Machine Body Language: Expressing a Smart Speaker’s Activity with Intelligible Physical Motion

People’s physical movement and body language implicitly convey what they think and feel, are doing or are about to do. In contrast, current smart speakers miss out on this richness of body language, primarily relying on voice commands only. We present QUBI, a dynamic smart speaker that leverages expressive physical motion – stretching, nodding, turning, shrugging, wiggling, pointing and leaning forwards/backwards – to convey cues about its underlying behaviour and activities. We conducted a qualitative Wizard of Oz lab study, in which 12 participants interacted with QUBI in four scripted scenarios. From our study, we distilled six themes: (1) mirroring and mimicking motions; (2) body language to supplement voice instructions; (3) anthropomorphism and personality; (4) audio can trump motion; (5) reaffirming uncertain interpretations to support mutual understanding; and (6) emotional reactions to QUBI’s behaviour. From this, we discuss design implications for future smart speakers

Intrinsic Brightness Temperatures of AGN Jets

We present a new method for studying the intrinsic brightness temperatures of the parsec-scale jet cores of Active Galactic Nuclei (AGN). Our method uses observed superluminal motions and observed brightness temperatures for a large sample of AGN to constrain the characteristic intrinsic brightness temperature of the sample as a whole. To study changes in intrinsic brightness temperature, we assume that the Doppler factors of individual jets are constant in time as justified by their relatively small changes in observed flux density. We find that in their median-low brightness temperature state, the sources in our sample have a narrow range of intrinsic brightness temperatures centered on a characteristic temperature, T_int = 3 x 10^10 K, which is close to the value expected for equipartition, when the energy in the radiating particles equals the energy stored in the magnetic fields. However, in their maximum brightness state, we find that sources in our sample have a characteristic intrinsic brightness temperature greater than 2 x 10^11 K, which is well in excess of the equipartition temperature. In this state, we estimate the energy in radiating particles exceeds the energy in the magnetic field by a factor of ~ 10^5. We suggest that the excess of particle energy when sources are in their maximum brightness state is due to injection or acceleration of particles at the base of the jet. Our results suggest that the common method of estimating jet Doppler factors by using a single measurement of observed brightness temperature and/or the assumption of equipartition may lead to large scatter or systematic errors in the derived values.Comment: 4 pages, 2 figures, Accepted to Appear in ApJ Letter

Relativistic Beaming and the Intrinsic Properties of Extragalactic Radio Jets

Relations between the observed quantities for a beamed radio jet, apparent transverse speed and apparent luminosity (beta_app,L), and the intrinsic quantities, Lorentz factor and intrinsic luminosity (gamma,L_o), are investigated. The inversion from measured to intrinsic values is not unique, but approximate limits to gamma and L_o can be found using probability arguments. Roughly half the sources in a flux density--limited, beamed sample have a value of gamma close to the measured beta_app. The methods are applied to observations of 119 AGN jets made with the VLBA at 15 GHz during 1994-2002. The results strongly support the common relativistic beam model for an extragalactic radio jet. The (beta_app,L) data are closely bounded by a theoretical envelope, an aspect curve for gamma=32, L_o= 10^25 W/Hz. This gives limits to the maximum values of gamma and L_o in the sample: gamma_max about 32, and L_o,max ~ 10^26 W/Hz. No sources with both high beta_app and low L are observed. This is not the result of selection effects due to the observing limits, which are flux density S>0.5 Jy, and angular velocity mu<4 mas/yr. Many of the fastest quasars have a pattern Lorentz factor gamma_p close to that of the beam, gamma_b, but some of the slow quasars must have gamma_p<<gamma_b. Three of the 10 galaxies in the sample have a superluminal feature, with speeds up to beta_app about 6. The others are at most mildly relativistic. The galaxies are not off-axis versions of the powerful quasars, but Cygnus A might be an exception.Comment: 12 pages, 9 figures, 1 table, accepted for publication in the Astrophysical Journa

Doppler Boosting, Superluminal Motion, and the Kinematics of AGN Jets

We discuss results from a decade long program to study the fine-scale structure and the kinematics of relativistic AGN jets with the aim of better understanding the acceleration and collimation of the relativistic plasma forming AGN jets. From the observed distribution of brightness temperature, apparent velocity, flux density, time variability, and apparent luminosity, the intrinsic properties of the jets including Lorentz factor, luminosity, orientation, and brightness temperature are discussed. Special attention is given to the jet in M87, which has been studied over a wide range of wavelengths and which, due to its proximity, is observed with excellent spatial resolution. Most radio jets appear quite linear, but we also observe curved non-linear jets and non-radial motions. Sometimes, different features in a given jet appear to follow the same curved path but there is evidence for ballistic trajectories as well. The data are best fit with a distribution of Lorentz factors extending up to gamma ~30 and intrinsic luminosity up to ~10^26 W/Hz. In general, gamma-ray quasars may have somewhat larger Lorentz factors than non gamma-ray quasars. Initially the observed brightness temperature near the base of the jet extend up to ~5x10^13 K which is well in excess of the inverse Compton limit and corresponds to a large excess of particle energy over magnetic energy. However, more typically, the observed brightness temperatures are ~2x10^11 K, i.e., closer to equipartition.Comment: 10 pages, 12 color figures; proceedings of the 5th Stromlo Symposium: Disks, Winds, and Jets - from Planets to Quasars; accepted in Astrophysics & Space Scienc

