Search

Low-frequency quasi-periodic oscillations (LFQPOs) are commonly observed in X-ray light curves of black hole X-ray binaries (BHXRBs); however, their origin remains a topic of debate. In order to thoroughly investigate variations in spectral properties on the QPO timescale, we utilized the Hilbert-Huang transform technique to conduct phase-resolved spectroscopy across a broad energy band for LFQPOs in the newly discovered BHXRB Swift J1727.8-1613. This is achieved through quasi-simultaneous observations from Neutron star Interior Composition ExploreR (NICER), Nuclear Spectroscopic Telescope ARray (NuSTAR), and Hard X-ray Modulation Telescope (Insight-HXMT). Our analysis reveals that both the non-thermal and disk-blackbody components exhibit variations on the QPO timescale, with the former dominating the QPO variability. For the spectral parameters, we observe modulation of the disk temperature, spectral indices, and reflection fraction with the QPO phase with high statistical significance (>5\sigma). Notably, the variation in the disk temperature is found to precede the variations in the non-thermal and disk fluxes by ~0.4-0.5 QPO cycles. We suggest that these findings offer further evidence that the type-C QPO variability is a result of geometric effects of the accretion flow., Comment: Accepted for pulication in The Astrophysical Journal

Owing to the broad energy coverage of Insight-HXMT in the hard X-ray band, we detected the highest energy of pulsation exceeding 200 keV around the 2017-2018 outburst peak of the first Galactic pulsating ultraluminous X-ray source (PULX) Swift J0243.6+6124, which is the highest energy detected from PULXs to date. We also obtained the highest energy of pulsation of every exposure during the outburst in 2017-2018, and found the highest energy is roughly positively correlated with luminosity. Using our newly developed method, we identified the critical luminosity being $4\times 10^{38}\, \rm erg\,s^{-1}$ when the main peaks of the low and high energy pulse profiles became aligned, which separates the fan-beam dominated and pencil-beam dominated accretion regimes. Above the critical luminosity, the phase of the main peak shifted gradually from 0.5 to 0.8 until the outburst peak in all energy bands is reached, which is in agreement with the phase shift found previously at low energies. Our result is consistent with what is derived from spectral analysis., Comment: 9 pages, 9 figures, published in RAA

Gamma-ray bursts (GRBs) are believed to launch relativistic jets, which generate prompt emission by internal processes, and produce long-lasting afterglows by driving external shocks into surrounding medium. However, how the jet powers the external shock is poorly known. The unprecedented observations of the keV-MeV emission with GECAM and the TeV emission with LHAASO of the brightest-of-all-time GRB 221009A offer a great opportunity to study the prompt-to-afterglow transition and the impact of jet on the early dynamics of external shock. In this letter, we find that the cumulative light curve of keV-MeV emission could well fit the rising stage of the TeV light curve of GRB 221009A, with a time delay, $4.45^{+0.26}_{-0.26}$\,s, of TeV emission. Moreover, both the rapid increase in the initial stage and the excess from about \T+260\,s to 270\,s in the TeV light curve are tracking the light-curve bumps in the prompt keV-MeV emission. The close relation between the keV-MeV and TeV emission reveals the continuous energy-injection into the external shock. Assuming an energy-injection rate exactly following the keV-MeV flux of GRB 221009A, including the very early precursor, we build a continuous energy-injection model where the jet Lorentz factor is derived from the TeV time delay, and the TeV data is well fitted, with the TeV excesses interpreted by inverse Compton (IC) scatterings of the inner-coming prompt emission by the energetic electrons in external shock., Comment: ApJL accepted version; analytical derivation of SSC flux scaling with shock energy added

As the brightest gamma-ray burst ever observed, GRB 221009A provided a precious opportunity to explore spectral line features. In this paper, we performed a comprehensive spectroscopy analysis of GRB 221009A jointly with GECAM-C and Fermi/GBM data to search for emission and absorption lines. For the first time we investigated the line feature throughout this GRB including the most bright part where many instruments suffered problems, and identified prominent emission lines in multiple time intervals. The central energy of the Gaussian emission line evolves from about 37 MeV to 6 MeV, with a nearly constant ratio (about 10\%) between the line width and central energy. Particularly, we find that both the central energy and the energy flux of the emission line evolve with time as a power law decay with power law index of -1 and -2 respectively. We suggest that the observed emission lines most likely originate from the blue-shifted electron positron pair annihilation 511 keV line. We find that a standard high latitude emission scenario cannot fully interpret the observation, thus we propose that the emission line comes from some dense clumps with electron positron pairs traveling together with the jet. In this scenario, we can use the emission line to directly, for the first time, measure the bulk Lorentz factor of the jet ($\Gamma$) and reveal its time evolution (i.e. $\Gamma \sim t^{-1}$) during the prompt emission. Interestingly, we find that the flux of the annihilation line in the co-moving frame keeps constant. These discoveries of the spectral line features shed new and important lights on the physics of GRB and relativistic jet., Comment: Accepted by SCIENCE CHINA Physics, Mechanics & Astronomy (SCPMA)

