Guidance, Navigation and Control for UAV Close Formation Flight and Airborne Docking

Unmanned aerial vehicle (UAV) capability is currently limited by the amount of energy that can be stored onboard or the small amount that can be gathered from the environment. This has historically lead to large, expensive vehicles with considerable fuel capacity. Airborne docking, for aerial refueling, is a viable solution that has been proven through decades of implementation with manned aircraft, but had not been successfully tested or demonstrated with UAVs. The prohibitive challenge is the highly accurate and reliable relative positioning performance that is required to dock with a small target, in the air, amidst external disturbances. GNSS-based navigation systems are well suited for reliable absolute positioning, but fall short for accurate relative positioning. Direct, relative sensor measurements are precise, but can be unreliable in dynamic environments. This work proposes an experimentally verified guidance, navigation and control solution that enables a UAV to autonomously rendezvous and dock with a drogue that is being towed by another autonomous UAV. A nonlinear estimation framework uses precise air-to-air visual observations to correct onboard sensor measurements and produce an accurate relative state estimate. The state of the drogue is estimated using known geometric and inertial characteristics and air-to-air observations. Setpoint augmentation algorithms compensate for leader turn dynamics during formation flight, and drogue physical constraints during docking. Vision-aided close formation flight has been demonstrated over extended periods; as close as 4 m; in wind speeds in excess of 25 km/h; and at altitudes as low as 15 m. Docking flight tests achieved numerous airborne connections over multiple flights, including five successful docking manoeuvres in seven minutes of a single flight. To the best of our knowledge, these are the closest formation flights performed outdoors and the first UAV airborne docking

MoonBEAM: A Beyond Earth-Orbit Gamma-Ray Burst Detector for Multi-Messenger Astronomy

Moon Burst Energetics All-sky Monitor (MoonBEAM) is a CubeSat concept of deploying gamma-ray detectors in cislunar space to increase gamma-ray burst detections and improve localization precision with the timing triangulation technique. A gamma-ray instrument in cislunar orbit will have greatly reduced sky blockage compared to instruments in low Earth orbit. Working in conjunction with another instrument in low Earth orbit, MoonBEAM can also help constrain the arrival direction of the wavefront to an annulus on the sky by utilizing the light arrival times between the different orbits. This method has been demonstrated by the Interplanetary Gamma- Ray Burst Timing Network. However, delays in data downlink for instruments outside the Tracking and Data Relay Satellite network prevent rapid follow-up observations. We present here a gamma-ray CubeSat concept in Earth-Moon L3 halo orbit that is capable of faster response and provide a timing baseline for localization improvement. Such an instrument would aid in the gravitational wave follow-up observations in other wavelengths to identify the gamma-ray burst afterglow and kilonova emission. Reducing the region of interest makes identifying afterglows much faster, allowing for rapid on-source observations and monitoring of the rise and decay times. It will also prevent source confusion between two transients and enable robust association. A gamma-ray detection could also increase the confidence of a simultaneous but marginal gravitational wave signal, extending the detection horizon. MoonBEAM is a 12U CubeSat concept of deploying gamma-ray detectors in cislunar space to increase gamma-ray burst detections and improve localization precision with the timing triangulation technique. Such an instrument would probe the extreme processes in cosmic collision of compact objects and facilitate multi-messenger time-domain astronomy to explore the end of stellar life cycles and black hole formations

The High-Density Ionized Gas in the Central Parsecs of the Galaxy

We report the results from observations of H30$\alpha$ line emission in Sgr A West with the Submillimeter Array at a resolution of 2\arcsec and a field of view of about 40\arcsec. The H30$\alpha$ line is sensitive to the high-density ionized gas in the minispiral structure. We compare the velocity field obtained from H30$\alpha$ line emission to a Keplerian model, and our results suggest that the supermassive black hole at Sgr A* dominates the dynamics of the ionized gas. However, we also detect significant deviations from the Keplerian motion, which show that the impact of strong stellar winds from the massive stars along the ionized flows and the interaction between Northern and Eastern arms play significant roles in the local gas dynamics.Comment: 4 pages, 2 figure

GRB 221009A, The BOAT

GRB 221009A has been referred to as the Brightest Of All Time (the BOAT). We investigate the veracity of this statement by comparing it with a half century of prompt gamma-ray burst observations. This burst is the brightest ever detected by the measures of peak flux and fluence. Unexpectedly, GRB 221009A has the highest isotropic-equivalent total energy ever identified, while the peak luminosity is at the $\sim99$th percentile of the known distribution. We explore how such a burst can be powered and discuss potential implications for ultra-long and high-redshift gamma-ray bursts. By geometric extrapolation of the total fluence and peak flux distributions GRB 221009A appears to be a once in 10,000 year event. Thus, while it almost certainly not the BOAT over all of cosmic history, it may be the brightest gamma-ray burst since human civilization began.Comment: Resubmitted to ApJ