MOJAVE: monitoring of jets in active galactic nuclei with VLBA experiments. V. Multi-epoch VLBA images

We present images from a long-term program (MOJAVE: Monitoring of Jets in active galactic nuclei (AGNs) with VLBA Experiments) to survey the structure and evolution of parsec-scale jet phenomena associated with bright radio-loud active galaxies in the northern sky. The observations consist of 2424 15 GHz Very Long Baseline Array (VLBA) images of a complete flux-density-limited sample of 135 AGNs above declination –20°, spanning the period 1994 August to 2007 September. These data were acquired as part of the MOJAVE and 2 cm Survey programs, and from the VLBA archive. The sample-selection criteria are based on multi-epoch parsec-scale (VLBA) flux density, and heavily favor highly variable and compact blazars. The sample includes nearly all the most prominent blazars in the northern sky, and is well suited for statistical analysis and comparison with studies at other wavelengths. Our multi-epoch and stacked-epoch images show 94% of the sample to have apparent one-sided jet morphologies, most likely due to the effects of relativistic beaming. Of the remaining sources, five have two-sided parsec-scale jets, and three are effectively unresolved by the VLBA at 15 GHz, with essentially all of the flux density contained within a few tenths of a milliarcsecond

The unfriendly ISM in the radio galaxy 4C12.50 (PKS 1345+12)

The radio source 4C12.50 has often been suggested to be a prime candidate for the link between ultraluminous infrared galaxies and young radio galaxies. A VLBI study of the neutral hydrogen in the nuclear regions of this object shows that most of the gas detected close to the systemic velocity is associated with an off-nuclear cloud (~50 to 100 pc from the radio core) with a column density of ~10^22 T_spin/100 K) cm^(-2) and an HI mass of a few times 10^5 to 10^6 M_sun. We consider a number of possibilities to explain the results. In particular, we discus the possibility that this cloud indicates the presence of a rich and clumpy interstellar medium in the centre, likely left over from the merger that triggered the activity and that this medium influences the growth of the radio source. The location of the cloud -- at the edge of the northern radio jet/lobe -- suggests that the radio jet might be interacting with a gas cloud. This interaction could be responsible for bending the young radio jet. The velocity profile of the gas is relatively broad (~150$ km/s) and we interpret this as kinematical evidence for interaction of the radio plasma with the cloud. We also consider the model where the cloud is part of a broader circumnuclear structure. Only a limited region of this structure would have sufficient background radio brightness and large enough column depth in neutral gas to obtain detectable HI absorption against the counterjet. The VLBI study of the neutral hydrogen in 4C12.50 suggests that HI detected near the systemic velocity (as it is often the case in radio galaxies) may not necessarily be connected with a circumnuclear disk or torus (as is very often assumed) but instead could be a tracer of the large-scale medium that surrounds the active nucleus and that may influence the growth of the young radio source.Comment: 7 pages, 2 figures. Accepted for publication in A&

Integrating large-scale stationary and local mobile measurements to estimate hyperlocal long-term air pollution using transfer learning methods

Mobile air quality measurements are collected typically for several seconds per road segment and in specific timeslots (e.g., working hours). These short-term and on-road characteristics of mobile measurements become the ubiquitous shortcomings of applying land use regression (LUR) models to estimate long-term concentrations at residential addresses. This issue was previously found to be mitigated by transferring LUR models to the long-term residential domain using routine long-term measurements in the studied region as the transfer target (local scale). However, long-term measurements are generally sparse in individual cities. For this scenario, we propose an alternative by taking long-term measurements collected over a larger geographical area (global scale) as the transfer target and local mobile measurements as the source (Global2Local model). We empirically tested national, airshed countries (i.e., national plus neighboring countries) and Europe as the global scale in developing Global2Local models to map nitrogen dioxide (NO(2)) concentrations in Amsterdam. The airshed countries scale provided the lowest absolute errors, and the Europe-wide scale had the highest R(2). Compared to a "global" LUR model (trained exclusively with European-wide long-term measurements), and a local mobile LUR model (using mobile data from Amsterdam only), the Global2Local model significantly reduced the absolute error of the local mobile LUR model (root-mean-square error, 6.9 vs 12.6 mug/m(3)) and improved the percentage explained variances compared to the global model (R(2), 0.43 vs 0.28, assessed by independent long-term NO(2) measurements in Amsterdam, n = 90). The Global2Local method improves the generalizability of mobile measurements in mapping long-term residential concentrations with a fine spatial resolution, which is preferred in environmental epidemiological studies