Event-based visual servoing

Traditional visual servoing systems have been widely studied in the last years. These systems control the position of the camera attached to the robot end-effector guiding it from any position to the desired one. These controllers can be improved by using the event-based control paradigm. The system proposed in this paper is based on the idea of activating the visual controller only when something significant has occurred in the system (e.g. when any visual feature can be loosen because it is going outside the frame). Different event triggers have been defined in the image space in order to activate or deactivate the visual controller. The tests implemented to validate the proposal have proved that this new scheme avoids visual features to go out of the image whereas the system complexity is reduced considerably. Events can be used in the future to change different parameters of the visual servoing systems.

Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Practical experiences on a real pumping system emulated by a hardware model and used as a remote laboratory

Paper submitted to ACE 2013, 10th IFAC Symposium on Advances in Control Education, University of Sheffield, UK, August 28-30, 2013.

Máster Universitario en Prevención de Riesgos Laborales por la Universidad de Alicante adaptado al EEES

En esta comunicación se presenta el modelo de Máster en Prevención de Riesgos Laborales (PRL) que se implantará en la Universidad de Alicante (UA) en el curso 2012/13 adaptado al Espacio Europeo de Educación Superior. La asunción de la universidad española de la Declaración de Bolonia de 1999, que por su parte, define los criterios básicos para la creación del Espacio Europeo de Educación Superior (EEES), también establece Programas Oficiales de Postgrado que incluyen el Programa Oficial de formación universitaria especializada entre los que se englobaría el máster universitario de PRL propuesto por la UA. El Máster tiene una carga de 60 créditos ECTS (materias obligatorias 50, prácticas externas 4, trabajo fin de máster 6), orientación académica y profesional, y estará adscrito a la Escuela Politécnica Superior. El objetivo general de estos estudios es que el alumno adquiera los conocimientos, habilidades y destrezas necesarias para el desempeño de las funciones profesionales que competen al Técnico de nivel superior en materia de PRL que vienen recogidos en el Art. 37 del RD 39/1997, por el que se aprueba el Reglamento de los Servicios de Prevención (RSP), con la formación prevista en el Anexo VI del mismo.

An accurate distance scale to the extremely massive cluster Stephenson 2

Discoveries during the last two years have revealed the existence of a vast region of star formation close to the base of the Scutum Arm, where at least five clusters of red supergiants have been found. In order to understand the nature of this region, we need to determine accurate distances to the clusters. We present here the first results of an ongoing program to derive fundamental parameters (such as age, distance, etc.) to the massive cluster Stephenson 2 studying for the first time its main sequence stars.

Infrared identification of 2XMM J191043.4+091629.4

Context. We report the infrared identification of the X-ray source 2XMM J191043.4+091629.4, which was detected by XMM-Newton/EPIC in the vicinity of the Galactic supernova remnant W49B. Aims. The aim of this work is to establish the nature of the X-ray source 2XMM J191043.4+091629.4 studying both the infrared photometry and spectroscopy of the companion. Methods. We analysed UKIDSS images around the best position of the X-ray source and obtained spectra of the best candidate using NICS in the Telescopio Nazionale Galileo (TNG) 3.5-m telescope. We present photometric and spectroscopic TNG analyses of the infrared counterpart of the X-ray source, identifying emission lines in the K-band. The H-band spectra does not present any significant feature. Results. We have shown that the Brackett γ H i at 2.165 μm, and He i at 2.184 μm and at 2.058 μm are significantly present in the infrared spectrum. The CO bands are also absent from our spectrum. Based on these results and the X-ray characteristics of the source, we conclude that the infrared counterpart is an early B-type supergiant star with an E(B − V) = 7.6 ± 0.3 at a distance of 16.0 ± 0.5 kpc. This would be, therefore, the first high-mass X-ray binary in the Outer Arm at galactic longitudes of between 30° and 60°.