Preference-based learning aims to align robot task objectives with human values. One of the most common methods to infer human preferences is by pairwise comparisons of robot task trajectories. Traditional comparison-based preference labeling systems seldom support labelers to digest and identify critical differences between complex trajectories recorded in videos. Our formative study (N = 12) suggests that individuals may overlook non-salient task features and establish biased preference criteria during their preference elicitation process because of partial observations. In addition, they may experience mental fatigue when given many pairs to compare, causing their label quality to deteriorate. To mitigate these issues, we propose FARPLS, a Feature-Augmented Robot trajectory Preference Labeling System. FARPLS highlights potential outliers in a wide variety of task features that matter to humans and extracts the corresponding video keyframes for easy review and comparison. It also dynamically adjusts the labeling order according to users' familiarities, difficulties of the trajectory pair, and level of disagreements. At the same time, the system monitors labelers' consistency and provides feedback on labeling progress to keep labelers engaged. A between-subjects study (N = 42, 105 pairs of robot pick-and-place trajectories per person) shows that FARPLS can help users establish preference criteria more easily and notice more relevant details in the presented trajectories than the conventional interface. FARPLS also improves labeling consistency and engagement, mitigating challenges in preference elicitation without raising cognitive loads significantly, Comment: Accepted to ACM Conference on Intelligent User Interfaces (IUI) 2024, March 18-21, 2024, Greenville, SC, USA

Artificial Intelligence (AI)-driven defect inspection is pivotal in industrial manufacturing. Yet, many methods, tailored to specific pipelines, grapple with diverse product portfolios and evolving processes. Addressing this, we present the Incremental Unified Framework (IUF), which can reduce the feature conflict problem when continuously integrating new objects in the pipeline, making it advantageous in object-incremental learning scenarios. Employing a state-of-the-art transformer, we introduce Object-Aware Self-Attention (OASA) to delineate distinct semantic boundaries. Semantic Compression Loss (SCL) is integrated to optimize non-primary semantic space, enhancing network adaptability for novel objects. Additionally, we prioritize retaining the features of established objects during weight updates. Demonstrating prowess in both image and pixel-level defect inspection, our approach achieves state-of-the-art performance, proving indispensable for dynamic and scalable industrial inspections. Our code will be released at https://github.com/jqtangust/IUF., Comment: Accepted by ECCV2024

Although low-frequency quasiperiodic oscillations (LFQPOs) are commonly detected in the X-ray light curves of accreting black hole X-ray binaries, their origin still remains elusive. In this study, we conduct phase-resolved spectroscopy in a broad energy band for LFQPOs in MAXI J1820+070 during its 2018 outburst, utilizing Insight-HXMT observations. By employing the Hilbert-Huang transform method, we extract the intrinsic quasiperiodic oscillation (QPO) variability, and obtain the corresponding instantaneous amplitude, phase, and frequency functions for each data point. With well-defined phases, we construct QPO waveforms and phase-resolved spectra. By comparing the phase-folded waveform with that obtained from the Fourier method, we find that phase folding on the phase of the QPO fundamental frequency leads to a slight reduction in the contribution of the harmonic component. This suggests that the phase difference between QPO harmonics exhibits time variability. Phase-resolved spectral analysis reveals strong concurrent modulations of the spectral index and flux across the bright hard state. The modulation of the spectral index could potentially be explained by both the corona and jet precession models, with the latter requiring efficient acceleration within the jet. Furthermore, significant modulations in the reflection fraction are detected exclusively during the later stages of the bright hard state. These findings provide support for the geometric origin of LFQPOs and offer valuable insights into the evolution of the accretion geometry during the outburst in MAXI J1820+070., Comment: Accepted for publication in The Astrophysical Journal

