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XTE J1829-098 is a transient X-ray pulsar with a period of ~7.8 s. It is a candidate Be star system, although the evidence for this is not yet definitive. We investigated the twenty-year long X-ray light curve using the Rossi X-ray Timing Explorer Proportional Counter Array (PCA), Neil Gehrels Swift Observatory Burst Alert Telescope (BAT), and the Monitor of All-sky X-ray Image (MAXI). We find that all three light curves are clearly modulated on the ~244 day orbital period previously reported from PCA monitoring observations, with outbursts confined to a narrow phase range. The light curves also show that XTE J1829-098 was in an inactive state between approximately December 2008 and April 2018 and no strong outbursts occurred. Such behavior is typical of Be X-ray binary systems, with the absence of outbursts likely related to the dissipation of the Be star's decretion disk. The mean outburst shapes can be approximated with a triangular profile and, from a joint fit of this to all three light curves, we refine the orbital period to 243.95 +/- 0.04 days. The mean outburst profile does not show any asymmetry and has a total phase duration of 0.140 +/- 0.007. However, the PCA light curve shows that there is considerable cycle-to-cycle variability of the individual outbursts. We compare the properties of XTE J1829-098 with other sources that show short phase-duration outbursts, in particular GS 1843-02 (2S 1845-024) which has a very similar orbital period, but longer pulse period, and whose orbit is known to be highly eccentric., Comment: Accepted for publication in the Astrophysical Journal. 21 pages

Robots are increasingly envisioned to interact in real-world scenarios, where they must continuously adapt to new situations. To detect and grasp novel objects, zero-shot pose estimators determine poses without prior knowledge. Recently, vision language models (VLMs) have shown considerable advances in robotics applications by establishing an understanding between language input and image input. In our work, we take advantage of VLMs zero-shot capabilities and translate this ability to 6D object pose estimation. We propose a novel framework for promptable zero-shot 6D object pose estimation using language embeddings. The idea is to derive a coarse location of an object based on the relevancy map of a language-embedded NeRF reconstruction and to compute the pose estimate with a point cloud registration method. Additionally, we provide an analysis of LERF's suitability for open-set object pose estimation. We examine hyperparameters, such as activation thresholds for relevancy maps and investigate the zero-shot capabilities on an instance- and category-level. Furthermore, we plan to conduct robotic grasping experiments in a real-world setting.

This guide is for everyone who seeks advice for creating stable, secure, and persistent Uniform Resource Identifiers (URIs) in order to publish their data in accordance to the FAIR principles. The use case does not matter. It could range from publishing the results of a small research project to a large knowledge graph at a big corporation. The FAIR principles apply equally and this is why it is important to put extra thought into the URI selection process. The title aims to extend the tradition of "Cool URIs don't change" and "Cool URIs for the Semantic Web". Much has changed since the publication of these works and we would like to revisit some of the principles. Many still hold today, some had to be reworked, and we could also identify new ones

Soft gamma-ray emission (100 keV -- 10 MeV) has previously been detected in the hard state of several microquasars. In some sources, this emission was found to be highly polarized and was suggested to be emitted at the base of the jet. Until now, no $\gamma$-ray polarization had been found in any other state. Using INTEGRAL/IBIS, we studied the soft gamma-ray spectral and polarization properties of Swift J1727.8-1613 throughout its outburst. We detect a highly polarized spectral component in both the hard intermediate state and the early stages of the soft intermediate state above 210 keV. In the hard intermediate state, the polarization angle significantly deviates from the compact jet angle projected onto the sky, whereas in the soft intermediate they are closely aligned. This constitutes the first detection of jet-aligned polarization in the soft gamma-ray for a microquasar. We attribute this polarized spectral component to synchrotron emission from the jet, which indicates that some of the jet might persist into the softer states., Comment: 7 pages, 4 figures. Accepted for publication in A&A Letters

Robotic search and rescue (SAR) supports response teams by accelerating disaster assessment and by keeping operators away from hazardous environments. In the event of a chemical, biological, radiological, and nuclear (CBRN) disaster, robots are deployed to identify and locate radiation sources. Human responders then assess the situation and neutralize the danger. The presented system takes a step toward enhanced integration of robots into SAR teams. Integrating autonomous radiation mapping with semi-autonomous substance sampling and online analysis of the CBRN threat lets the human operator localize and assess the threat from a safe distance. Two LiDARs, an IMU, and a Geiger counter are used for mapping the surrounding area and localizing potential radiation sources. A mobile manipulator with six Degrees of Freedom manipulates valves and samples substances that are analyzed by an onboard Raman spectrometer. The human operator monitors the mission's progression from a remote location defining target locations and directing the semi-autonomous manipulation processes. Diverse recovery behaviours aid robot deployment, system state monitoring, as well as recovery of hard- and software. Field tests showcase the capabilities of the presented system during trials at the CBRN disaster response challenge European Robotics Hackathon (EnRicH). We provide recorded sensor data and implemented software through a GitHub repository: https://github.com/TW-Robotics/search-and-rescue-robot-2024.

