Types of verbal interaction with instructable robots

An instructable robot is one that accepts instruction in some natural language such as English and uses that instruction to extend its basic repertoire of actions. Such robots are quite different in conception from autonomously intelligent robots, which provide the impetus for much of the research on inference and planning in artificial intelligence. Examined here are the significant problem areas in the design of robots that learn from vebal instruction. Examples are drawn primarily from our earlier work on instructable robots and recent work on the Robotic Aid for the physically disabled. Natural-language understanding by machines is discussed as well as in the possibilities and limits of verbal instruction. The core problem of verbal instruction, namely, how to achieve specific concrete action in the robot in response to commands that express general intentions, is considered, as are two major challenges to instructability: achieving appropriate real-time behavior in the robot, and extending the robot's language capabilities

A Giant Crater on 90 Antiope?

Mutual event observations between the two components of 90 Antiope were carried out in 2007-2008. The pole position was refined to lambda0 = 199.5+/-0.5 eg and beta0 = 39.8+/-5 deg in J2000 ecliptic coordinates, leaving intact the physical solution for the components, assimilated to two perfect Roche ellipsoids, and derived after the 2005 mutual event season (Descamps et al., 2007). Furthermore, a large-scale geological depression, located on one of the components, was introduced to better match the observed lightcurves. This vast geological feature of about 68 km in diameter, which could be postulated as a bowl-shaped impact crater, is indeed responsible of the photometric asymmetries seen on the "shoulders" of the lightcurves. The bulk density was then recomputed to 1.28+/-0.04 gcm-3 to take into account this large-scale non-convexity. This giant crater could be the aftermath of a tremendous collision of a 100-km sized proto-Antiope with another Themis family member. This statement is supported by the fact that Antiope is sufficiently porous (~50%) to survive such an impact without being wholly destroyed. This violent shock would have then imparted enough angular momentum for fissioning of proto-Antiope into two equisized bodies. We calculated that the impactor must have a diameter greater than ~17 km, for an impact velocity ranging between 1 and 4 km/s. With such a projectile, this event has a substantial 50% probability to have occurred over the age of the Themis family.Comment: 30 pages, 3 Tables, 8 Figures. Accepted for publication in Icaru

Herschel observations of gamma-ray burst host galaxies: implications for the topology of the dusty interstellar medium

Long-duration gamma-ray bursts (GRBs) are indisputably related to star formation, and their vast luminosity in gamma rays pin-points regions of star formation independent of galaxy mass. As such, GRBs provide a unique tool for studying star forming galaxies out to high-z independent of luminosity. Most of our understanding of the properties of GRB hosts (GRBHs) comes from optical and near-infrared (NIR) follow-up observations, and we therefore have relatively little knowledge of the fraction of dust-enshrouded star formation that resides within GRBHs. Currently ~20% of GRBs show evidence of significant amounts of dust along the line of sight to the afterglow through the host galaxy, and these GRBs tend to reside within redder and more massive galaxies than GRBs with optically bright afterglows. In this paper we present Herschel observations of five GRBHs with evidence of being dust-rich, targeted to understand the dust attenuation properties within GRBs better. Despite the sensitivity of our Herschel observations, only one galaxy in our sample was detected (GRBH 070306), for which we measure a total star formation rate (SFR) of ~100Mstar/yr, and which had a relatively high stellar mass (log[Mstar]=10.34+0.09/-0.04). Nevertheless, when considering a larger sample of GRBHs observed with Herschel, it is clear that stellar mass is not the only factor contributing to a Herschel detection, and significant dust extinction along the GRB sightline (A_{V,GRB}>1.5~mag) appears to be a considerably better tracer of GRBHs with high dust mass. This suggests that the extinguishing dust along the GRB line of sight lies predominantly within the host galaxy ISM, and thus those GRBs with A_{V,GRB}>1~mag but with no host galaxy Herschel detections are likely to have been predominantly extinguished by dust within an intervening dense cloud.Comment: 14 pages, 7 figures. Accepted for publication in A&