The early afterglow of a Gamma-ray burst (GRB) can provide critical information on the jet and progenitor of the GRB. The extreme brightness of GRB 221009A allows us to probe its early afterglow in unprecedented detail. In this letter, we report comprehensive observation results of the early afterglow of GRB 221009A (from $T_0$+660 s to $T_0$+1860 s, where $T_0$ is the \textit{Insight}-HXMT/HE trigger time) in X/$\gamma$-ray energy band (from 20 keV to 20 MeV) by \textit{Insight}-HXMT/HE, GECAM-C and \textit{Fermi}/GBM. We find that the spectrum of the early afterglow in 20 keV-20 MeV could be well described by a cutoff power-law with an extra power-law which dominates the low and high energy bands respectively. The cutoff power-law $E_{\rm peak}$ is $\sim$ 30 keV and the power-law photon index is $\sim$ 1.8 throughout the early afterglow phase. By fitting the light curves in different energy bands, we find that a significant achromatic break (from keV to TeV) is required at $T_0$ + 1246$^{+27}_{-26}$ s (i.e. 1021 s since the afterglow starting time $T_{\rm AG}$=$T_0$+225 s), providing compelling evidence of a jet break. Interestingly, both the pre-break and post-break decay slopes vary with energy, and these two slopes become closer in the lower energy band, making the break less identifiable. Intriguingly, the spectrum of the early afterglow experienced a slight hardening before the break and a softening after the break. These results provide new insights into the understanding of this remarkable GRB., Comment: Accepted for publication in ApJ Letters on 19-Jan-2024, 11 pages, 7 figures and 2 tables

The atomic exchange effect will lead to a significant increase in the probability density of $\beta$ decays below a few keV. This effect is very important for scientific experiments that performed by low-energy electron spectroscopy measurements. However, the atomic exchange effect involves multi-electron interactions, especially for a system with 82 electrons such as lead. Different parameters will lead to different trends in the energy spectrum predicted by the theory, so it is urgent to carry out experimental measurements to provide parameter limits for the theory. The probability increase brought about by the atomic exchange effect is most obvious near 0keV, and the $\beta$ energy spectrum is accurately measured near this energy point, so as to provide constraints for the physical model of atomic exchange. However, it is extremely difficult to measure the $\beta$ energy spectrum at 0keV due to the limitations of electronic noise and internal conversion effects. The excited decay path of $^{210}$Pb was taken as the observation object,by measuring the total energy spectrum of $\beta$ rays and cascaded gamma rays, the precise measurement of the $\beta$ energy spectrum near 0keV has been completed. The analysis of the $\beta$ energy spectrum of $^{210}$Pb gives the following conclusions. The experimental results first verified the theory that the exchange effect causes the probability increase at the low energy end near 0keV. At the same time, the experimental results are higher than the existing predictions of the atomic exchange effect. At least for Pb element, all the electron shells have played a role in improving the probability density of the low end of the $\beta$ energy spectrum. This discovery will promote the theoretical calculation of the $\beta$ energy spectrum of $^{214}$Pb, at the same time, it also indicates that the reactor neutrinos have a higher probability density at the omnipotent end.

The study of quasi-periodic oscillations (QPOs) and power density spectra (PDS) continuum properties can help shed light on the still illusive emission physics of magnetars and as a window into the interiors of neutron stars using asteroseismology. In this work, we employ a Bayesian method to search for the QPOs in the hundreds of X-ray bursts from SGR J1935+2154 observed by {\it Insight}-HXMT, GECAM and Fermi/GBM from July 2014 to January 2022. Although no definitive QPO signal (significance $>3\sigma$) is detected in individual bursts or the averaged periodogram of the bursts grouped by duration, we identify several bursts exhibiting possible QPO at $\sim$ 40 Hz, which is consistent with that reported in the X-ray burst associated with FRB 200428. We investigate the PDS continuum properties and find that the distribution of the PDS slope in the simple power-law model peaks $\sim$ 2.5, which is consistent with other magnetars but higher than 5/3 commonly seen in gamma-ray bursts. Besides, the distribution of the break frequency in the broken power-law model peaks at $\sim$ 60 Hz. Finally, we report that the power-law index of PDS has an anti-correlation and power-law dependence on the burst duration as well as the minimum variation timescale., Comment: comments welcome

The minimum variation timescale (MVT) of soft gamma-ray repeaters can be an important probe to estimate the emission region in pulsar-like models, as well as the Lorentz factor and radius of the possible relativistic jet in gamma-ray burst (GRB)-like models, thus revealing their progenitors and physical mechanisms. In this work, we systematically study the MVTs of hundreds of X-ray bursts (XRBs) from SGR J1935+2154 observed by {\it Insight}-HXMT, GECAM and Fermi/GBM from July 2014 to Jan 2022 through the Bayesian Block algorithm. We find that the MVTs peak at $\sim$ 2 ms, corresponding to a light travel time size of about 600 km, which supports the magnetospheric origin in pulsar-like models. The shock radius and the Lorentz factor of the jet are also constrained in GRB-like models. Interestingly, the MVT of the XRB associated with FRB 200428 is $\sim$ 70 ms, which is longer than that of most bursts and implies its special radiation mechanism. Besides, the median of MVTs is 7 ms, shorter than the median MVTs of 40 ms and 480 ms for short GRBs or long GRBs, respectively. However, the MVT is independent of duration, similar to GRBs. Finally, we investigate the energy dependence of MVT and suggest that there is a marginal evidence for a power-law relationship like GRBs but the rate of variation is at least about an order of magnitude smaller. These features may provide an approach to identify bursts with a magnetar origin., Comment: accepted for publication in ApJS

