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We present a detailed study of the MASTER OT J030227.28+191754.5 outburst in 2021-2022, reaching an amplitude of 10.2 mag and a duration of 60 d. The detections of (1) the double-peaked optical emission lines, and (2) the early and ordinary superhumps, established that MASTER OT J030227.28+191754.5 is an extremely energetic WZ Sge-type dwarf nova (DN). Based on the superhump observations, we obtained its orbital period and mass ratio as 0.05986(1) d and 0.063(1), respectively. These are within a typical range of low-mass-ratio DNe. According to the binary parameters derived based on the thermal-tidal instability model, our analyses showed that (1) the standard disk model requires an accretion rate $\simeq$ 10$^{20}$ g s$^{-1}$ to explain its peak optical luminosity and (2) large mass was stored in the disk at the outburst onset. These cannot be explained solely by the impact of its massive ($\gtrsim$ 1.15 M$_\odot$) primary white dwarf implied by Kimura et al. (2023). Instead, we propose that the probable origin of this enormously energetic DN outburst is the even lower quiescence viscosity than other WZ Sge-type DNe. This discussion is qualitatively valid for most possible binary parameter spaces unless the inclination is low ($\lesssim 40^\circ$) enough for the disk to be bright explaining the outburst amplitude. Such low inclinations, however, would not allow detectable amplitude of early superhumps in the current thermal-tidal instability model. The optical spectra at outburst maximum showed the strong emission lines of Balmer, He I, and He II series whose core is narrower than $\sim 800$ km s$^{-1}$. Considering its binary parameters, a Keplerian disk cannot explain this narrow component, but the presumable origin is disk winds., Comment: 23 pages, 13 figures, 2 tables. Accepted by PASJ. Part of the online supplemental information is included

We present our optical photometric observations of the 2022 eruption of the recurrent nova U Scorpii (U Sco) using 49,152 data points over 70 d following the optical peak. We have also analyzed its soft X-ray (0.3--1 keV) light curve by the Neil Gehrels Swift Observatory. During the 2022 eruption, the optical plateau stage started 13.8--15.0 d and ended 23.8--25.0 d after the optical peak. The soft X-ray stage started 14.6--15.3 d and ended 38.7--39.5 d after the optical peak. Both stages started later and had shorter durations, and the soft X-ray light curve peaked earlier and was less luminous compared to those during the U Sco 2010 eruption. These points suggest that there were differences in the envelope mass between the different cycles of the nova eruption. Furthermore, we have analyzed the optical eclipses during the 2022 eruption. The primary eclipse was first observed 10.4--11.6 d after the optical peak, earlier than the beginning of the optical plateau stage. This sequence of events can be explained by the receding ejecta photosphere associated with the expanding nova ejecta. We have determined the ingress and egress phases of the primary eclipses and estimated the outer radius of the optical light source centered at the white dwarf (WD). During the optical plateau stage, the source radius remained $\sim$1.2 times larger than the Roche volume radius of the primary WD, being close to the L1 point. When the optical plateau stage ended, the source radius drastically shrank to the tidal truncation radius within a few orbital periods. This previously unresolved phenomenon can be interpreted as a structural change in U Sco where the temporarily expanded accretion disk due to the nova wind returned to a steady state., Comment: 16 pages, 7 figures, 7 tables, accepted for publication in PASJ; doi:10.1093/pasj/psae010