Numerical evaluation of the vibration reduction index for structural joints

The present paper addresses the analysis of structural vibration transmission in the presence of structural joints. The problem is tackled from a numerical point of view, analyzing some scenarios by using finite element models. The numerical results obtained making use of this process are then compared with those evaluated using the EN 12354 standard vibration reduction index concept. It is shown that, even for the simplest cases, the behavior of a structural joint is complex and evidences the frequency dependence. Comparison with results obtained by empirical formulas reveals that those of the standards cannot accurately reproduce the expected behavior, and thus indicate that alternative complementary calculation procedures are required. A simple methodology to estimate the difference between numerical and standard predictions is here proposed allowing the calculation of an adaptation term that makes both approaches converge. This term was found to be solution-dependent, and thus should be evaluated for each structure.

The young open cluster Berkeley 55

We present UBV photometry of the highly reddened and poorly studied open cluster Berkeley 55, revealing an important population of B-type stars and several evolved stars of high luminosity. Intermediate-resolution far-red spectra of several candidate members confirm the presence of one F-type supergiant and six late supergiants or bright giants. The brightest blue stars are mid-B giants. Spectroscopic and photometric analyses indicate an age 50 ± 10 Myr. The cluster is located at a distance d ≈ 4 kpc, consistent with other tracers of the Perseus Arm in this direction. Berkeley 55 is thus a moderately young open cluster with a sizable population of candidate red (super)giant members, which can provide valuable information about the evolution of intermediate-mass stars.

Astrophysical parameters of LS 2883 and implications for the PSR B1259-63 gamma-ray binary

Only a few binary systems with compact objects display TeV emission. The physical properties of the companion stars represent basic input for understanding the physical mechanisms behind the particle acceleration, emission, and absorption processes in these so-called gamma-ray binaries. Here we present high-resolution and high signal-to-noise optical spectra of LS 2883, the Be star forming a gamma-ray binary with the young non-accreting pulsar PSR B1259-63, showing it to rotate faster and be significantly earlier and more luminous than previously thought. Analysis of the interstellar lines suggests that the system is located at the same distance as (and thus is likely a member of) Cen OB1. Taking the distance to the association, d = 2.3 kpc, and a color excess of E(B – V) = 0.85 for LS 2883 results in MV ≈ –4.4. Because of fast rotation, LS 2883 is oblate (R eq sime 9.7 R ☉ and R pole sime 8.1 R ☉) and presents a temperature gradient (T eq≈ 27,500 K, log g eq = 3.7; T pole≈ 34,000 K, log g pole = 4.1). If the star did not rotate, it would have parameters corresponding to a late O-type star. We estimate its luminosity at log(L */L ☉) sime 4.79 and its mass at M * ≈ 30 M ☉. The mass function then implies an inclination of the binary system i orb ≈ 23°, slightly smaller than previous estimates. We discuss the implications of these new astrophysical parameters of LS 2883 for the production of high-energy and very high-energy gamma rays in the PSR B1259-63/LS 2883 gamma-ray binary system. In particular, the stellar properties are very important for prediction of the line-like bulk Comptonization component from the unshocked ultrarelativistic pulsar wind.