In 2021, the high-mass X-ray binary EXO 2030+375 underwent a giant X-ray outburst, the first since 2006, that reached a peak flux of ${\sim}600\,\mathrm{mCrab}$ (3-50\,keV). The goal of this work is to study the spectral evolution over the course of the outburst, search for possible cyclotron resonance scattering features (CRSFs), and to associate spectral components with the emission pattern of the accretion column. We used broadband spectra taken with the Nuclear Spectroscopic Telescope Array (NuSTAR), the Neutron Star Interior Composition Explorer (NICER), and Chandra near the peak and during the decline phase of the outburst. We describe the data with established empirical continuum models and perform pulse-phase-resolved spectroscopy. We compare the spectral evolution with pulse phase using a proposed geometrical emission model. We find a significant spectral hardening toward lower luminosity, a behavior that is expected for super-critical sources. The continuum shape and evolution cannot be described by a simple power-law model with exponential cutoff; it requires additional absorption or emission components. We can confirm the presence of a narrow absorption feature at ${\sim}10\,\mathrm{keV}$ in both NuSTAR observations. The absence of harmonics puts into question the interpretation of this feature as a CRSF. The empirical spectral components cannot be directly associated with identified emission components from the accretion column., Comment: 12 pages, 8 figures, accepted in A&A

The Be X-ray binary EXO 2030+375 went through its third recorded giant outburst from June 2021 to early 2022. We present the results of both spectral and timing analysis based on NICER monitoring, covering the 2-10 keV flux range from 20 to 310 mCrab. Dense monitoring with observations carried out about every second day and a total exposure time of 160 ks allowed us to closely track the source evolution over the outburst. Changes in spectral shape and pulse profiles showed a stable luminosity dependence during the rise and decline. The same type of dependence has been seen in past outbursts. The pulse profile is characterized by several distinct peaks and dips. The profiles show a clear dependence on luminosity with a stark transition at a luminosity of 2x10^36 erg/s, indicating a change in the emission pattern. Using relativistic ray-tracing, we demonstrate how anisotropic beaming of emission from an accretion channel with constant geometrical configuration can give rise to the observed pulse profiles over a range of luminosities., Comment: 15 pages, 16 figures, accepted by A&A

The Neutron Star Interior Composition Explorer (NICER) monitoring campaign of Cyg X-1 allows us to study its spectral-timing behavior at energies ${<}1$ keV across all states. The hard state power spectrum can be decomposed into two main broad Lorentzians with a transition at around 1 Hz. The lower-frequency Lorentzian is the dominant component at low energies. The higher-frequency Lorentzian begins to contribute significantly to the variability above 1.5 keV and dominates at high energies. We show that the low- and high-frequency Lorentzians likely represent individual physical processes. The lower-frequency Lorentzian can be associated with a (possibly Comptonized) disk component, while the higher-frequency Lorentzian is clearly associated with the Comptonizing plasma. At the transition of these components, we discover a low-energy timing phenomenon characterized by an abrupt lag change of hard (${\gtrsim}2$ keV) with respect to soft (${\lesssim}1.5$ keV) photons, accompanied by a drop in coherence, and a reduction in amplitude of the second broad Lorentzian. The frequency of the phenomenon increases with the frequencies of the Lorentzians as the source softens and cannot be seen when the power spectrum is single-humped. A comparison to transient low-mass X-ray binaries shows that this feature does not only appear in Cyg X-1, but that it is a general property of accreting black hole binaries. In Cyg X-1, we find that the variability at low and high energies is overall highly coherent in the hard and intermediate states. The high coherence shows that there is a process at work which links the variability, suggesting a physical connection between the accretion disk and Comptonizing plasma. This process fundamentally changes in the soft state, where strong red noise at high energies is incoherent to the variability at low energies., Comment: 18+29 pages, 17+54 figures, accepted for publication in Astronomy & Astrophysics