Lightcurves of many classical novae deviate from the canonical "fast rise - smooth decline" pattern and display complex variability behavior. We present the first TESS-space-photometry-based investigation of this phenomenon. We use TESS Sector 41 full-frame images to extract a lightcurve of the slow Galactic nova V606 Vul that erupted nine days prior to the start of the TESS observations. The lightcurve covers the first of two major peaks of V606 Vul that was reached 19 days after the start of the eruption. The nova reached its brightest visual magnitude V=9.9 in its second peak 64 days after the eruption onset, following the completion of Sector 41 observations. To increase the confidence level of the extracted lightcurve, we performed the analysis using four different codes implementing the aperture photometry (Lightkurve, VaST) and image subtraction (TESSreduce, tequila_shots) and find good agreement between them. We performed ground-based photometric and spectroscopic monitoring to complement the TESS data. The TESS lightcurve reveals two features: periodic variations (0.12771d, 0.01mag average peak-to-peak amplitude) that disappeared when the source was within 1mag of peak optical brightness and a series of isolated mini-flares (with peak-to-peak amplitudes of up to 0.5mag) appearing at seemingly random times. We interpret the periodic variations as the result of azimuthal asymmetry of the photosphere engulfing the nova-hosting binary that was distorted by and rotating with the binary. Whereas we use spectra to associate the two major peaks in the nova lightcurve with distinct episodes of mass ejection, the origin of mini-flares remains elusive., Comment: 31 pages, 10 figures, submitted to ApJ; comments welcome

We describe the current state of the Burke-Gaffney Observatory (BGO) at Saint Mary's University - a unique fully roboticized remote-access observatory that allows students to carry out imaging, photometry, and spectroscopy projects remotely from anywhere in the world via a web browser or social media. Stellar spectroscopy is available with the ALPY 600 low resolution grism spectrograph equipped with a CCD detector. We describe our custom CCD spectroscopy reduction procedure written in the Python programming language and demonstrate the quality of fits of synthetic spectra computed with the ChromaStarServer (CSS) code to BGO spectra. The facility along with the accompanying Python BGO spectroscopy reduction package and the CSS spectrum synthesis code provide an accessible means for students anywhere to carry our projects at the undergraduate honours level. BGO web pages for potential observers are at the site: observatory.smu.ca/bgo-useme. All codes are available from the OpenStars www site: openstars.smu.ca/, Comment: 23 pages double-spaced, 12 figures. arXiv admin note: text overlap with arXiv:2307.01279 . HR3580 now correctly identified and modelled as a giant, not a dwarf

We analyzed Asteroid Terrestrial-impact Last Alert System (ATLAS), Zwicky Transient Facility (ZTF) and All-Sky Automated Survey for Supernovae (ASAS-SN) data of MASTER OT J055845.55+391533.4 and found that this object repeats superoutburst with a dip in the middle of the outburst followed by long and sometimes oscillating rebrightening, just like a WZ Sge-type dwarf nova or an AM CVn-type object. The mean supercycle was 298(8) d, too short for a WZ Sge star, but with only a few normal outbursts. We also observed the 2023 February-March superoutburst and established the superhump period of 0.05509(2) d. This period appears to exclude the possibility of an AM CVn star. Although the 2023 observations could not detect superhumps after the dip, the 2014, 2016 and 2021 data seem to suggest that low-amplitude superhumps were present during the rebrightening phase. We note that a dip during a superoutburst is a feature common to the unusual SU UMa-type dwarf nova MASTER OT J172758.09+380021.5 during some of its superoutbursts. These objects may comprise a new class of rebrightening phenomenon in SU UMa-type dwarf novae., Comment: 15 pages, 8 figures, VSOLJ Variable Star Bulletin No. 113

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In this paper, a multi-task reinforcement learning-based mobile manipulation control framework is proposed to achieve general dynamic object tracking and grasping. Several basic types of dynamic trajectories are chosen as the task training set. To improve the policy generalization in practice, random noise and dynamics randomization are introduced during the training process. Extensive experiments show that our policy trained can adapt to unseen random dynamic trajectories with about 0.1m tracking error and 75\% grasping success rate of dynamic objects. The trained policy can also be successfully deployed on a real mobile manipulator., Comment: 6 pages, 7 figures, submitted to IROS2020

