Deep optical observations of the gamma-ray pulsar PSR J0007+7303 in the CTA 1 supernova remnant

The Fermi Large Area Telescope (LAT) discovered the time signature of a radio-silent pulsar coincident with RX J0007.0+7302, a plerion-like X-ray source at the centre of the CTA 1 supernova remnant. The inferred timing parameters of the gamma-ray pulsar PSR J0007+7303 (P=315.8 ms; dot{P}\sim3.6 10^{-13} s s^{-1}) point to a Vela-like neutron star, with an age comparable to that of CTA 1. The PSR J0007+7303 low distance (\sim 1.4 kpc), interstellar absorption (A_V\sim 1.6), and relatively high energy loss rate (dot{E} \sim4.5 10^{35} erg s^{-1}), make it a suitable candidate for an optical follow-up. Here, we present deep optical observations of PSR J0007+7303. The pulsar is not detected in the Gran Telescopio Canarias (GTC) images down to a limit of r'\sim 27.6 (3 sigma), the deepest ever obtained for this pulsar, while William Herschel Telescope (WHT) images yield a limit of V \sim 26.9. Our r'-band limit corresponds to an optical emission efficiency \eta_{opt}= L_{opt}/dot{E} < 9.4 10^{-8}. This limit is more constraining than those derived for other Vela-like pulsars, but is still above the measured optical efficiency of the Vela pulsar. We compared the optical upper limits with the extrapolation of the XMM-Newton X-ray spectrum and found that the optical emission is compatible with the extrapolation of the X-ray power-law component, at variance with what is observed, e.g. in the Vela pulsar.Comment: 5 pages, 3 figures, accepted for publication on MNRA

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

Implications of the Optical Observations of Neutron Stars

We show that observations of pulsars with pulsed optical emission indicate that the peak flux scales according to the magnetic field strength at the light cylinder. The derived relationships indicate that the emission mechanism is common across all of the observed pulsars with periods ranging from 33ms to 385 ms and ages of 1000-300,000 years. It is noted that similar trends exist for $\gamma$ ray pulsars. Furthermore the model proposed by Pacini (1971) and developed by Pacini and Salvati (1983,1987) still has validity and gives an adequate explanation of the optical phenomena.Comment: 23 pages, 6 figures, accepted for publication in the Astrophysical Journa

A candidate optical counterpart to the middle-aged gamma-ray pulsar PSR J1741-2054

We carried out deep optical observations of the middle-aged $\gamma$-ray pulsar PSR J1741-2054 with the Very Large Telescope (VLT). We identified two objects, of magnitudes $m_v=23.10\pm0.05$ and $m_v=25.32\pm0.08$, at positions consistent with the very accurate Chandra coordinates of the pulsar, the faintest of which is more likely to be its counterpart. From the VLT images we also detected the known bow-shock nebula around PSR J1741-2054. The nebula is displaced by \sim 0\farcs9 (at the $3\sigma$ confidence level) with respect to its position measured in archival data, showing that the shock propagates in the interstellar medium consistently with the pulsar proper motion. Finally, we could not find evidence of large-scale extended optical emission associated with the pulsar wind nebula detected by Chandra, down to a surface brightness limit of $\sim 28.1$ magnitudes arcsec$^{-2}$. Future observations are needed to confirm the optical identification of PSR J1741-2054 and characterise the spectrum of its counterpart.Comment: 8 pages, 3 figures, Astrophysical Journal, in pres

Multi-Robot System Control Architecture (MRSCA) for Agricultural Production

Coordinating multiple autonomous robots for achieving an assigned collective task presents a complex engineering challenge. In this paper multi robot system control architecture (MRSCA) for the coordination of multiple agricultural robots is developed. The two important aspects of MRSCA; coordination strategy and inter-robot communication were discussed with typical agricultural tasks as examples. Classification of MRS into homogeneous and heterogeneous robots was done to identify appropriate form of cooperative behavior and inter-robot communication. The framework developed, proposes that inter-robot communication is not always required for a MRS. Three types of cooperative behaviors; No-cooperation, modest cooperation and absolute cooperation for a MRS were devised for accomplishing a variety of coordinated operations in agricultural productio