We have performed a spectral-timing analysis on the black hole X-ray binary MAXI J1535--571 during its 2017 outburst, with the aim of exploring the evolution of the inner accretion flow geometry. X-ray reverberation lags are observed in the hard-intermediate state (HIMS) and soft-intermediate state (SIMS) of the outburst. During the HIMS, the characteristic frequency of the reverberation lags $\nu_0$ (the frequency at which the soft lag turns to zero in the lag-frequency spectra) increases when the spectrum softens. This reflects a reduction of the spatial distance between the corona and accretion disc, when assuming the measured time lags are associated with the light travel time. We also find a strong correlation between $\nu_0$ and type-C Quasi Periodic Oscillation (QPO) centroid frequency $\nu_{QPO}$, which can be well explained by the Lense-Thirring (L-T) precession model under a truncated disk geometry. Despite the degeneracy in the spectral modellings, our results suggest that the accretion disc is largely truncated in the low hard state (LHS), and moves inward as the spectrum softens. Combine the spectral modelling results with the $\nu_0$ - $\nu_{QPO}$ evolution, we are inclined to believe that this source probably have a truncated disk geometry in the hard state.

We present time-frequency analysis, based on the Hilbert-Huang transform (HHT), of the evolution on the low-frequency quasi-periodic oscillations (LFQPOs) observed in the black hole X-ray binary MAXI J1820+070. Through the empirical mode decomposition (EMD) method, we decompose the light curve of the QPO component and measure its intrinsic phase lag between photons from different energy bands. We find that the QPO phase lag is negative (low energy photons lag behind high energy photons), meanwhile the absolute value of the lag increases with energy. By applying the Hilbert transform to the light curve of the QPO, we further extract the instantaneous frequency and amplitude of the QPO. Compared these results with those from the Fourier analysis, we find that the broadening of the QPO peak is mainly caused by the frequency modulation. Through further analysis, we find that these modulations could share a common physical origin with the broad-band noise, and can be well explained by the internal shock model of the jet.

The determination of the absolute and relative position of a spacecraft is critical for its operation, observations, data analysis, scientific studies, as well as deep space exploration in general. A spacecraft that can determine its own absolute position autonomously may perform more than that must rely on transmission solutions. In this work, we report an absolute navigation accuracy of $\sim$ 20 km using 16-day Crab pulsar data observed with $Fermi$ Gamma ray Burst Monitor (GBM). In addition, we propose a new method with the inverse process of the triangulation for joint navigation using repeated bursts like that from the magnetar SGR J1935+2154 observed by the Gravitational wave high-energy Electromagnetic Counterpart All-sky Monitor (GECAM) and GBM., Comment: accepted for publication in ApJS

GRB 221009A is the brightest gamma-ray burst ever detected since the discovery of this kind of energetic explosions. However, an accurate measurement of the prompt emission properties of this burst is very challenging due to its exceptional brightness. With joint observations of \textit{Insight}-HXMT and GECAM-C, we made an unprecedentedly accurate measurement of the emission during the first $\sim$1800 s of GRB 221009A, including its precursor, main emission (ME, which dominates the burst in flux), flaring emission and early afterglow, in the hard X-ray to soft gamma-ray band from $\sim$ 10 keV to $\sim$ 6 MeV. Based on the GECAM-C unsaturated data of the ME, we measure a record-breaking isotropic equivalent energy ($E_{\rm iso}$) of $\bf \sim 1.5 \times 10^{55}$ erg, which is about eight times the total rest-mass energy of the Sun. The early afterglow data require a significant jet break between 650 s and 1100 s, most likely at $\sim950$ s from the afterglow starting time $T_{AG}$, which corresponds to a jet opening angle of $\sim {0.7^\circ} \ (\eta_\gamma n)^{1/8}$, where $n$ is the ambient medium density in units of $\rm cm^{-3}$ and $\eta_\gamma$ is the ratio between $\gamma$-ray energy and afterglow kinetic energy. The beaming-corrected total $\gamma$-ray energy $E_{\gamma}$ is $\sim 1.15 \times10^{51} \ (\eta_\gamma n)^{1/4}$ erg, which is typical for long GRBs. These results suggest that this GRB may have a special central engine, which could launch and collimate a very narrowly beamed jet with an ordinary energy budget, leading to exceptionally luminous gamma-ray radiation per unit solid angle. Alternatively, more GRBs might have such a narrow and bright beam, which are missed by an unfavorable viewing angle or have been detected without distance measurement., Comment: Submitted to National Science Review. This paper is under press embargo, contact the corresponding author for details