Fermi Large Area Telescope Constraints on the Gamma-ray Opacity of the Universe

The Extragalactic Background Light (EBL) includes photons with wavelengths from ultraviolet to infrared, which are effective at attenuating gamma rays with energy above ~10 GeV during propagation from sources at cosmological distances. This results in a redshift- and energy-dependent attenuation of the gamma-ray flux of extragalactic sources such as blazars and Gamma-Ray Bursts (GRBs). The Large Area Telescope onboard Fermi detects a sample of gamma-ray blazars with redshift up to z~3, and GRBs with redshift up to z~4.3. Using photons above 10 GeV collected by Fermi over more than one year of observations for these sources, we investigate the effect of gamma-ray flux attenuation by the EBL. We place upper limits on the gamma-ray opacity of the Universe at various energies and redshifts, and compare this with predictions from well-known EBL models. We find that an EBL intensity in the optical-ultraviolet wavelengths as great as predicted by the "baseline" model of Stecker et al. (2006) can be ruled out with high confidence.Comment: 42 pages, 12 figures, accepted version (24 Aug.2010) for publication in ApJ; Contact authors: A. Bouvier, A. Chen, S. Raino, S. Razzaque, A. Reimer, L.C. Reye

Initial conditions for star formation in clusters: physical and kinematical structure of the starless core Oph A-N6

We present high spatial (<300 AU) and spectral (0.07 km/s) resolution Submillimeter Array observations of the dense starless cluster core Oph A-N6, in the 1 mm dust continuum and the 3-2 line of N2H+ and N2D+. The dust continuum observations reveal a compact source not seen in single-dish observations, of size ~1000 AU and mass 0.005-0.01 M\odot. The combined line and single-dish observations reveal a core of size 3000 \times 1400 AU elongated in a NW-SE direction, with almost no variation in either line width or line center velocity across the map, and very small non-thermal motions. The deuterium fraction has a peak value of ~0.15 and is >0.05 over much of the core. The N2H+ column density profile across the major axis of Oph A-N6 is well represented by an isothermal cylinder, with temperature 20 K, peak density 7.1 \times 10^6 cm^{-3}, and N2H+ abundance 2.7 \times 10^{-10}. The mass of Oph A-N6 is estimated to be 0.29 M\odot, compared to a value of 0.18 M\odot from the isothermal cylinder analysis, and 0.63 M\odot for the critical mass for fragmentation of an isothermal cylinder. Compared to isolated low-mass cores, Oph A-N6 shows similar narrow line widths and small velocity variation, with a deuterium fraction similar to "evolved" dense cores. It is significantly smaller than isolated cores, with larger peak column and volume density. The available evidence suggests Oph A-N6 has formed through the fragmentation of the Oph A filament and is the precursor to a low-mass star. The dust continuum emission suggests it may already have begun to form a star.Comment: 42 pages, 12 figures, accepted by Ap

Performance of the CMS Cathode Strip Chambers with Cosmic Rays

The Cathode Strip Chambers (CSCs) constitute the primary muon tracking device in the CMS endcaps. Their performance has been evaluated using data taken during a cosmic ray run in fall 2008. Measured noise levels are low, with the number of noisy channels well below 1%. Coordinate resolution was measured for all types of chambers, and fall in the range 47 microns to 243 microns. The efficiencies for local charged track triggers, for hit and for segments reconstruction were measured, and are above 99%. The timing resolution per layer is approximately 5 ns

Genomic insights into the origin of farming in the ancient Near East

We report genome-wide ancient DNA from 44 ancient Near Easterners ranging in time between ~12,000 and 1,400 BC, from Natufian hunter–gatherers to Bronze Age farmers. We show that the earliest populations of the Near East derived around half their ancestry from a ‘Basal Eurasian’ lineage that had little if any Neanderthal admixture and that separated from other non-African lineages before their separation from each other. The first farmers of the southern Levant (Israel and Jordan) and Zagros Mountains (Iran) were strongly genetically differentiated, and each descended from local hunter–gatherers. By the time of the Bronze Age, these two populations and Anatolian-related farmers had mixed with each other and with the hunter–gatherers of Europe to greatly reduce genetic differentiation. The impact of the Near Eastern farmers extended beyond the Near East: farmers related to those of Anatolia spread westward into Europe; farmers related to those of the Levant spread southward into East Africa; farmers related to those of Iran spread northward into the Eurasian steppe; and people related to both the early farmers of Iran and to the pastoralists of the Eurasian steppe spread eastward into South Asia

Reading and Ownership

First paragraph: ‘It is as easy to make sweeping statements about reading tastes as to indict a nation, and as pointless.’ This jocular remark by a librarian made in the Times in 1952 sums up the dangers and difficulties of writing the history of reading. As a field of study in the humanities it is still in its infancy and encompasses a range of different methodologies and theoretical approaches. Historians of reading are not solely interested in what people read, but also turn their attention to the why, where and how of the reading experience. Reading can be solitary, silent, secret, surreptitious; it can be oral, educative, enforced, or assertive of a collective identity. For what purposes are individuals reading? How do they actually use books and other textual material? What are the physical environments and spaces of reading? What social, educational, technological, commercial, legal, or ideological contexts underpin reading practices? Finding answers to these questions is compounded by the difficulty of locating and interpreting evidence. As Mary Hammond points out, ‘most reading acts in history remain unrecorded, unmarked or forgotten’. Available sources are wide but inchoate: diaries, letters and autobiographies; personal and oral testimonies; marginalia; and records of societies and reading groups all lend themselves more to the case-study approach than the historical survey. Statistics offer analysable data but have the effect of producing identikits rather than actual human beings. The twenty-first century affords further possibilities, and challenges, with its traces of digital reader activity, but the map is ever-changing