A massive association around the obscured open cluster RSGC3

Context. Four clusters of red supergiants have been discovered in a region of the Milky Way close to base of the Scutum-Crux Arm and the tip of the Long Bar. Population synthesis models indicate that they must be very massive to harbour so many supergiants. If the clusters are physically connected, this Scutum Complex would be the largest and most massive star-forming region ever identified in the Milky Way. Aims. The spatial extent of one of these clusters, RSGC3, has not been investigated. In this paper we explore the possibility that a population of red supergiants could be located in its vicinity. Methods. We utilised 2MASS JHKS photometry to identify candidate obscured luminous red stars in the vicinity of RSGC3. We observed a sample of candidates with the TWIN spectrograph on the 3.5-m telescope at Calar Alto, obtaining intermediate-resolution spectroscopy in the 8000−9000 Å range. We re-evaluated a number of classification criteria proposed in the literature for this spectral range and found that we could use our spectra to derive spectral types and luminosity classes. Results. We measured the radial velocity of five members of RSGC3, finding velocities similar to the average for members of Stephenson 2. Among the candidates observed outside the cluster, our spectra revealed eight M-type supergiants at distances <18′ from the centre of RSGC3, distributed in two clumps. The southern clump is most likely another cluster of red supergiants, with reddening and age identical to RSGC3. From 2MASS photometry, we identified four likely supergiant members of the cluster in addition to the five spectroscopically observed. The northern clump may be a small cluster with similar parameters. Photometric analysis of the area around RSGC3 suggests the presence of a large (>30) population of red supergiants with similar colours. Conclusions. Our data suggest that the massive cluster RSGC3 is surrounded by an extended association, which may be very massive ( ≳ 105 M⊙). We also show that supergiants in the Scutum Complex may be characterised via a combination of 2MASS photometry and intermediate-to-high-resolution spectroscopy in the Z band.

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.

An obscured cluster associated with the H II region RCW173

Context. The discovery of several clusters of red supergiants towards l = 24°−30° has triggered interest in this area of the Galactic plane, where lines of sight are very complex and previous explorations of the stellar content were very preliminary. Aims. We attempt to characterise the stellar population associated with the H ii region RCW 173 (=Sh2-60), located at, as previous studies have suggested that this population could be beyond the Sagittarius arm. Methods. We obtained UBV photometry of a stellar field to the south of the brightest part of RCW 173, as well as spectroscopy of about twenty stars in the area. We combined our new data with archival 2MASS near-infrared photometry and Spitzer/GLIMPSE imaging and photometry, to achieve a more accurate characterisation of the stellar sources and the associated cloud. Results. We find a significant population of early-type stars located at d = 3.0 kpc, in good agreement with the “near” dynamical distance to the H ii region. This population should be located at the near intersection of the Scutum-Crux arm. A luminous O7 II star is likely to be the main source of ionisation. Many stars are concentrated around the bright nebulosity, where GLIMPSE images in the mid infrared show the presence of a bubble of excited material surrounding a cavity that coincides spatially with a number of B0-1 V stars. We interpret this as an emerging cluster, perhaps triggered by the nearby O7 II star. We also find a number of B-type giants. Some of them are located at approximately the same distance, and may be part of an older population in the same area, characterised by much lower reddening. A few have shorter distance moduli and are likely to be located in the Sagittarius arm. Conclusions. The line of sight in this direction is very complex. Optically visible tracers delineate two spiral arms, but seem to be absent beyond d ≈ 3 kpc. Several H ii regions in this area suggest that the Scutum-Crux arm contains thick clouds actively forming stars. All these populations are projected on top of the major stellar complex signposted by the clusters of red supergiants.

The masses of the neutron and donor star in the high-mass X-ray binary IGR J18027-2016

Aims. We report near-infrared observations of the supergiant donor to the eclipsing high mass X-ray binary pulsar IGR J18027-2016. We aim to determine its spectral type and measure its radial velocity curve and hence determine the stellar masses of the components. Methods. ESO/VLT observations of the donor utilising the NIR spectrograph ISAAC were obtained in the H and K bands. The multi-epoch H band spectra were cross-correlated with RV templates in order to determine a radial solution for the system. Results. The spectral type of the donor was confirmed as B0-1 I. The radial velocity curve constructed has a semi-amplitude of 23.8 ± 3.1 km s-1. Combined with other measured system parameters, a dynamically determined neutron star mass of 1.4  ±  0.2–1.6  ±  0.3 M⊙ is found. The mass range of the B0-B1 I donor was 18.6  ±  0.8–21.8  ±  2.4 M⊙. These lower and upper limits were obtained under the assumption that the system is viewed edge-on (i = 90° with β = 0.89) for the lower limit and the donor fills its Roche lobe (β = 1 with i = 73.1°) for the upper limit respectively.

