kozai torque can excite it. The same friction then circularizes the planet orbit, producing hot Jupiters with the peak of the semimajor axis distribution lying around 3 days. For the observed distributions of binary separation, eccentricity and mass ratio, roughly 2.5% of planets with initial semimajor axis a_p ~ 5au will migrate to within 0.1au of their parent star. Kozai migration could account for 10% or more of the observed hot Jupiters.Comment: accepted to ApJ main journal, added one figure and expanded discussion

ESO 3060170 -- a massive fossil galaxy group with a heated gas core?

We present a detailed study of the ESO 3060170 galaxy group combining Chandra, XMM and optical observations. The system is found to be a fossil galaxy group. The group X-ray emission is composed of a central dense cool core (10 kpc in radius) and an isothermal medium beyond the central 10 kpc. The region between 10 and 50 kpc (the cooling radius) has the same temperature as the gas from 50 kpc to 400 kpc although the gas cooling time between 10 and 50 kpc (2 - 6 Gyr) is shorter than the Hubble time. Thus, the ESO 3060170 group does not have a group-sized cooling core. We suggest that the group cooling core may have been heated by a central AGN outburst in the past and the small dense cool core is the truncated relic of a previous cooling core. The Chandra observations also reveal a variety of X-ray features in the central region, including a ``finger'', an edge-like feature and a small ``tail'', all aligned along a north-south axis, as are the galaxy light and group galaxy distribution. The proposed AGN outburst may cause gas ``sloshing'' around the center and produce these asymmetric features. The observed flat temperature profile to 1/3 R_vir is not consistent with the predicted temperature profile in recent numerical simulations. We compare the entropy profile of the ESO 3060170 group with those of three other groups and find a flatter relation than that predicted by simulations involving only shock heating, S $\propto$ r$^{~ 0.85}$. This is direct evidence for the importance of non-gravitational processes in group centers. We derive the mass profiles within 1/3 R_vir and find the ESO 3060170 group is the most massive fossil group known (1 - 2 X 10$^{14}$ M$_{\odot}$). The M/L ratio of the system, ~ 150 at 0.3 R_vir, is normal.Comment: 17 pages, 12 figures, to appear in ApJ. A high-resolution version can be downloaded from http://cxc.harvard.edu/~msun/esoa.p