Public perceptions of Robotics and Artificial Intelligence (RAI) are important in the acceptance, uptake, government regulation and research funding of this technology. Recent research has shown that the public's understanding of RAI can be negative or inaccurate. We believe effective public engagement can help ensure that public opinion is better informed. In this paper, we describe our first iteration of a high throughput in-person public engagement activity. We describe the use of a light touch quiz-format survey instrument to integrate in-the-wild research participation into the engagement, allowing us to probe both the effectiveness of our engagement strategy, and public perceptions of the future roles of robots and humans working in dangerous settings, such as in the off-shore energy sector. We critique our methods and share interesting results into generational differences within the public's view of the future of Robotics and AI in hazardous environments. These findings include that older peoples' views about the future of robots in hazardous environments were not swayed by exposure to our exhibit, while the views of younger people were affected by our exhibit, leading us to consider carefully in future how to more effectively engage with and inform older people., Comment: Accepted in HRI 2020, Keywords: Human robot interaction, robotics, artificial intelligence, public engagement, public perceptions of robots, robotics and society

One way to recognise an object is to study how the echo has been shaped during the interaction with the target. Wideband sonar allows the study of the energy distribution for a large range of frequencies. The frequency distribution contains information about an object, including its inner structure. This information is a key for automatic recognition. The scattering by a target can be quantitatively described by its Form Function. The Form Function can be calculated based on the data of the initial pulse, reflected pulse and parameters of a medium where the pulse is propagating. In this work spherical objects are classified based on their filler material - water or air. We limit the study to spherical 2 layered targets immersed in water. The Form Function is used as a descriptor and fed into a Neural Network classifier, Multilayer Perceptron (MLP). The performance of the classifier is compared with Support Vector Machine (SVM) and the Form Function descriptor is examined in contrast to the Time and Frequency Representation of the echo.

The intermediate polar FO Aquarii (FO Aqr) experienced its first-reported low-accretion states in 2016, 2017, and 2018, and using newly available photographic plates, we identify pre-discovery low states in 1965, 1966, and 1974. The primary focus of our analysis, however, is an extensive set of time-series photometry obtained between 2002 and 2018, with particularly intensive coverage of the 2016-2018 low states. After computing an updated spin ephemeris for the white dwarf (WD), we show that its spin period began to increase in 2014 after having spent 27 years decreasing; no other intermediate polar has experienced a sign change of its period derivative, but FO Aqr has now done so twice. Our central finding is that the recent low states all occurred shortly after the WD began to spin down, even though no low states were reported in the preceding quarter-century, when it was spinning up. Additionally, the system's mode of accretion is extremely sensitive to the mass-transfer rate, with accretion being almost exclusively disk-fed when FO Aqr is brighter than V~14 and substantially stream-fed when it is not. Even in the low states, a grazing eclipse remains detectable, confirming the presence of a disk-like structure (but not necessarily a Keplerian accretion disk). We relate these various observations to theoretical predictions that during the low state, the system's accretion disk dissipates into a non-Keplerian ring of diamagnetic blobs. Finally, a new XMM-Newton observation from a high state in 2017 reveals an anomalously soft X-ray spectrum and diminished X-ray luminosity compared to pre-2016 observations., Comment: Accepted for publication in ApJ

We present the UK Robotics and Artificial Intelligence Hub for Offshore Robotics for Certification of Assets (ORCA Hub), a 3.5 year EPSRC funded, multi-site project. The ORCA Hub vision is to use teams of robots and autonomous intelligent systems (AIS) to work on offshore energy platforms to enable cheaper, safer and more efficient working practices. The ORCA Hub will research, integrate, validate and deploy remote AIS solutions that can operate with existing and future offshore energy assets and sensors, interacting safely in autonomous or semi-autonomous modes in complex and cluttered environments, co-operating with remote operators. The goal is that through the use of such robotic systems offshore, the need for personnel will decrease. To enable this to happen, the remote operator will need a high level of situation awareness and key to this is the transparency of what the autonomous systems are doing and why. This increased transparency will facilitate a trusting relationship, which is particularly key in high-stakes, hazardous situations., Comment: 2 pages. Peer reviewed position paper accepted in the Explainable Robotic Systems Workshop, ACM Human-Robot Interaction conference, March 2018, Chicago, IL USA