Sub-millimeter galaxies as progenitors of compact quiescent galaxies

Three billion years after the big bang (at redshift z=2), half of the most massive galaxies were already old, quiescent systems with little to no residual star formation and extremely compact with stellar mass densities at least an order of magnitude larger than in low redshift ellipticals, their descendants. Little is known about how they formed, but their evolved, dense stellar populations suggest formation within intense, compact starbursts 1-2 Gyr earlier (at 3<z<6). Simulations show that gas-rich major mergers can give rise to such starbursts which produce dense remnants. Sub-millimeter selected galaxies (SMGs) are prime examples of intense, gas-rich, starbursts. With a new, representative spectroscopic sample of compact quiescent galaxies at z=2 and a statistically well-understood sample of SMGs, we show that z=3-6 SMGs are consistent with being the progenitors of z=2 quiescent galaxies, matching their formation redshifts and their distributions of sizes, stellar masses and internal velocities. Assuming an evolutionary connection, their space densities also match if the mean duty cycle of SMG starbursts is 42 (+40/-29) Myr (consistent with independent estimates), which indicates that the bulk of stars in these massive galaxies were formed in a major, early surge of star-formation. These results suggests a coherent picture of the formation history of the most massive galaxies in the universe, from their initial burst of violent star-formation through their appearance as high stellar-density galaxy cores and to their ultimate fate as giant ellipticals.Comment: ApJ (in press

Identification of z~>2 Herschel 500 micron sources using color-deconfusion

We present a new method to search for candidate z~>2 Herschel 500{\mu}m sources in the GOODS-North field, using a S500{\mu}m/S24{\mu}m "color deconfusion" technique. Potential high-z sources are selected against low-redshift ones from their large 500{\mu}m to 24{\mu}m flux density ratios. By effectively reducing the contribution from low-redshift populations to the observed 500{\mu}m emission, we are able to identify counterparts to high-z 500{\mu}m sources whose 24{\mu}m fluxes are relatively faint. The recovery of known z~4 starbursts confirms the efficiency of this approach in selecting high-z Herschel sources. The resulting sample consists of 34 dusty star-forming galaxies at z~>2. The inferred infrared luminosities are in the range 1.5x10^12-1.8x10^13 Lsun, corresponding to dust-obscured star formation rates (SFRs) of ~260-3100 Msun/yr for a Salpeter IMF. Comparison with previous SCUBA 850{\mu}m-selected galaxy samples shows that our method is more efficient at selecting high-z dusty galaxies with a median redshift of z=3.07+/-0.83 and 10 of the sources at z~>4. We find that at a fixed luminosity, the dust temperature is ~5K cooler than that expected from the Td-LIR relation at z<1, though different temperature selection effects should be taken into account. The radio-detected subsample (excluding three strong AGN) follows the far-infrared/radio correlation at lower redshifts, and no evolution with redshift is observed out to z~5, suggesting that the far-infrared emission is star formation dominated. The contribution of the high-z Herschel 500{\mu}m sources to the cosmic SFR density is comparable to that of SMG populations at z~2.5 and at least 40% of the extinction-corrected UV samples at z~4 (abridged).Comment: 33 pages in emulateapj format, 24 figures, 2 tables, accepted for publication in the ApJ

(16) Psyche: A mesosiderite-like asteroid?