On the nature of the galactic early-B hypergiants

Aims. Despite their importance to a number of astrophysical fields, the lifecycles of very massive stars are still poorly defined. In order to address this shortcoming, we present a detailed quantitative study of the physical properties of four early-B hypergiants (BHGs) of spectral type B1-4 Ia+; Cyg OB2 #12, ζ1 Sco, HD 190603 and BP Cru. These are combined with an analysis of their long-term spectroscopic and photometric behaviour in order to determine their evolutionary status. Methods. Quantitative analysis of UV–radio photometric and spectroscopic datasets was undertaken with a non-LTE model atmosphere code in order to derive physical parameters for comparison with apparently closely related objects, such as B supergiants (BSGs) and luminous blue variables (LBVs), and theoretical evolutionary predictions. Results. The long-term photospheric and spectroscopic datasets compiled for the early-B HGs revealed that they are remarkably stable over long periods ( ≥ 40 yrs), with the possible exception of ζ1 Sco prior to the 20th century; in contrast to the typical excursions that characterise LBVs. Quantitative analysis of ζ1 Sco, HD 190603 and BP Cru yielded physical properties intermediate between BSGs and LBVs; we therefore suggest that BHGs are the immediate descendants and progenitors (respectively) of such stars, for initial masses in the range ~30−60 M⊙. Comparison of the properties of ζ1 Sco with the stellar population of its host cluster/association NGC 6231/Sco OB1 provides further support for such an evolutionary scenario. In contrast, while the wind properties of Cyg OB2 #12 are consistent with this hypothesis, the combination of extreme luminosity and spectroscopic mass (~110 M⊙) and comparatively low temperature means it cannot be accommodated in such a scheme. Likewise, despite its co-location with several LBVs above the Humphreys-Davidson (HD) limit, the lack of long term variability and its unevolved chemistry apparently excludes such an identification. Since such massive stars are not expected to evolve to such cool temperatures, instead traversing an O4-6Ia → O4-6Ia+ → WN7-9ha pathway, the properties of Cyg OB2 #12 are therefore difficult to understand under current evolutionary paradigms. Finally, we note that as with AG Car in its cool phase, despite exceeding the HD limit, the properties of Cyg OB2 #12 imply that it lies below the Eddington limit – thus we conclude that the HD limit does not define a region of the HR diagram inherently inimical to the presence of massive stars.

Circumstellar emission in Be/X-ray binaries of the Magellanic Clouds and the Milky Way

Aims. We study the optical and near-infrared colour excesses produced by circumstellar emission in a sample of Be/X-ray binaries. Our main goals are exploring whether previously published relations, valid for isolated Be stars, are applicable to Be/X-ray binaries and computing the distance to these systems after correcting for the effects of the circumstellar contamination. Methods. Simultaneous UBVRI photometry and spectra in the 3500−7000 Å spectral range were obtained for 11 optical counterparts to Be/X-ray binaries in the LMC, 5 in the SMC and 12 in the Milky Way. As a measure of the amount of circumstellar emission we used the Hα equivalent width corrected for photospheric absorption. Results. We find a linear relationship between the strength of the Hα emission line and the component of E(B − V) originating from the circumstellar disk. This relationship is valid for stars with emission lines weaker than EW ≈ −15   Å. Beyond this point, the circumstellar contribution to E(B − V) saturates at a value ≈0.17   mag. A similar relationship is found for the (V − I) near infrared colour excess, albeit with a steeper slope and saturation level. The circumstellar excess in (B − V) is found to be about five times higher for Be/X-ray binaries than for isolated Be stars with the same equivalent width EW(Hα), implying significant differences in the physical properties of their circumstellar envelopes. The distance to Be/X-ray binaries (with non-shell Be star companions) can only be correctly estimated by taking into account the excess emission in the V band produced by free-free and free-bound transitions in the circumstellar envelope. We provide a simple method to determine the distances that includes this effect.