I describe the world's first robotic observatory to interact with its observers entirely using the social media platforms Facebook or Twitter. The telescope "tweets" what it's doing, posts live images, and responds to observer commands through a comprehensive command set. Observation requests are queued and observed by a responsive queue engine. Its architecture, social media based image processing capability and several usage examples are also described., Comment: Accepted for publication in the proceeding of the Robotic Telescopes, Student Research, and Education Conference, June 2017

Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining energy. Existing solutions for resource constrained multi-robot sensing mission planning provide optimal plans at a prohibitive computational complexity for online application [1],[2],[3]. A heuristic approach exists for an online, resource constrained sensing mission planning for a single vehicle [4]. This work proposes a Genetic Algorithm (GA) based heuristic for the Correlated Team Orienteering Problem (CTOP) that is used for planning sensing and monitoring missions for robotic teams that operate under resource constraints. The heuristic is compared against optimal Mixed Integer Quadratic Programming (MIQP) solutions. Results show that the quality of the heuristic solution is at the worst case equal to the 5% optimal solution. The heuristic solution proves to be at least 300 times more time efficient in the worst tested case. The GA heuristic execution required in the worst case less than a second making it suitable for online execution., Comment: 8 pages, 5 figures, accepted for publication in Robotics and Automation Letters (RA-L)

We generate coherent ultraviolet radiation at 313 nm as the third harmonic of an external-cavity diode laser. We use this radiation for laser cooling of trapped beryllium atomic ions and sympathetic cooling of co-trapped beryllium-hydride molecular ions. An LBO crystal in an enhancement cavity generates the second harmonic, and a BBO crystal in a doubly resonant enhancement cavity mixes this second harmonic with the fundamental to produce the third harmonic. Each enhancement cavity is preceded by a tapered amplifier to increase the fundamental light. The 36-mW output power of this all-semiconductor-gain system will enable quantum control of the beryllium ions' motion.

Circular Polarisation Ratio (CPR) mosaics from Mini-SAR on Chandrayaan-1 and Mini-RF on LRO are used to study craters near to the lunar north pole. The look direction of the detectors strongly affects the appearance of the crater CPR maps. Rectifying the mosaics to account for parallax also significantly changes the CPR maps of the crater interiors. It is shown that the CPRs of crater interiors in unrectified maps are biased to larger values than crater exteriors, because of a combination of the effects of parallax and incidence angle. Using the LOLA Digital Elevation Map (DEM), the variation of CPR with angle of incidence has been studied. For fresh craters, CPR~0.7 with only a weak dependence on angle of incidence or position interior or just exterior to the crater, consistent with dihedral scattering from blocky surface roughness. For anomalous craters, the CPR interior to the crater increases with both incidence angle and distance from the crater centre. Central crater CPRs are similar to those in the crater exteriors. CPR does not appear to correlate with temperature within craters. Furthermore, the anomalous polar craters have diameter-to-depth ratios that are lower than those of typical polar craters. These results strongly suggest that the high CPR values in anomalous polar craters are not providing evidence of significant volumes of water ice. Rather, anomalous craters are of intermediate age, and maintain sufficiently steep walls that deep regolith does not cover all rough surfaces., Comment: 16 pages, 17 figures, submitted to Icarus (2014, 241, 66)

Classical Cepheids remain a cornerstone of the cosmic distance scale, and thus characterizing the dependence of their light amplitude on metallicity is important. Period-amplitude diagrams constructed for longer-period classical Cepheids in IC 1613, NGC 3109, SMC, NGC 6822, LMC, and the Milky Way imply that very metal-poor Cepheids typically exhibit smaller V-band amplitudes than their metal-rich counterparts. The results provide an alternate interpretation relative to arguments for a null and converse metallicity dependence. The empirical results can be employed to check predictions from theoretical models, to approximate mean abundances for target populations hosting numerous long-period Cepheids, and to facilitate the identification of potentially blended or peculiar objects., Comment: To appear in ApSS