Cut Crop Edge Detection Using a Laser Sensor

An off-the-shelf low cost laser sensor was tested and evaluated both in laboratory and field conditions. The sensor identified the angular and straight edges of the laboratory test surface and replicated the straight edge profile with an error of 4%. In field conditions, the sensor identified three types of cut crop edges (wheat, alfalfa and corn) and replicated distinct shapes (triangle, curved and rectangular edges). The sensor was tested at two sensor path offset distances and three tractor/sensor speeds (3.2, 6.4 and 9.6 km/h). In all test runs the sensor detected the cut-crop edges. Standard deviations and RMSE values in determining the actual cut-crop edges for the entire field test were within 210 cm and 13 cm respectively. The sensor performed the best in the case of wheat cut-crop edge where the RMSE was 4.2 cm (sensor path offset = 1m, speed 3.2 km/h) and performed the worst in the case of alfalfa cut-crop edge where the RMSE was 16.7 cm (sensor path offset = .30 m and speed 9.6 km/h)

Guidance Directrix Generation Using Laser Sensors

A sensor array consisting of two laser sensors was utilized to determine the guidance directrix (offset distance-d, heading angle-ø) that are required as reference inputs for an automated guidance system. The sensor array was evaluated in both laboratory and field conditions. Under laboratory conditions the sensor array replicated the physical profile of the target surface with a 4% error in determining the heading angle. Field tests were conducted in two types of crops; corn and alfalfa. The sensor array identified the cut-crop edge profile ahead of the tractor and replicated distinct shapes of the cut-crop edge. RMSE values in determining the offset distances and heading angles of the cut-crop edge in corn were within 5.5 cm and 4.39°. In the case of alfalfa cut-crop edge the RMSE values were within 6.6 cm and 4.32°

Sensor Ranging Technique for Determining Corn Plant Population

Mapping of corn plant population can provide useful information for making field management decisions. This research focused on using low cost infra-red sensors to count plants. The voltage output data from the sensors were processed using an algorithm developed to extract plant populations. Preliminary investigations were conducted using sensors mounted on a stationary track for laboratory testing and on a row crop tractor for field testing. Repeated measurements were taken on a manually counted corn row. Visual inspection of the data from the field test indicated the potential to identify corn stalks based on approximate physical widths of the stalks. Corn plant populations tended to be overestimated for all eight field trials, with errors ranging from +0.7% to +4.4%. Overestimation was most likely due to leaves or other objects detected by the sensors during the field trials wrongly identified as corn stalks

Cut Crop Edge Detection Using a Laser Sensor

An off-the-shelf low cost laser sensor was tested and evaluated both in laboratory and field conditions. The sensor identified the angular and straight edges of the laboratory test surface and replicated the straight edge profile with an error of 4%. In field conditions, the sensor identified three types of cut crop edges (wheat, alfalfa and corn) and replicated distinct shapes (triangle, curved and rectangular edges). The sensor was tested at two sensor path offset distances and three tractor/sensor speeds (3.2, 6.4 and 9.6 km/h). In all test runs the sensor detected the cut-crop edges. Standard deviations and RMSE values in determining the actual cut-crop edges for the entire field test were within 210 cm and 13 cm respectively. The sensor performed the best in the case of wheat cut-crop edge where the RMSE was 4.2 cm (sensor path offset = 1m, speed 3.2 km/h) and performed the worst in the case of alfalfa cut-crop edge where the RMSE was 16.7 cm (sensor path offset = .30 m and speed 9.6 km/h)

Automatic Guidance System Development Using Low Cost Ranging Devices

Autonomous guidance of agricultural vehicles for various field operations serves to increase productivity. Low cost infra-red ranging devices were used in this study to estimate the guidance directrix (offset distance (d) and heading error angle (Ø)). Two kinds of tracks were used for evaluating the performance of the infra-red sensors, one track was made of a cardboard in the laboratory and the other track was made of wheat crop in the field. The cardboard track consisted of straight parallel and non parallel edges whereas the wheat crop track had a series of different edges including few curves. From the results it was concluded that the sensor consistently detected the profile of the tracks with good repeatability .Errors of 6% were observed in detecting the straight edges and errors 6.6% and 13% were obtained in detecting two different angled surfaces. The reasons for the errors were detected and explained briefly in the paper