Search

We present the third catalog release of the wide-area (31.3 deg$^2$) Stripe 82 X-ray survey. This catalog combines previously published X-ray source properties with multiwavelength counterparts and photometric redshifts, presents 343 new spectroscopic redshifts, and provides black hole masses for 1297 Type 1 Active Galactic Nuclei (AGN). With spectroscopic redshifts for 3457 out of 6181 Stripe 82X sources, the survey has a spectroscopic completeness of 56%. This completeness rises to 90% when considering the contiguous portions of the Stripe 82X survey with homogeneous X-ray coverage at an optical magnitude limit of $r<22$. Within that portion of the survey, 23% of AGN can be considered obscured by being either a Type 2 AGN, reddened ($R-K > 4$, Vega), or X-ray obscured with a column density $N_{\rm H} > 10^{22}$ cm$^{-2}$. Unlike other surveys, there is only a 18% overlap between Type 2 and X-ray obscured AGN. We calculated black hole masses for Type 1 AGN that have SDSS spectra using virial mass estimators calibrated on the H$\beta$,MgII, H$\alpha$, and CIV emission lines. We find wide scatter in these black hole mass estimates, indicating that statiscal analyses should use black hole masses calculated from the same formula to minimize bias. We find that the AGN with the highest X-ray luminosities are accreting at the highest Eddington ratios, consistent with the picture that most black hole mass accretion happens in the phase when the AGN is luminous ($L_{\rm 2-10 keV} > 10^{45}$ erg s$^{-1}$)., Comment: 30 pages, 8 figures, accepted for publication to ApJ

In this paper, we discuss the development and deployment of a robust autonomous system capable of performing various tasks in the maritime domain under unknown dynamic conditions. We investigate a data-driven approach based on modular design for ease of transfer of autonomy across different maritime surface vessel platforms. The data-driven approach alleviates issues related to a priori identification of system models that may become deficient under evolving system behaviors or shifting, unanticipated, environmental influences. Our proposed learning-based platform comprises a deep Koopman system model and a change point detector that provides guidance on domain shifts prompting relearning under severe exogenous and endogenous perturbations. Motion control of the autonomous system is achieved via an optimal controller design. The Koopman linearized model naturally lends itself to a linear-quadratic regulator (LQR) control design. We propose the C3D control architecture Cascade Control with Change Point Detection and Deep Koopman Learning. The framework is verified in station keeping task on an ASV in both simulation and real experiments. The approach achieved at least 13.9 percent improvement in mean distance error in all test cases compared to the methods that do not consider system changes., Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

We examine the simple model put forth in a recent note by Loeb regarding the brightness of space debris in the size range of 1-10 cm and their impact on the Rubin Observatory Legacy Survey of Space and Time (LSST) transient object searches. Their main conclusion was that "image contamination by untracked space debris might pose a bigger challenge [than large commercial satellite constellations in LEO]". Following corrections and improvements to this model, we calculate the apparent brightness of tumbling low-Earth orbit (LEO) debris of various sizes, and we briefly discuss the likely impact and potential mitigations of glints from space debris in LSST. We find the majority of the difference in predicted signal-to-noise ratio (S/N), about a factor of 6, arises from the defocus of LEO objects due to the large Simonyi Survey Telescope primary mirror and finite range of the debris. The largest change from the Loeb estimates is that 1-10 cm debris in LEO pose no threat to LSST transient object alert generation because their S/N for detection will be much lower than estimated by Loeb due to defocus. We find that only tumbling LEO debris larger than 10 cm or with significantly greater reflectivity, which give 1 ms glints, might be detected with high confidence (S/N > 5). We estimate that only one in five LSST exposures low on the sky during twilight might be affected. More slowly tumbling objects of larger size can give flares in brightness that are easily detected; however, these will not be cataloged by the LSST Science Pipelines because of the resulting long streak., Comment: 6 pages, 1 figure, accepted for publication in ApJL

Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots to larger sizes. Electrothermal shape memory alloy (SMA) artificial muscles have the potential to create these large forces and high displacements, but consistently using these muscles under a well-defined model, in-situ in a soft robot, remains an open challenge. This article provides a system for maintaining the highest-possible consistent SMA forces, over long lifetimes, by combining a fatigue testing protocol with a supervisory control system for the muscles' internal temperature state. We propose a design of a soft limb with swap-able SMA muscles, and deploy the limb in a blocked-force test to quantify the relationship between the measured maximum force at different temperatures over different lifetimes. Then, by applying an invariance-based control system to maintain temperatures under our long-life limit, we demonstrate consistent high forces in a practical task over hundreds of cycles. The method we developed allows for practical implementation of SMAs in soft robots through characterizing and controlling their behavior in-situ, and provides a method to impose limits that maximize their consistent, repeatable behavior., Comment: 8 pages, 8 figures, accepted by 2024 IEEE International Conference on Soft Robotics (RoboSoft)