Purpose: We present the five-year in-orbit background evolution of Insight-HXMT since the launch, as well as the effects of the background model in data analysis. Methods: The backgrounds of the three main payloads, i.e., Low-Energy Telescope, Medium-Energy Telescope and High-Energy Telescope, are described, respectively. The evolution of the background over time is obtained by simply comparing the background in every year during the in-orbit operation of Insight-HXMT. Results: The major observational characteristics of the Insight-HXMT in-orbit background are presented, including the light curve, spectrum, geographical distribution, and long-term evolution. The systematic error in background estimation is investigated for every year. Conclusion: The observational characteristics of the five-year in-orbit background are consistent with our knowledge of the satellite design and the space environment, and the background model is still valid for the latest observations of Insight-HXMT., Comment: 22 pages, 25 figures, accepted for publication in RDTM

Purpose: The High-Energy X-ray telescope (HE), one of the three main payloads of the \textit{Insight}-HXMT mission, is composed of eighteen NaI(Tl)/CsI(Na) phoswich detectors, where NaI(Tl) serves as the primary detector covering 20--250\,keV, and CsI(Na) is used as an active shield detector to suppress the background of NaI(Tl) and also serves as an all-sky gamma-ray burst monitor covering 0.2--3\,MeV. In this paper, we review the in-orbit performance of HE in the first 5 years since \textit{Insight}-HXMT was launched on June 15, 2017. Methods: The major performances we concern include the gain and energy resolution of NaI(Tl) and CsI(Na) detectors, the performance of pulse-shape-discriminator (PSD) and system dead-time. In this work, we investigate these performances mainly using the data of blank-sky observations and the data when the telescope in earth occultation. Results: The overall performance of HE/NaI(Tl) is very stable in the first 5 years, whereas the gain of HE/CsI(Na) shows a continuously increasing trend and should be calibrated regularly. Conclusion: In general, HE is still in good health and well-calibrated status after five-year's operation. The in-orbit performance of HE has no significant deviation from expectation. HE is expected to be in operation healthily for another several years of extended mission life., Comment: 19 pages, 16 figures, Accepted by Insight-HXMT special issue on RDTM

After in quiescence for 49 years, 4U~1730--22 became active and had two outbursts in 2021 \& 2022, the onset and tail of the outbursts were observed by NICER, which give us a peerless opportunity to study the state transition and its underlying mechanism. In this work, we take both the NS surface and accretion disk emission as the seed photons of the Comptonization and derive their spectral evolution in a bolometric luminosity range of 1\%--15\%$L_{\rm Edd}$. In the high/soft state, the inferred inner disk radius and the NS radius are consistent well, which implies that the accretion disk is close to the NS surface. For the decay stage, we report a steep change of the accretion disk emission within one day, i.e., the soft-to-hard transition, which could be due to the propeller effect and the corresponding neutron star surface magnetic field is 1.8--2.2$\times10^{8}$ G. Moreover, the inner disk radius is truncated at the corotation radius, which is similar to the propeller effect detected from 4U~1608--52. The absence of the propeller effect in the hard-to-soft state transition implies that the transition between the magnetospheric accretion and the disk accretion is not the sole cause of the state transitions., Comment: Accepted by ApJL

Ge et al. reported a peculiar large glitch observed from SGR 1935 recently~\citep{2022arXiv221103246G}. % Interestingly, this glitch occurred about $3.1\pm 2.5~\rm{days}$ before FRB 200428, accompanied by a delayed spin up (DSU) process with a timescale of $8\pm 1~\rm{days}$. % This DSU is the first one detected from magnetars unambiguously, previously, DSU has only been detected from large glitches of the young Crab pulsar. % Strikingly, this DSU even resulted in torque reversal, i.e., the spin down state of SGR 1935 was turned into a spin up one within $8\pm 1~\rm{days}$, the first case observed from isolated neutron stars as far as we know. % What's more, the average positive torque is consistent in value and order of magnitude with those deduced from DSUs observed from the Crab pulsar. % The coincidences of DSU appearance and consistent positive torque in the Crab pulsar and SGR 1935 suggest that, these DSUs have the same physical origin and should be analyzed simultaneously. % Joint analysis on DSUs from the Crab pulsar and SGR 1935 suggests a physical origin independent of (at least not directly dependent on) rotational parameters. % If this new DSU and torque reversal phenomena be further confirmed and accretion be excluded convincingly, nearly all models regarding DSU phenomenon under the framework of vortex motion should be reconsidered, new physics will be required. % We stress that, joint analysis on DSUs from different pulsars with different rotational parameters may provide pivotal clue to reveal their physical origin, even neutron star equation of state and the triggering mechanism(s) of (galactic) fast radio bursts ultimately., Comment: 6 pages, 1 Table. Submitted

