Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach

This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose construction shows a small but non negligible offset at the hip which prevents any purely analytical solution to be developed. Knowing that a purely numerical solution is not feasible due to variable efficiency problems, the proposed one first neglects the offset presence in order to obtain an approximate “solution” by means of an analytical algorithm based on screw theory, and then uses it as the initial condition of a numerical refining procedure based on the Levenberg‐Marquardt algorithm. In this way, few iterations are needed for any specified attitude, making it possible to implement the algorithm for real‐time applications. As a way to show the algorithm’s implementation, one case of study is considered throughout the paper, represented by the SILO2 humanoid robot.

Optical evidence for the unification of active galactic nuclei and quasi-stellar objects.

There is a variety of optical evidence for some unification of different types of active galactic nuclei and quasi-stellar objects (QSOs). The case is very strong for the unification of at least some Seyfert galaxies, where polarization data show that the type assigned to the Seyfert galaxy must depend on viewing direction. It has been proposed that Fanaroff-Riley type 2 (FR2) radio galaxies are quasars seen in a direction from which the quasar is obscured, and there is some limited direct evidence for this picture. The broad absorption line QSOs may be normal QSOs seen from a special direction. Some of the sources observed to have high luminosities in the far infrared could be obscured QSOs and active nuclei. Mergers and interactions are likely to play an important role in nuclear activity, and active galaxies and QSOs could change their apparent types through these encounters followed by subsequent evolution.

Stellar populations in bulges of spiral galaxies

We present a few results of a work in progress tackling the radial spectroscopic properties of bulges of spiral galaxies.

The Mice at play in the CALIFA survey. A case study of a gas-rich major merger between first passage and coalescence

We present optical integral field spectroscopy (IFS) observations of the Mice, a major merger between two massive (≳10^11 M_⊙) gas-rich spirals NGC 4676A and B, observed between first passage and final coalescence. The spectra provide stellar and gas kinematics, ionised gas properties, and stellar population diagnostics, over the full optical extent of both galaxies with ~1.6 kpc spatial resolution. The Mice galaxies provide a perfect case study that highlights the importance of IFS data for improving our understanding of local galaxies. The impact of first passage on the kinematics of the stars and gas has been significant, with strong bars most likely induced in both galaxies. The barred spiral NGC 4676B exhibits a strong twist in both its stellar and ionised gas disk. The edge-on disk galaxy NGC 4676A appears to be bulge free, with a strong bar causing its “boxy” light profile. On the other hand, the impact of the merger on the stellar populations has been minimal thus far. By combining the IFS data with archival multiwavelength observations we show that star formation induced by the recent close passage has not contributed significantly to the total star formation rate or stellar mass of the galaxies. Both galaxies show bicones of high ionisation gas extending along their minor axes. In NGC 4676A the high gas velocity dispersion and Seyfert-like line ratios at large scaleheight indicate a powerful outflow. Fast shocks (vs ~ 350 km s^-1) extend to ~6.6 kpc above the disk plane. The measured ram pressure (P/k = 4.8 × 10^6 K cm^-3) and mass outflow rate (~8−20 M_⊙ yr^-1) are similar to superwinds from local ultra-luminous infrared galaxies, although NGC 4676A only has a moderate infrared luminosity of 3 × 10^10 L_⊙. Energy beyond what is provided by the mechanical energy of the starburst appears to be required to drive the outflow. Finally, we compare the observations to mock kinematic and stellar population maps extracted from a hydrodynamical merger simulation. The models show little enhancement in star formation during and following first passage, in agreement with the observations. We highlight areas where IFS data could help further constrain the models.

Magnetic activity and differential rotation in the young Sun-like stars KIC 7985370 and KIC 7765135