RR Lyrae variables and the stellar constituents of globular clusters are employed to establish the cosmic distance scale and age of the universe. However, photometry for RR Lyrae variables in the globular clusters M3, M15, M54, M92, NGC2419, and NGC6441 exhibit a dependence on the clustercentric distance. For example, variables and stars positioned near the crowded high-surface brightness cores of the clusters may suffer from photometric contamination, which invariably affects a suite of inferred parameters (e.g., distance, color excess, absolute magnitude, etc.). The impetus for this study is to mitigate the propagation of systematic uncertainties by increasing awareness of the pernicious impact of contaminated and radial-dependent photometry., Comment: To appear in ApJL

New X-ray (XMM-Newton) and JHKs (OMM) observations for members of the star cluster Alessi 95, which Turner et al.(2012) discovered hosts the classical Cepheid SU Cas, were used in tandem with UCAC3 (proper motion) and 2MASS observations to determine precise cluster parameters: E(J-H)=0.08+-0.02 and d=405+-15 pc. The ensuing consensus among cluster, pulsation, IUE, and trigonometric distances (d=414+-5(se)+-10(sd) pc) places SU Cas in a select group of nearby fundamental Cepheid calibrators (Delta Cep, Zeta Gem). High-resolution X-ray observations may be employed to expand that sample as the data proved pertinent for identifying numerous stars associated with SU Cas. Acquiring X-ray observations of additional fields may foster efforts to refine Cepheid calibrations used to constrain H_0., Comment: To appear in ApJ

The parameters for the newly-discovered open cluster Alessi 95 are established on the basis of available photometric and spectroscopic data, in conjunction with new observations. Colour excesses for spectroscopically-observed B and A-type stars near SU Cas follow a reddening relation described by E(U-B)/E(B-V)=0.83+0.02*E(B-V), implying a value of R=Av/E(B-V)~2.8 for the associated dust. Alessi 95 has a mean reddening of E(B-V)_(B0)=0.35+-0.02 s.e., an intrinsic distance modulus of Vo-Mv=8.16+-0.04 s.e. (+-0.21 s.d.), d=429+-8 pc, and an estimated age of 10^8.2 yr from ZAMS fitting of available UBV, CCD BV, NOMAD, and 2MASS JHKs observations of cluster stars. SU Cas is a likely cluster member, with an inferred space reddening of E(B-V)=0.33+-0.02 and a luminosity of =-3.15+-0.07 s.e., consistent with overtone pulsation (P_FM=2.75 d), as also implied by the Cepheid's light curve parameters, rate of period increase, and Hipparcos parallaxes for cluster stars. There is excellent agreement of the distance estimates for SU Cas inferred from cluster ZAMS fitting, its pulsation parallax derived from the infrared surface brightness technique, and Hipparcos parallaxes, which all agree to within a few percent., Comment: Accepted for Publication (MNRAS)

New and existing CORAVEL, UBVJHKs, HST, HIP/Tycho, ARO, KPNO, and DAO observations imply that the fundamental Cepheid calibrator Zeta Gem is a cluster member. The following parameters were inferred for Zeta Gem from cluster membership and are tied to new spectral classifications (DAO) established for 26 nearby stars (e.g., HD53588/B7.5IV, HD54692/B9.5IV): E(B-V)=0.02+-0.02, log t=7.85+-0.15, and d=355+-15 pc. The mean distance to Zeta Gem from cluster membership and six recent estimates (e.g., IRSB) is d=363+-9(se)+-26(sd) pc. The results presented here support the color-excess and HST parallax derived for the Cepheid by Benedict et al. (2007). Forthcoming precise proper motions (DASCH) and Chandra/XMM-Newton observations of the broader field may be employed to identify cluster members, bolster the cluster's existence, and provide stronger constraints on the Cepheid's fundamental parameters., Comment: To appear in ApJ Letters