A transputer Based Laser Scanning System

This paper presents a transputer-based laser scanner. This is to be integrated into an existing transputer-based mariufacturing environment to allow rapid construction of' 3-0 models. The approach allows Z-gradient informaticm to be obtained from a 2-D image by illuminating areas of interest with a form of structured light. An active scanning system is described. Simple algorithms are applied to the raw image data to extract concise information. This foveal analysis greatly reduces the data to be processed, allowing a simple and fast method for analysis. The system primarily consists of a video camera wlhich obliquely views a scene being scanned by a laser. The principle, the procedure, and methods of scanning are described. An overview of the principles of foveal analysis, the prototype experimental system and initial results are presented

On the Nonlocal Equations and Nonlocal Charges Associated with the Harry Dym Hierarchy

A large class of nonlocal equations and nonlocal charges for the Harry Dym hierarchy is exhibited. They are obtained from nonlocal Casimirs associated with its bi-Hamiltonian structure. The Lax representation for some of these equations is also given.Comment: to appear in Journal of Mathematical Physics, 17 pages, Late

Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot

This paper firstly reviews five artificial intelligence tools that might be useful in assisting a tele-operator with driving a mobile robot: knowledge-based systems (including rule based systems and case-based reasoning), automatic knowledge acquisition, fuzzy logic, neural networks and genetic algorithms. Rule-based systems were selected to provide simple real time AI techniques to support tele-operated mobile robot operators with steering because they allow tele-operators to be included in the driving as much as possible and to reach their target destination, while providing assistance when needed to avoid an obstacle. The direction to a destination (via point) becomes an extra input along with an obstacle avoidance sensor system and the usual inputs from a joystick. A recommended direction is mixed with joystick position and angle. A rule-based system generates a recommended angle to turn the mobile robot and that is mixed with an input from a joystick in order to assist tele-operators with steering their mobile robots towards their destinations

A Suborbital Payload for Soft X-ray Spectroscopy of Extended Sources

We present a suborbital rocket payload capable of performing soft X-ray spectroscopy on extended sources. The payload can reach resolutions of ~100(lambda/dlambda) over sources as large as 3.25 degrees in diameter in the 17-107 angstrom bandpass. This permits analysis of the overall energy balance of nearby supernova remnants and the detailed nature of the diffuse soft X-ray background. The main components of the instrument are: wire grid collimators, off-plane grating arrays and gaseous electron multiplier detectors. This payload is adaptable to longer duration orbital rockets given its comparatively simple pointing and telemetry requirements and an abundance of potential science targets.Comment: Accepted to Experimental Astronomy, 12 pages plus 1 table and 17 figure

A direct image of the obscuring disk surrounding an active galactic nucleus

Active galactic nuclei (AGN) are generally accepted to be powered by the release of gravitational energy in a compact accretion disk surrounding a massive black hole. Such disks are also necessary to collimate powerful radio jets seen in some AGN. The unifying classification schemes for AGN further propose that differences in their appearance can be attributed to the opacity of the accreting material, which may obstruct our view of the central region of some systems. The popular model for the obscuring medium is a parsec-scale disk of dense molecular gas, although evidence for such disks has been mostly indirect, as their angular size is much smaller than the resolution of conventional telescopes. Here we report the first direct images of a pc-scale disk of ionised gas within the nucleus of NGC 1068, the archetype of obscured AGN. The disk is viewed nearly edge-on, and individual clouds within the ionised disk are opaque to high-energy radiation, consistent with the unifying classification scheme. In projection, the disk and AGN axes align, from which we infer that the ionised gas disk traces the outer regions of the long-sought inner accretion disk.Comment: 14 pages, LaTeX, PSfig, to appear in Nature. also available at http://hethp.mpe-garching.mpg.de/Preprint

Optical vs. infrared studies of dusty galaxies and AGN: (I) Nebular emission lines

Optical nebular emission lines are commonly used to estimate the star formation rate of galaxies and the black hole accretion rate of their central active nucleus. The accuracy of the conversion from line strengths to physical properties depends upon the accuracy to which the lines can be corrected for dust attenuation. For studies of single galaxies with normal amounts of dust, most dust corrections result in the same derived properties within the errors. However, for statistical studies of populations of galaxies, or for studies of galaxies with higher dust contents such as might be found in some classes of "transition" galaxies, significant uncertainty arises from the dust attenuation correction. We compare the strength of the predominantly unobscured mid-IR [NeII]15.5um + [NeIII]12.8um emission lines to the optical H alpha emission lines in four samples of galaxies: (i) ordinary star forming galaxies, (ii) optically selected dusty galaxies, (iii) ULIRGs, (iv) Seyfert 2 galaxies. We show that a single dust attenuation curve applied to all samples can correct H alpha emission for dust attenuation to a factor better than 2. Similarly, we compare mid-IR [OIV] and optical [OIII] luminosities to find that [OIII] can be corrected to a factor better than 3. This shows that the total dust attenuation suffered by the AGN narrow line region is not significantly different to that suffered by the starforming HII regions in the galaxy. We provide explicit dust attenuation corrections, together with errors, for [OII], [OIII] and H alpha. The best-fit average attenuation curve is slightly greyer than the Milky-Way extinction law, indicating either that external galaxies have slightly different typical dust properties to the Milky Way, or that there is a significant contribution from scattering. Finally, we uncover an intriguing correlation between Silicate absorption and Balmer decrement.Comment: 19 pages, 9 figures, accepted for publication in MNRA