Aims. We present a detailed study of the two Sun-like stars KIC 7985370 and KIC 7765135, to determine their activity level, spot distribution, and differential rotation. Both stars were previously discovered by us to be young stars and were observed by the NASA Kepler mission. Methods. The fundamental stellar parameters (vsini, spectral type, T_eff, log g, and [Fe/H]) were derived from optical spectroscopy by comparison with both standard-star and synthetic spectra. The spectra of the targets allowed us to study the chromospheric activity based on the emission in the core of hydrogen Hα and Ca ii infrared triplet (IRT) lines, which was revealed by the subtraction of inactive templates. The high-precision Kepler photometric data spanning over 229 days were then fitted with a robust spot model. Model selection and parameter estimation were performed in a Bayesian manner, using a Markov chain Monte Carlo method. Results. We find that both stars are Sun-like (of G1.5 V spectral type) and have an age of about 100–200 Myr, based on their lithium content and kinematics. Their youth is confirmed by their high level of chromospheric activity, which is comparable to that displayed by the early G-type stars in the Pleiades cluster. The Balmer decrement and flux ratio of their Ca ii-IRT lines suggest that the formation of the core of these lines occurs mainly in optically thick regions that are analogous to solar plages. The spot model applied to the Kepler photometry requires at least seven persistent spots in the case of KIC 7985370 and nine spots in the case of KIC 7765135 to provide a satisfactory fit to the data. The assumption of the longevity of the star spots, whose area is allowed to evolve with time, is at the heart of our spot-modelling approach. On both stars, the surface differential rotation is Sun-like, with the high-latitude spots rotating slower than the low-latitude ones. We found, for both stars, a rather high value of the equator-to-pole differential rotation (dΩ ≈ 0.18 rad d^-1), which disagrees with the predictions of some mean-field models of differential rotation for rapidly rotating stars. Our results agree instead with previous works on solar-type stars and other models that predict a higher latitudinal shear, increasing with equatorial angular velocity, that can vary during the magnetic cycle.

Li I enhancement during a long-duration stellar flare

We report the possible detection of a Li I λ6708 Å line enhancement during an unusual long-duration optical flare in the recently discovered, X-ray/EUV selected, chromospherically active binary 2RE J0743+224. The Li I equivalent width (EW) variations follow the temporal evolution of the flare and large changes are observed in the intensity of the line. The maximum Li I enhancement (40% in EW) occurs just after the maximum chromospheric emission observed in the flare. A significant increase of the Li^-6/Li^-7 isotopic ratio is also detected. No significant simultaneous variations are detected in other photospheric lines. Neither line blends nor starspots seem to be the primary cause of the observed Li I line variation. From all this we suggest that this Li I enhancement is produced by spallation reactions during the flare.

Modeling nonthermal emission from stellar bow shocks (Research Note)

Context. Runaway O- and early B-type stars passing through the interstellar medium at supersonic velocities and characterized by strong stellar winds may produce bow shocks that can serve as particle acceleration sites. Previous theoretical models predict the production of high-energy photons by nonthermal radiative processes, but their efficiency is still debated. Aims. We aim to test and explain the possibility of emission from the bow shocks formed by runaway stars traveling through the interstellar medium by using previous theoretical models. Methods. We applied our model to AE Aurigae, the first reported star with an X-ray detected bow shock, to BD+43 3654, in which the observations failed in detecting high-energy emission, and to the transition phase of a supergiant star in the late stages of its life. Results. From our analysis, we confirm that the X-ray emission from the bow shock produced by AE Aurigae can be explained by inverse Compton processes involving the infrared photons of the heated dust. We also predict low high-energy flux emission from the bow shock produced by BD+43 3654, and the possibility of high-energy emission from the bow shock formed by a supergiant star during the transition phase from blue to red supergiant. Conclusions. Bow shocks formed by different types of runaway stars are revealed as a new possible source of high-energy photons in our neighborhood.

Modeling nonthermal emission from stellar bow shocks (Research Note)

Context. Runaway O- and early B-type stars passing through the interstellar medium at supersonic velocities and characterized by strong stellar winds may produce bow shocks that can serve as particle acceleration sites. Previous theoretical models predict the production of high-energy photons by nonthermal radiative processes, but their efficiency is still debated. Aims. We aim to test and explain the possibility of emission from the bow shocks formed by runaway stars traveling through the interstellar medium by using previous theoretical models. Methods. We applied our model to AE Aurigae, the first reported star with an X-ray detected bow shock, to BD+43 3654, in which the observations failed in detecting high-energy emission, and to the transition phase of a supergiant star in the late stages of its life. Results. From our analysis, we confirm that the X-ray emission from the bow shock produced by AE Aurigae can be explained by inverse Compton processes involving the infrared photons of the heated dust. We also predict low high-energy flux emission from the bow shock produced by BD+43 3654, and the possibility of high-energy emission from the bow shock formed by a supergiant star during the transition phase from blue to red supergiant. Conclusions. Bow shocks formed by different types of runaway stars are revealed as a new possible source of high-energy photons in our neighborhood.

