Magnetic Coupling of a Rotating Black Hole with Advection-Dominated Accretion Flows

A model of magnetic coupling (MC) of a rotating black hole (BH) with advection- dominated accretion flow (MCADAF) is proposed. It turns out that MCADAF providers a natural explanation for the transition radius between ADAF and SSD, and could be used to interpret the highest luminosity of GX 339-4 in hard-state. A very steep emissivity index can be produced in the innermost part of the MCADAF,which is consistent with the recent XMM-Newton observations of the nearby bright Seyfert 1 galaxy MCG-6-30-15 and with two X-ray binaries (XRBs): XTE J1655-500 and GX 339-4. In addition, we estimate the BH spins in Seyfert 1 galaxy MCG-6-30-15 and in the two XRBs based on this model.Comment: 18 pages, 9 figures,acceptted by New Astronom

A Physical Link Between Jet Formation and Hot Plasma in Active Galactic Nuclei

Recent observations suggest that in black hole X-ray binaries jet/outflow formation is related to the hot plasma in the vicinity of the black hole, either in the form of an advection-dominated accretion flow at low accretion rates or in a disk corona at high accretion rates. We test the viability of this scenario for supermassive black holes using two samples of active galactic nuclei distinguished by the presence (radio-strong) and absence (radio-weak) of well-collimated, relativistic jets. Each is centered on a narrow range of black hole mass but spans a very broad range of Eddington ratios, effectively simulating, in a statistical manner, the behavior of a single black hole evolving across a wide spread in accretion states. Unlike the relationship between the radio and optical luminosity, which shows an abruptly break between high- and low-luminosity sources at an Eddington ratio of ~1, the radio emission-a measure of the jet power-varies continuously with the hard X-ray (2-10 keV) luminosity, roughly as L_R \propto L_X^(0.6-0.75). This relation, which holds for both radio-weak and radio-strong active galaxies, is similar to the one seen in X-ray binaries. Jet/outflow formation appears to be closely linked to the conditions that give rise to the hot, optically thin coronal emission associated with accretion flows, both in the regime of low and high accretion rates.Comment: Accepted by ApJ, 8 pages, 3 figure

LocNet: Global localization in 3D point clouds for mobile vehicles

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation in the global prior map. Specifically, we present a semi-handcrafted representation learning method for LiDAR point clouds using siamese LocNets, which states the place recognition problem to a similarity modeling problem. With the final learned representations by LocNet, a global localization framework with range-only observations is proposed. To demonstrate the performance and effectiveness of our global localization system, KITTI dataset is employed for comparison with other algorithms, and also on our long-time multi-session datasets for evaluation. The result shows that our system can achieve high accuracy.Comment: 6 pages, IV 2018 accepte