The Earth occultation technique has broad applications in both astronomy and atmospheric density measurements. We construct the background model during the occultation of the Crab Nebula observed by the Insight-Hard X-ray Modulation Telescope (Insight-HXMT) at energies between 6 keV and 100 keV. We propose a Bayesian atmospheric density retrieval method based on the Earth occultation technique, combining Poisson and Gaussian statistics. By modeling the atmospheric attenuation of X-ray photons during the occultation, we simultaneously retrieved the neutral densities of the atmosphere at different altitude ranges. Our method considers the correlation of densities between neighboring atmospheric layers and reduces the potential systematic bias to which previous work may be subject. Previous analyses based on light curve fitting or spectral fitting also lost some spectral or temporal information of the data. In contrast to previous work, the occultation data observed by the three telescopes onboard Insight-HXMT is fully used in our analysis, further reducing the statistical error in density retrieval. We apply our method to cross-check the (semi-)empirical atmospheric models, using 115 sets of occultation data of the Crab Nebula observed by Insight-HXMT. We find that the retrieved neutral density is ~10%, ~20%, and ~25% less than the values of the widely used atmospheric model NRLMSISE-00, in the altitude range of 55--80 km, 80--90 km, and 90--100 km, respectively. We also show that the newly released atmospheric model NRLMSIS 2.0 is generally consistent with our density measurements., Comment: 20 pages, 12 figures, accepted for publication in ApJS

There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or respond to unforeseen changes, whereas robots that work closely with humans can but only by becoming passive to humans, meaning that their main tasks suspended and efficiency compromised. Accordingly, this paper proposes a new complementary framework for human-robot collaboration that balances the safety of humans and the efficiency of robots. In this framework, the robot carries out given tasks using a vision-based adaptive controller, and the human expert collaborates with the robot in the null space. Such a decoupling drives the robot to deal with existing issues in task space (e.g., uncalibrated camera, limited field of view) and in null space (e.g., joint limits) by itself while allowing the expert to adjust the configuration of the robot body to respond to unforeseen changes (e.g., sudden invasion, change of environment) without affecting the robot's main task. Additionally, the robot can simultaneously learn the expert's demonstration in task space and null space beforehand with dynamic movement primitives (DMP). Therefore, an expert's knowledge and a robot's capability are both explored and complementary. Human demonstration and involvement are enabled via a mixed interaction interface, i.e., augmented reality (AR) and haptic devices. The stability of the closed-loop system is rigorously proved with Lyapunov methods. Experimental results in various scenarios are presented to illustrate the performance of the proposed method.

GRB 220426A is a bright gamma-ray burst (GRB) dominated by the photospheric emission. We perform several tests to speculate the origin of this photospheric emission. The dimensionless entropy $\eta$ is large, which is not usual if we assume that it is a pure hot fireball launched by neutrino-antineutrino annihilation mechanism only. Moreover, the outflow has larger $\eta$ with lower luminosity $L$ in the first few seconds, so that the trend of time-resolved $\eta-L$ can not be described as a monotonically positive correlation between $\eta$ and $L$. A hybrid outflow with almost completely thermalized Poynting flux could account for the quasi-thermal spectrum as well as large $\eta$. More importantly, the existence of magnetic field could affect the proton density and neutron-proton coupling effect, so that it could account for the observed trend of time-resolved $\eta-L$. The other origins for the photospheric emission, such as non-dissipative hybrid outflow or magnetic reconnection, are not supported because their radiation efficiencies are low, which is not consistent with non-detection of the afterglow for GRB 220426A. Therefore, we think the hybrid outflow may be the most likely origin., Comment: 15 pages, 7 figures, published in MNRAS

After in quiescence for 49 years, 4U~1730--22 became active and had two outbursts in 2021 \& 2022; ten thermonuclear X-ray bursts were detected with Insight-HXMT. Among them, the faintest burst showed a double-peaked profile, placing the source as the 5th accreting neutron star (NS) exhibiting double/triple-peaked type-I X-ray bursts; the other bursts showed photospheric radius expansion (PRE). The properties of double-peaked non-PRE burst indicate that it could be related to a stalled burning front. For the five bright PRE bursts, apart from the emission from the neutron star (NS) surface, we find the residuals both in the soft ($<$3 keV) and hard ($>$10 keV) X-ray band. Time-resolved spectroscopy reveals that the excess can be attributed to an enhanced pre-burst/persistent emission or the Comptonization of the burst emission by the corona/boundary-layer. We find, the burst emission shows a rise until the photosphere touches down to the NS surface rather than the theoretical predicted constant Eddington luminosity. The shortage of the burst emission in the early rising phase is beyond the occlusion by the disk. We speculate that the findings above correspond to that the obscured part (not only the lower part) of the NS surface is exposed to the line of sight due to the evaporation of the obscured material by the burst emission, or the burst emission is anisotropic ($\xi>1$) in the burst early phase. In addition, based on the average flux of PRE bursts at their touch-down time, we derive a distance estimation as 10.4 kpc., Comment: arXiv admin note: substantial text overlap with arXiv:2208.13556; text overlap with arXiv:2208.12124