Kinematics of eyelid movement and eye retraction in the blinking

Resumen del póster expuesto en el 6th EOS Topical Meeting on Visual and Physiological Optics (EMVPO 2012), Dublín, 20-22 Agosto 2012.

Kinematics of eyelid movement and eye retraction in the blinking [Poster]

Póster presentado en el 6th EOS Meeting on Visual and Physiological Optics (EMVPO 2012), Dublín, 20-22 Agosto 2012.

A VLT/FLAMES survey for massive binaries in Westerlund 1. III. The WC9d binary W239 and implications for massive stellar evolution

Context. There is growing evidence that a treatment of binarity amongst OB stars is essential for a full theory of stellar evolution. However the binary properties of massive stars – frequency, mass ratio & orbital separation – are still poorly constrained. Aims. In order to address this shortcoming we have undertaken a multiepoch spectroscopic study of the stellar population of the young massive cluster Westerlund 1. In this paper we present an investigation into the nature of the dusty Wolf-Rayet star and candidate binary W239. Methods. To accomplish this we have utilised our spectroscopic data in conjunction with multi-year optical and near-IR photometric observations in order to search for binary signatures. Comparison of these data to synthetic non-LTE model atmosphere spectra were used to derive the fundamental properties of the WC9 primary. Results. We found W239 to have an orbital period of only ~5.05 days, making it one of the most compact WC binaries yet identified. Analysis of the long term near-IR lightcurve reveals a significant flare between 2004-6. We interpret this as evidence for a third massive stellar component in the system in a long period (>6 yr), eccentric orbit, with dust production occuring at periastron leading to the flare. The presence of a near-IR excess characteristic of hot (~1300 K) dust at every epoch is consistent with the expectation that the subset of persistent dust forming WC stars are short (<1 yr) period binaries, although confirmation will require further observations. Non-LTE model atmosphere analysis of the spectrum reveals the physical properties of the WC9 component to be fully consistent with other Galactic examples. Conclusions. The simultaneous presence of both short period Wolf-Rayet binaries and cool hypergiants within Wd 1 provides compelling evidence for a bifurcation in the post-Main Sequence evolution of massive stars due to binarity. Short period O+OB binaries will evolve directly to the Wolf-Rayet phase, either due to an episode of binary mediated mass loss – likely via case A mass transfer or a contact configuration – or via chemically homogenous evolution. Conversely, long period binaries and single stars will instead undergo a red loop across the HR diagram via a cool hypergiant phase. Future analysis of the full spectroscopic dataset for Wd 1 will constrain the proportion of massive stars experiencing each pathway; hence quantifying the importance of binarity in massive stellar evolution up to and beyond supernova and the resultant production of relativistic remnants.

Open cluster Dolidze 25: Stellar parameters and the metallicity in the Galactic anticentre

Context. The young open cluster Dolidze 25, in the direction of the Galactic anticentre, has been attributed a very low metallicity, with typical abundances between −0.5 and −0.7 dex below solar. Aims. We intend to derive accurate cluster parameters and accurate stellar abundances for some of its members. Methods. We have obtained a large sample of intermediate- and high-resolution spectra for stars in and around Dolidze 25. We used the fastwind code to generate stellar atmosphere models to fit the observed spectra. We derive stellar parameters for a large number of OB stars in the area, and abundances of oxygen and silicon for a number of stars with spectral types around B0. Results. We measure low abundances in stars of Dolidze 25. For the three stars with spectral types around B0, we find 0.3 dex (Si) and 0.5 dex (O) below the values typical in the solar neighbourhood. These values, even though not as low as those given previously, confirm Dolidze 25 and the surrounding H ii region Sh2-284 as the most metal-poor star-forming environment known in the Milky Way. We derive a distance 4.5 ± 0.3 kpc to the cluster (rG ≈ 12.3 kpc). The cluster cannot be older than ~3 Myr, and likely is not much younger. One star in its immediate vicinity, sharing the same distance, has Si and O abundances at most 0.15 dex below solar. Conclusions. The low abundances measured in Dolidze 25 are compatible with currently accepted values for the slope of the Galactic metallicity gradient, if we take into account that variations of at least ±0.15 dex are observed at a given radius. The area traditionally identified as Dolidze 25 is only a small part of a much larger star-forming region that comprises the whole dust shell associated with Sh2-284 and very likely several other smaller H ii regions in its vicinity.

