Fermi Large Area Telescope observations of the supernova remnant HESS J1731-347

Context: HESS J1731-347 has been identified as one of the few TeV-bright shell-type supernova remnants (SNRs). These remnants are dominated by nonthermal emission, and the nature of TeV emission has been continuously debated for nearly a decade. Aims: We carry out the detailed modeling of the radio to gamma-ray spectrum of HESS J1731-347 to constrain the magnetic field and energetic particles sources, which we compare with those of the other TeV-bright shell-type SNRs explored before. Methods: Four years of data from Fermi Large Area Telescope (LAT) observations for regions around this remnant are analyzed, leading to no detection correlated with the source discovered in the TeV band. The Markov Chain Monte Carlo method is used to constrain parameters of one-zone models for the overall emission spectrum. Results: Based on the 99.9% upper limits of fluxes in the GeV range, one-zone hadronic models with an energetic proton spectral slope greater than 1.8 can be ruled out, which favors a leptonic origin for the gamma-ray emission, making this remnant a sibling of the brightest TeV SNR RX J1713.7-3946, the Vela Junior SNR RX J0852.0-4622, and RCW 86. The best-fit leptonic model has an electron spectral slope of 1.8 and a magnetic field of about 30 muG, which is at least a factor of 2 higher than those of RX J1713.7-3946 and RX J0852.0-4622, posing a challenge to the distance estimate and/or the energy equipartition between energetic electrons and the magnetic field of this source. A measurement of the shock speed will address this challenge and has implications on the magnetic field evolution and electron acceleration driven by shocks of SNRs.Comment: 7 pages, 3 fogures, A&A in pres

Tentative evidence of spatially extended GeV emission from SS433/W50

We analyze 10 years of Fermi-LAT data towards the SS433/W50 region. With the latest source catalog and diffuse background models, the gamma-ray excess from SS433/W50 is detected with a significance of 6{\sigma} in the photon energy range of 500 MeV - 10 GeV. Our analysis indicates that an extended flat disk morphology is preferred over a point-source description, suggesting that the GeV emission region is much larger than that of the TeV emission detected by HAWC. The size of the GeV emission is instead consistent with the extent of the radio nebula W50, a supernova remnant being distorted by the jets, so we suggest that the GeV emission may originate from this supernova remnant. The spectral result of the GeV emission is also consistent with an supernova remnant origin. We also derive the GeV flux upper limits on the TeV emission region, which put moderate constrains on the leptonic models to explain the multiwavelength data.Comment: 7 pages, 4 figures, accepted for publication in A&

A Delay Compensation Framework Based on Eye-Movement for Teleoperated Ground Vehicles

An eye-movement-based predicted trajectory guidance control (ePTGC) is proposed to mitigate the maneuverability degradation of a teleoperated ground vehicle caused by communication delays. Human sensitivity to delays is the main reason for the performance degradation of a ground vehicle teleoperation system. The proposed framework extracts human intention from eye-movement. Then, it combines it with contextual constraints to generate an intention-compliant guidance trajectory, which is then employed to control the vehicle directly. The advantage of this approach is that the teleoperator is removed from the direct control loop by using the generated trajectories to guide vehicle, thus reducing the adverse sensitivity to delay. The delay can be compensated as long as the prediction horizon exceeds the delay. A human-in-loop simulation platform is designed to evaluate the teleoperation performance of the proposed method at different delay levels. The results are analyzed by repeated measures ANOVA, which shows that the proposed method significantly improves maneuverability and cognitive burden at large delay levels (>200 ms). The overall performance is also much better than the PTGC which does not employ the eye-movement feature.Comment: 9 pages, 11 figure