Accurate calculation of the phase lags of quasi-periodic oscillations (QPOs) will provide insight into their origin. In this paper we investigate the phase lag correction method which has been applied to calculate the intrinsic phase lags of the QPOs in MAXI J1820+070. We find that the traditional additive model between BBN and QPOs in the time domain is rejected, but the convolution model is accepted. By introducing a convolution mechanism in the time domain, the Fourier cross-spectrum analysis shows that the phase lags between QPOs components in different energy bands will have a simple linear relationship with the phase lags between the total signals, so that the intrinsic phase lags of the QPOs can be obtained by linear correction. The power density spectrum (PDS) thus requires a multiplicative model to interpret the data. We briefly discuss a physical scenario for interpreting the convolution. In this scenario, the corona acts as a low-pass filter, the Green's function containing the noise is convolved with the QPOs to form the low-frequency part of the PDS, while the high-frequency part requires an additive component. We use a multiplicative PDS model to fit the data observed by Insight-HXMT. The overall fitting results are similar compared to the traditional additive PDS model. Neither the width nor the centroid frequency of the QPOs obtained from each of the two PDS models were significantly different, except for the r.m.s. of the QPOs. Our work thus provides a new perspective on the coupling of noise and QPOs., Comment: 13 pages, 8 figures

The detection of cyclotron resonance scattering features (CRSFs) is the only way to directly and reliably measure the magnetic field near the surface of a neutron star (NS). The broad energy coverage and large collection area of \emph{Insight}-HXMT in the hard X-ray band allowed us to detect the CRSF with the highest energy known to date, reaching about 146 keV during the 2017 outburst of the first galactic pulsing ultraluminous X-ray source (pULX) Swift J0243.6+6124. During this outburst, the CRSF was only prominent close to the peak luminosity $\sim 2\times10^{39}$ erg s$^{-1}$, the highest to date in any of the Galactic pulsars. The CRSF is most significant in the spin phase region corresponding to the main pulse of the pulse profile, and its centroid energy evolves with phase from 120 to 146 keV. We identify this feature as the fundamental CRSF, since no spectral feature exists at $60-70$ keV. This is the first unambiguous detection of an electron CRSF from an ULX. We also estimate a surface magnetic field $\sim1.6\times10^{13}$ G for Swift J0243.6+6124. Considering that the dipole magnetic field strengths, inferred from several independent estimates of magnetosphere radius, are at least an order of magnitude lower than our measurement, we argue that the detection of the highest energy CRSF reported here unambiguously proves the presence of multipole field components close to the surface of the neutron star. Such a scenario has previously been suggested for several pulsating ULXs, including Swift J0243.6+6124, and our result represents the first direct confirmation of this scenario., Comment: Accepted for publication in ApJL

Since FRB 200428 has been found to be associated with an X-ray burst from the Galactic magnetar SGR J1935+2154, it is interesting to explore whether the magnetar bursts also follow the similar active periodic behavior as some repeating FRBs. Previous studies show that there is possible period about 230 day in SGR J1935+2154 bursts. Here, we collected an updated burst sample from SGR J1935+2154, including all bursts reported by Fermi/GBM and GECAM till 2022 January. We also developed a targeted search pipeline to reveal more bursts from SGR J1935+2154 in the Fermi/GBM data from 2008 August to 2014 December (i.e. before the first burst detected by Swift/BAT). With this burst sample, we re-analyzed the possible periodicity of SGR J1935+2154 bursts using the Period Folding and Lomb-Scargle Periodogram methods. Our results show that the periodicity $\sim$238 day reported in literature is probably fake and the observation effects may introduce false periods (i.e. 55 day) according to simulation tests. We find that, for the current burst sample, the most probable period is 126.88$\pm$2.05 day, which could be interpreted as the precession of the magnetar. However, we note that the whole burst history is very complicated and difficult to be perfectly accommodated with any period reported thus far, therefore more monitoring observations of SGR J1935+2154 are required to test any periodicity hypothesis.