Using a simple expert system to assist a powered wheelchair user

A simple expert system is described that helps wheelchair users to drive their wheelchairs. The expert system takes data in from sensors and a joystick, identifies obstacles and then recommends a safe route. Wheelchair users were timed while driving around a variety of routes and using a joystick controlling their wheelchair via the simple expert system. Ultrasonic sensors are used to detect the obstacles. The simple expert system performed better than other recently published systems. In more difficult situations, wheelchair drivers did better when there was help from a sensor system. Wheelchair users completed routes with the sensors and expert system and results are compared with the same users driving without any assistance. The new systems show a significant improvement

Galaxy Evolution and Star Formation Efficiency at 0.2 < z < 0.6

We present the results of a CO line survey of 30 galaxies at moderate redshift (z \sim 0.2-0.6), with the IRAM 30m telescope, with the goal to follow galaxy evolution and in particular the star formation efficiency (SFE) as defined by the ratio between far-infrared luminosity and molecular gas mass (LFIR/M(H2)). The sources are selected to be ultra-luminous infrared galaxies (ULIRGs), with LFIR larger than 2.8 10^{12} Lsol, experiencing starbursts; adopting a low ULIRG CO-to-H2 conversion factor, their gas consumption time-scale is lower than 10^8 yr. To date only very few CO observations exist in this redshift range that spans nearly 25% of the universe's age. Considerable evolution of the star formation rate is already observed during this period. 18 galaxies out of our sample of 30 are detected (of which 16 are new detections), corresponding to a detection rate of 60%. The average CO luminosity for the 18 galaxies detected is L'CO = 2 10^{10} K km/s pc^2, corresponding to an average H2 mass of 1.6 10^{10} Msol. The FIR luminosity correlates well with the CO luminosity, in agreement with the correlation found for low and high redshift ULIRGs. Although the conversion factor between CO luminosity and H2 mass is uncertain, we find that the maximum amount of gas available for a single galaxy is quickly increasing as a function of redshift. Using the same conversion factor, the SFEs for z\sim 0.2-0.6 ULIRGs are found to be significantly higher, by a factor 3, than for local ULIRGs, and are comparable to high redshift ones. We compare this evolution to the expected cosmic H2 abundance and the cosmic star formation history.Comment: 11 pages, 13 figures, accepted in A&

COLD GASS, an IRAM Legacy Survey of Molecular Gas in Massive Galaxies: II. The non-universality of the Molecular Gas Depletion Timescale

We study the relation between molecular gas and star formation in a volume-limited sample of 222 galaxies from the COLD GASS survey, with measurements of the CO(1-0) line from the IRAM 30m telescope. The galaxies are at redshifts 0.025<z<0.05 and have stellar masses in the range 10.0<log(M*/Msun)<11.5. The IRAM measurements are complemented by deep Arecibo HI observations and homogeneous SDSS and GALEX photometry. A reference sample that includes both UV and far-IR data is used to calibrate our estimates of star formation rates from the seven optical/UV bands. The mean molecular gas depletion timescale, tdep(H2), for all the galaxies in our sample is 1 Gyr, however tdep(H2) increases by a factor of 6 from a value of ~0.5 Gyr for galaxies with stellar masses of 10^10 Msun to ~3 Gyr for galaxies with masses of a few times 10^11 Msun. In contrast, the atomic gas depletion timescale remains contant at a value of around 3 Gyr. This implies that in high mass galaxies, molecular and atomic gas depletion timescales are comparable, but in low mass galaxies, molecular gas is being consumed much more quickly than atomic gas. The strongest dependences of tdep(H2) are on the stellar mass of the galaxy (parameterized as log tdep(H2)= (0.36+/-0.07)(log M* - 10.70)+(9.03+/-0.99)), and on the specific star formation rate. A single tdep(H2) versus sSFR relation is able to fit both "normal" star-forming galaxies in our COLD GASS sample, as well as more extreme starburst galaxies (LIRGs and ULIRGs), which have tdep(H2) < 10^8 yr. Normal galaxies at z=1-2 are displaced with respect to the local galaxy population in the tdep(H2) versus sSFR plane and have molecular gas depletion times that are a factor of 3-5 times longer at a given value of sSFR due to their significantly larger gas fractions.Comment: Accepted for publication in MNRAS. 19 pages, 11 figure