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

Unpulsed UBV Optical Emission from the Crab Pulsar

Based on observations of the Crab pulsar using the TRIFFID high speed imaging photometer in the UBV bands using the Special Astrophysical Observatory's 6m telescope in the Russian Caucasus, we report the detection of pronounced emission during the so-called `off' phase of emission. Following de-extinction, this unpulsed component of emission is shown to be consistent with a power law with an exponent of alpha = -0.60 +/- 0.37, the uncertainty being dominated by the error associated with the independent CCD photometry used to reference the TRIFFID data. This suggests a steeper power law form than that reported elsewhere in the literature for the total integrated spectrum, which is essentially flat with alpha ~ 0.1, although the difference in this case is only significant at the ~ 2 sigma level. Deeper reference integrated and TRIFFID phase-resolved photometry in these bands in conjunction with further observations in the UV and R region would constrain this fit further.Comment: 26 pages, 2 figures, uses aasms4.sty, accepted for publication in 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

A High Deuterium Abundance at z=0.7

Of the light elements, the primordial abundance of deuterium, (D/H)_p, provides the most sensitive diagnostic for the cosmological mass density parameter Omega_B. Recent high redshift (D/H) measurements are highly discrepant, although this may reflect observational uncertainties. The larger (D/H) values, which imply a low Omega_B and require the Universe to be dominated by non-baryonic matter (dynamical studies indicate a higher total density parameter), cause problems for galactic chemical evolution models since they have difficulty in reproducing the large decline down to the lower present-day (D/H). Conversely, low (D/H) values imply an Omega_B greater than derived from ^7Li and ^4He abundance measurements, and may require a deuterium abundance evolution that is too low to easily explain. Here we report the first measurement at intermediate redshift, where the observational difficulties are smaller, of a gas cloud with ideal characteristics for this experiment. Our analysis of the z = 0.7010 absorber toward 1718+4807 indicates (D/H) = 2.0 +/- 0.5 x 10^{-4} which is in the high range. This and other independent observations suggests there may be a cosmological inhomogeneity in (D/H)_p of at least a factor of ten.Comment: 6 pages, 1 figur

Impact of the Wall Conditioning Program on Plasma Performance in NSTX

High performance operating regimes have been achieved on NSTX (National Spherical Torus Experiment) through impurity control and wall-conditioning techniques. These techniques include HeGDC-aided boronization using deuterated trimethylboron, inter-discharge HeGDC, 350 C PFC bake-out followed by D2 and HeGDC, and experiments to test fueling discharges with either a He-trimethylboron mixture or pure trimethylboron. The impact of this impurity and density control program on recent advances in NSTX plasma performance is discussed

Erosion results from DiMES and design implications to ITER and Starlite

Using the DiMES mechanism at DIII-D, erosion rates of graphite, and metallic coatings of Be, V, Mo, and W have been measured under different plasma operating conditions. The measured net erosion rate for C is substantial (16 nm/s) during ELMing H-mode at a heat flux of 2 MW/m{sup 2}. Measured gross erosion rates of the metals are lower than expected from sputtering yields, most likely due to heavy surface contamination by carbon. The measured erosion of W is substantially lower than the other materials, and when account is taken for redeposition, it is shown to be a viable candidate for the Starlite reactor`s divertor

Optically bright Active Galactic Nuclei in the ROSAT-Faint Source Catalogue

To build a large, optically bright, X-ray selected AGN sample we have correlated the ROSAT-FSC catalogue of X-ray sources with the USNO catalogue limited to objects brighter than O=16.5 and then with the APS database. Each of the 3,212 coincidences was classified using the slitless Hamburg spectra. 493 objects were found to be extended and 2,719 starlike. Using both the extended objects and the galaxies known from published catalogues we built up a sample of 185 galaxies with O_APS < 17.0 mag, which are high-probability counterparts of RASS-FSC X-ray sources. 130 galaxies have a redshift from the literature and for another 34 we obtained new spectra. The fraction of Seyfert galaxies in this sample is 20 %. To select a corresponding sample of 144 high-probability counterparts among the starlike sources we searched for very blue objects in an APS-based color-magnitude diagram. Forty-one were already known AGN and for another 91 objects we obtained new spectra, yielding 42 new AGN, increasing their number in the sample to 83. This confirms that surveys of bright QSOs are still significantly incomplete. On the other hand we find that, at a flux limit of 0.02 count /-1 and at this magnitude, only 40 % of all QSOs are detected by ROSAT.Comment: 17 pages, 16 figures, accepted by A&

The Ionized Gas and Nuclear Environment in NGC 3783 V. Variability and Modeling of the Intrinsic Ultraviolet Absorption

We present results on the location, physical conditions, and geometry of the outflow in the Seyfert 1 galaxy NGC 3783 from a study of the variable intrinsic UV absorption. Based on 18 observations with HST/STIS and 6 observations with FUSE, we find: 1) The absorption from the lowest-ionization species in each of the three strong kinematic components varied inversely with the continuum flux, indicating the ionization structure responded to changes in the photoionizing flux over the weekly timescales sampled by our observations. 2) A multi- component model with an unocculted NLR and separate BLR and continuum line-of-sight covering factors predicts saturation in several lines, consistent with the lack of observed variability. 3) Column densities for the individual metastable levels are measured from the resolved C III *1175 absorption complex observed in one component. Based on our computed metastable level populations, the electron density of this absorber is ~3x10^4 cm^-3. Photoionization modeling results place it at ~25 pc from the central source. 4) Using time-dependent calculations, we are able to reproduce the detailed variability observed in this absorber, and derive upper limits on the distances for the other components of 25-50 pc. 5) The ionization parameters derived for the higher ionization UV absorbers are consistent with the modeling results for the lowest-ionization X-ray component, but with smaller total column density. They have similar pressures as the three X-ray ionization components. These results are consistent with an inhomogeneous wind model for the outflow in NGC 3783. 6) Based on the predicted emission-line luminosities, global covering factor constraints, and distances derived for the UV absorbers, they may be identified with emission- line gas observed in the inner NLR of AGNs. (abridged)Comment: 30 pages, 18 figures (7 color), emulateapj, accepted for publication in The Astrophysical Journa

Performance of V-4Cr-4Ti material exposed to the DIII-D tokamak environment

A series of tests is being conducted in the DIII-D tokamak to determine the effects of environmental exposure on a V-4Cr-4Ti vanadium alloy. These tests are part of the effort to build and install a water-cooled vanadium alloy structure in the DIII-D radiative diverter upgrade. Data from the test series indicate that the performance of the V-4Cr4Ti alloy would not be significantly affected by environmental exposure. Interstitial absorption by the material appears to be limited to the surface, and neither the tensile nor the impact properties of the material appear to be affected by the exposure