We present evidence of variable 1.3 millimeter emission from the 1-3 Myr, SpT G2-G5 class III YSO, HD~283572. HD~283572 was observed on 8 dates with the Submillimeter Array between 2021 December and 2023 May, a total on-source time of 10.2 hours, probing a range of timescales down to 5.2 seconds. Averaging all data obtained on 2022 Jan 17 shows a 4.4 mJy ($8.8\sigma$) point source detection with a negative spectral index ($\alpha{=}{-2.7}{\pm}1.2$), with peak emission rising to 13.8 mJy in one 3 minute span, and 25 mJy in one 29.7 second integration ($L_\nu=4.7\times10^{17}$ erg s$^{-1}$ Hz$^{-1}$). Combining our data for the other 7 dates shows no detection, with an rms noise of 0.24 mJy beam$^{-1}$. The stochastic millimeter enhancements on time frames of seconds--minutes--hours with negative spectral indices are most plausibly explained by synchrotron or gyro-synchrotron radiation from stellar activity. HD 283572's 1.3 mm light-curve has similarities with variable binaries, suggesting HD 283572's activity may have been triggered by interactions with an as-yet undetected companion. We additionally identify variability of HD 283572 at 10 cm, from VLASS data. This study highlights the challenges of interpreting faint mm emission from evolved YSOs that may host tenuous disks, and suggests that a more detailed temporal analysis of spatially unresolved data is generally warranted. The variability of class III stars may open up new ground for understanding the physics of flares in the context of terrestrial planet formation., Comment: Accepted for publication in ApJL. 12 pages, inc. 5 figures, 2 tables

To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of thrust by altering stroke mechanics. However, direct transference of these alterations from an organism to a robotic flapping propulsor may not be optimal due to irrelevant evolutionary pressures. We instead seek to determine what alterations to stroke mechanics are optimal for a damaged robotic system via artificial evolution. To determine whether natural and machine-learned optima differ, we employ a cyber-physical system using a Covariance Matrix Adaptation Evolutionary Strategy to seek the most efficient trajectory for a given force. We implement an online optimization with hardware-in-the-loop, performing experimental function evaluations with an actuated flexible flat plate. To recoup thrust production following partial amputation, the most efficient learned strategy was to increase amplitude, increase frequency, increase the amplitude of angle of attack, and phase shift the angle of attack by approximately 110 degrees. In fish, only an amplitude increase is reported by majority in the literature. To recoup side-force production, a more challenging optimization landscape is encountered. Nesting of optimal angle of attack traces is found in the resultant-based reference frame, but no clear trend in amplitude or frequency are exhibited -- in contrast to the increase in frequency reported in insect literature. These results suggest that how mechanical flapping propulsors most efficiently adjust to damage of a flapping propulsor may not align with natural swimmers and flyers.

Spatially-resolved images of debris disks are necessary to determine disk morphological properties and the scattering phase function (SPF) which quantifies the brightness of scattered light as a function of phase angle. Current high-contrast imaging instruments have successfully resolved several dozens of debris disks around other stars, but few studies have investigated trends in the scattered-light, resolved population of debris disks in a uniform and consistent manner. We have combined Karhunen-Loeve Image Projection (KLIP) with radiative-transfer disk forward modeling in order to obtain the highest quality image reductions and constrain disk morphological properties of eight debris disks imaged by the Gemini Planet Imager at H-band with a consistent and uniformly-applied approach. In describing the scattering properties of our models, we assume a common SPF informed from solar system dust scattering measurements and apply it to all systems. We identify a diverse range of dust density properties among the sample, including critical radius, radial width, and vertical width. We also identify radially narrow and vertically extended disks that may have resulted from substellar companion perturbations, along with a tentative positive trend in disk eccentricity with relative disk width. We also find that using a common SPF can achieve reasonable model fits for disks that are axisymmetric and asymmetric when fitting models to each side of the disk independently, suggesting that scattering behavior from debris disks may be similar to Solar System dust., Comment: 23+5 pages, 12+6 figures, 15 pages of Online Supplemental Material included; Accepted for publication in MNRAS

As AI systems quickly improve in both breadth and depth of performance, they lend themselves to creating increasingly powerful and realistic agents, including the possibility of agents modeled on specific people. We anticipate that within our lifetimes it may become common practice for people to create a custom AI agent to interact with loved ones and/or the broader world after death. We call these generative ghosts, since such agents will be capable of generating novel content rather than merely parroting content produced by their creator while living. In this paper, we first discuss the design space of potential implementations of generative ghosts. We then discuss the practical and ethical implications of generative ghosts, including potential positive and negative impacts on individuals and society. Based on these considerations, we lay out a research agenda for the AI and HCI research communities to empower people to create and interact with AI afterlives in a safe and beneficial manner., Comment: version 2, updated May 8, 2024 to included updated references and new case study pointers as the trend of generative ghosts accelerates