Asteroid (16) Psyche is the target of the NASA Psyche mission. It is considered one of the few main-belt bodies that could be an exposed proto-planetary metallic core and that would thus be related to iron meteorites. Such an association is however challenged by both its near- and mid-infrared spectral properties and the reported estimates of its density. Here, we aim to refine the density of (16) Psyche to set further constraints on its bulk composition and determine its potential meteoritic analog. We observed (16) Psyche with ESO VLT/SPHERE/ZIMPOL as part of our large program (ID 199.C-0074). We used the high angular resolution of these observations to refine Psyche's three-dimensional (3D) shape model and subsequently its density when combined with the most recent mass estimates. In addition, we searched for potential companions around the asteroid. We derived a bulk density of 3.99\,$\pm$\,0.26\,g$\cdot$cm$^{-3}$ for Psyche. While such density is incompatible at the 3-sigma level with any iron meteorites ($\sim$7.8\,g$\cdot$cm$^{-3}$), it appears fully consistent with that of stony-iron meteorites such as mesosiderites (density $\sim$4.25\,$\cdot$cm$^{-3}$). In addition, we found no satellite in our images and set an upper limit on the diameter of any non-detected satellite of 1460\,$\pm$\,200}\,m at 150\,km from Psyche (0.2\%\,$\times$\,R$_{Hill}$, the Hill radius) and 800\,$\pm$\,200\,m at 2,000\,km (3\%\,$\times$\,$R_{Hill}$). Considering that the visible and near-infrared spectral properties of mesosiderites are similar to those of Psyche, there is merit to a long-published initial hypothesis that Psyche could be a plausible candidate parent body for mesosiderites.Comment: 16 page

The Burst Cluster: Dark Matter in a Cluster Merger Associated with the Short Gamma Ray Burst, GRB 050509B

We have identified a merging galaxy cluster with evidence of two distinct sub-clusters. The X-ray and optical data suggest that the subclusters are moving away from each other after closest approach. This cluster merger was discovered from observations of the well localized short-duration gamma-ray burst (GRB), GRB 050509B. The Swift/Burst Alert Telescope (BAT) source position is coincident with a cluster of galaxies ZwCl 1234.0+02916. The subsequent Swift/X-Ray Telescope (XRT) localization of the X-ray afterglow found the GRB coincident with 2MASX J12361286+2858580, a giant red elliptical galaxy in the cluster. Deep multi-epoch optical images were obtained to constrain the evolution of the GRB afterglow, including a 27480s exposure in the F814W band with Hubble Space Telescope Advanced Camera for Surveys (ACS), among the deepest imaging ever obtained towards a known galaxy cluster in a single passband. We perform a weak gravitational lensing analysis, including mapping the total mass distribution of the merger system. Combined with Chandra X-ray Observatory and Swift/XRT observations, we investigate the dynamical state of the merger to probe the nature of the dark matter component. Our weak gravitational lensing measurements reveal a separation of the X-ray centroid of the western subcluster from the center of the mass and galaxy light distributions, similar to that of the famous "Bullet cluster". We conclude that the "Burst cluster" is another candidate merger system for determining the nature of dark matter and for studying the environment of short GRBs. We discuss connections between the cluster dynamical state and/or matter composition and compact object mergers, the leading model for the origin of short GRBs. Finally, we present results from a weak lensing survey based on archival Very Large Telescope (VLT) images in the areas of 5 other short GRBs.Comment: 17 pages, 7 figures, accepted by Ap

Shock waves in two-dimensional granular flow: effects of rough walls and polydispersity

We have studied the two-dimensional flow of balls in a small angle funnel, when either the side walls are rough or the balls are polydisperse. As in earlier work on monodisperse flows in smooth funnels, we observe the formation of kinematic shock waves/density waves. We find that for rough walls the flows are more disordered than for smooth walls and that shock waves generally propagate more slowly. For rough wall funnel flow, we show that the shock velocity and frequency obey simple scaling laws. These scaling laws are consistent with those found for smooth wall flow, but here they are cleaner since there are fewer packing-site effects and we study a wider range of parameters. For pipe flow (parallel side walls), rough walls support many shock waves, while smooth walls exhibit fewer or no shock waves. For funnel flows of balls with varying sizes, we find that flows with weak polydispersity behave qualitatively similar to monodisperse flows. For strong polydispersity, scaling breaks down and the shock waves consist of extended areas where the funnel is blocked completely.Comment: 11 pages, 15 figures; accepted for PR