The milestone discovery of GW 170817-GRB 170817A-AT 2017gfo has shown that gravitational wave (GW) could be produced during the merger of neutron star-neutron star/black hole and that in electromagnetic (EM) wave a gamma-ray burst (GRB) and a kilonova (KN) are generated in sequence after the merger. Observationally, however, EM property before the merger phase is still unclear. Here we report a peculiar precursor in a KN-associated long-duration GRB 211211A, providing evidence of the EM before the merger. This precursor lasts $\sim$ 0.2 s, and the waiting time between the precursor and the main burst is $\sim$ 1 s, comparable to that between GW 170817 and GRB 170817A. The spectrum of the precursor could be well fit with a non-thermal cutoff power-law model instead of a blackbody. Especially, a $\sim$22 Hz Quasi-Periodic Oscillation candidate ($\sim 3\sigma$) is detected in the precursor. These temporal and spectral properties indicate that this precursor is probably produced by a catastrophic flare accompanying with magnetoelastic or crustal oscillations of a magnetar in binary compact merger. The strong magnetic field of the magnetar can also account for the prolonged duration of GRB 211211A. However, it poses a challenge to reconcile the rather short lifetime of a magnetar with the rather long spiraling time of a binary neutron star system only by the GW radiation before merger., Comment: Published by ApJ. 13 pages, 11 figures

We analyze the energy dependence of the X-ray pulse profile and the phase-resolved spectra (PRS) of the Crab pulsar using observations from the Neutron star Interior Composition Explorer (NICER) and the Hard X-ray Modulation Telescope (Insight-HXMT). We parameterize the pulse profiles and quantify the evolution of these parameters in the broad energy band of 0.4-250 keV. A log-parabola function is used to fit the PRS in 2-250 keV, and the curvature of the spectrum, i.e., the evolution of the photon index with energy, as represented by the parameter \{beta} of the log-parabola model, also changes with phase. The relation of \{beta} and phase has two turning points slightly later than those of the pulse intensity profile, where the values of \{beta} are the lowest, suggesting that the energy-loss rate of the particles is the lowest in the corresponding regions. A three-segment broken-power-law model is also used to fit those PRS. The differences between the hard spectral index and the soft ones have a distribution similar to that of \{beta}, confirming the fitting results of the log-parabola model, while the broken energies are generally higher in the region bridging the two pulses. We find anticorrelations between the spectral indices and the curvature of the log-parabola model fitting and a similar anticorrelation between the spectral indices and broken energies of the broken-power-law model fitting, suggesting a scenario where the highest-energy particles are produced in regions where radiation energy loss is strongest.

LS I +61$^{\circ}$ 303 is one of the rare gamma-ray binaries, emitting most of their luminosity in photons with energies beyond 100 MeV. The $\sim$26.5 d orbital period is clearly detected at many wavelengths. Additional aspects of its multi-frequency behavior make it the most interesting example of the class. The morphology of high-resolution radio images changes with orbital phase displaying a cometary tail pointing away from the high-mass star. LS I +61$^{\circ}$ 303 also shows superorbital variability. A couple of energetic ($\sim 10^{37}$ erg s$^{-1}$), short, magnetar-like bursts have been plausibly ascribed to it. LS I +61$^{\circ}$ 303's phenomenology has been put under theoretical scrutiny for decades, but the lack of certainty regarding the nature of the compact object in the binary has prevented advancing our understanding of the source. Here, using observations done with the Five-hundred-meter Aperture Spherical radio Telescope (FAST), we report on the existence of transient radio pulsations from the direction of LS I +61$^{\circ}$ 303. We find a period $P=269.15508 \pm 0.00016$ ms at a significance of $> 20\sigma$. This is the first evidence for pulsations from this source at any frequency, and strongly argues for the existence of a rotating neutron star in LS I +61$^{\circ}$ 303., Comment: Published in Nature Astronomy; authors' version

The Hard X-ray Modulation Telescope (Insight-HXMT), is China's first X-ray astronomy satellite launched on June 15, 2017. The anti-coincidence CsI detectors of the High Energy X-ray telescope (HE) onboard Insight-HXMT could serve as an all-sky gamma-ray monitor in about 0.2-3 MeV. In its first four years of operation, Insight-HXMT has detected 322 Gamma-Ray Bursts (GRBs) by offline search pipeline including blind search and targeted search. For the GOLDEN sample of Insight-HXMT GRBs, joint analyses were performed with other GRB missions, including Fermi Gamma-ray Burst Monitor (Fermi/GBM), Swift Burst Alert Telescope (Swift/BAT) and Gravitational wave high-energy Electromagnetic Counterpart All-sky Monitor (GECAM). It shows that Insight-HXMT can provide better constraint on GRB spectrum at higher energy band. The properties of Insight-HXMT GRBs are reported in detail, including their trigger time, duration, spectral parameters, peak fluxes of different time scales and fluence. This catalog is an official product of the Insight-HXMT GRB team., Comment: 46 pages, 22 figures, accepted by APJS