Measuring the stellar wind parameters in IGR J17544-2619 and Vela X-1 constrains the accretion physics in supergiant fast X-ray transient and classical supergiant X-ray binaries

Context. Classical supergiant X-ray binaries (SGXBs) and supergiant fast X-ray transients (SFXTs) are two types of high-mass X-ray binaries (HMXBs) that present similar donors but, at the same time, show very different behavior in the X-rays. The reason for this dichotomy of wind-fed HMXBs is still a matter of debate. Among the several explanations that have been proposed, some of them invoke specific stellar wind properties of the donor stars. Only dedicated empiric analysis of the donors’ stellar wind can provide the required information to accomplish an adequate test of these theories. However, such analyses are scarce. Aims. To close this gap, we perform a comparative analysis of the optical companion in two important systems: IGR J17544-2619 (SFXT) and Vela X-1 (SGXB). We analyze the spectra of each star in detail and derive their stellar and wind properties. As a next step, we compare the wind parameters, giving us an excellent chance of recognizing key differences between donor winds in SFXTs and SGXBs. Methods. We use archival infrared, optical and ultraviolet observations, and analyze them with the non-local thermodynamic equilibrium (NLTE) Potsdam Wolf-Rayet model atmosphere code. We derive the physical properties of the stars and their stellar winds, accounting for the influence of X-rays on the stellar winds. Results. We find that the stellar parameters derived from the analysis generally agree well with the spectral types of the two donors: O9I (IGR J17544-2619) and B0.5Iae (Vela X-1). The distance to the sources have been revised and also agree well with the estimations already available in the literature. In IGR J17544-2619 we are able to narrow the uncertainty to d = 3.0 ± 0.2 kpc. From the stellar radius of the donor and its X-ray behavior, the eccentricity of IGR J17544-2619 is constrained to e< 0.25. The derived chemical abundances point to certain mixing during the lifetime of the donors. An important difference between the stellar winds of the two stars is their terminal velocities (ν∞ = 1500 km s-1 in IGR J17544-2619 and ν∞ = 700 km s-1 in Vela X-1), which have important consequences on the X-ray luminosity of these sources. Conclusions. The donors of IGR J17544-2619 and Vela X-1 have similar spectral types as well as similar parameters that physically characterize them and their spectra. In addition, the orbital parameters of the systems are similar too, with a nearly circular orbit and short orbital period. However, they show moderate differences in their stellar wind velocity and the spin period of their neutron star which has a strong impact on the X-ray luminosity of the sources. This specific combination of wind speed and pulsar spin favors an accretion regime with a persistently high luminosity in Vela X-1, while it favors an inhibiting accretion mechanism in IGR J17544-2619. Our study demonstrates that the relative wind velocity is critical in class determination for the HMXBs hosting a supergiant donor, given that it may shift the accretion mechanism from direct accretion to propeller regimes when combined with other parameters.

MRI Registration for Human Hip Kinematics

Measurement of joint kinematics can provide knowledge to help improve joint prosthesis design, as well as identify joint motion patterns that may lead to joint degeneration or injury. More investigation into how the hip translates in live human subjects during high amplitude motions is needed. This work presents a design of a non-invasive method using the registration between images from conventional Magnetic Resonance Imaging (MRI) and open MRI to calculate three dimensional hip joint kinematics. The method was tested on a single healthy subject in three different poses. MRI protocols for the conventional gantry, high-resolution MRI and the open gantry, lowresolution MRI were developed. The scan time for the low-resolution protocol was just under 6 minutes. High-resolution meshes and low resolution contours were derived from segmentation of the high-resolution and low-resolution images, respectively. Low-resolution contours described the poses as scanned, whereas the meshes described the bones’ geometries. The meshes and contours were registered to each other, and joint kinematics were calculated. The segmentation and registration were performed for both cortical and sub-cortical bone surfaces. A repeatability study was performed by comparing the kinematic results derived from three users’ segmentations of the sub-cortical bone surfaces from a low-resolution scan. The root mean squared error of all registrations was below 1.92mm. The maximum range between segmenters in translation magnitude was 0.95mm, and the maximum deviation from the average of all orientations was 1.27◦. This work demonstrated that this method for non-invasive measurement of hip kinematics is promising for measuring high-range-of-motion hip motions in vivo.

Transformation of Nine-Accelerometer-Package (NAP) data for replicating headpart kinematics and dynamic loading. Final report.

National Highway Traffic Safety Administration, Washington, D.C.