Context. The High-Mass X-ray Binary (HMXB) system GX 301$-$2 is a persistent source with a well-known variable cyclotron line centered at 35 keV. Recently, a second cyclotron line at 50 keV has been reported with a presumably different behavior than the 35 keV line. Aims. We investigate the presence of the newly discovered cyclotron line in the phase-averaged and phase-resolved spectra at higher luminosities than before. We further aim to determine the pulse-phase variability of both lines. Methods. We analyze a NuSTAR observation of GX 301$-$2 covering the pre-periastron flare, where the source luminosity reached its peak of ${\sim} 4 \times 10^{37}\,\mathrm{erg}\,\mathrm{s}^{-1}$ in the 5-50 keV range. We analyze the phase-averaged spectra in the NuSTAR energy range from 3.5-79 keV for both the complete observation and three time segments of it. We further analyze the phase-resolved spectra and the pulse-phase variability of continuum and cyclotron line parameters. Results. We confirm that the description of the phase-averaged spectrum requires a second absorption feature at $51.5^{+1.1}_{-1.0}$ keV besides the established line at 35 keV. The statistical significance of this feature in the phase-averaged spectrum is $>99.999\%$. We further find that the 50 keV cyclotron line is present in three of eight phase bins. Conclusions. Based on the results of our analysis, we confirm that the detected absorption feature is very likely to be a cyclotron line. We discuss a variety of physical scenarios which could explain the proposed anharmonicity, but also outline circumstances under which the lines are harmonically related. We further present the cyclotron line history of GX 301$-$2 and evaluate concordance among each other. We also discuss an alternative spectral model including cyclotron line emission wings., Comment: accepted for publication in Astronomy & Astrophysics, 20 pages, 16 figures

Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The accuracy of pose estimation depends heavily on the quality of the dense correspondence maps and their ability to withstand occlusion, clutter, and challenging material properties. Currently, dense correspondence maps are estimated using image-to-image translation models based on GANs, Autoencoders, or direct regression models. However, recent advancements in image-to-image translation have led to diffusion models being the superior choice when evaluated on benchmarking datasets. In this study, we compare image-to-image translation networks based on GANs and diffusion models for the downstream task of 6D object pose estimation. Our results demonstrate that the diffusion-based image-to-image translation model outperforms the GAN, revealing potential for further improvements in 6D object pose estimation models., Comment: Submitted to the First Austrian Symposium on AI, Robotics, and Vision 2024

Recent advances in machine learning have greatly benefited object detection and 6D pose estimation. However, textureless and metallic objects still pose a significant challenge due to few visual cues and the texture bias of CNNs. To address his issue, we propose a strategy for inducing a shape bias to CNN training. In particular, by randomizing textures applied to object surfaces during data rendering, we create training data without consistent textural cues. This methodology allows for seamless integration into existing data rendering engines, and results in negligible computational overhead for data rendering and network training. Our findings demonstrate that the shape bias we induce via randomized texturing, improves over existing approaches using style transfer. We evaluate with three detectors and two pose estimators. For the most recent object detector and for pose estimation in general, estimation accuracy improves for textureless and metallic objects. Additionally we show that our approach increases the pose estimation accuracy in the presence of image noise and strong illumination changes. Code and datasets are publicly available at github.com/hoenigpeter/randomized_texturing.

When applying Hamiltonian operator splitting methods for the time integration of multi-species Vlasov-Maxwell-Landau systems, the reliable and efficient numerical approximation of the Landau equation represents a fundamental component of the entire algorithm. Substantial computational issues arise from the treatment of the physically most relevant three-dimensional case with Coulomb interaction. This work is concerned with the introduction and numerical comparison of novel approaches for the evaluation of the Landau collision operator. In the spirit of collocation, common tools are the identification of fundamental integrals, series expansions of the integral kernel and the density function on the main part of the velocity domain, and interpolation as well as quadrature approximation nearby the singularity of the kernel. Focusing on the favourable choice of the Fourier spectral method, their practical implementation uses the reduction to basic integrals, fast Fourier techniques, and summations along certain directions. Moreover, an important observation is that a significant percentage of the overall computational effort can be transferred to precomputations which are independent of the density function. For the purpose of exposition and numerical validation, the cases of constant, regular, and singular integral kernels are distinguished, and the procedure is adapted accordingly to the increasing complexity of the problem. With regard to the time integration of the Landau equation, the most expedient approach is applied in such a manner that the conservation of mass is ensured.

We establish new results on the spectra and pseudo-spectra of tridiagonal $k$-Toeplitz operators and matrices. In particular, we prove the connection between the winding number of the eigenvalues of the symbol function and the exponential decay of the associated eigenvectors (or pseudo-eigenvectors). Our results elucidate the topological origin of the non-Hermitian skin effect in general one-dimensional polymer systems of subwavelength resonators with imaginary gauge potentials, proving the observation and conjecture in arXiv:2307.13551. We also numerically verify our theory for these systems., Comment: 18 pages, 6 figures

The present work provides a comprehensive study of symmetric-conjugate operator splitting methods in the context of linear parabolic problems and demonstrates their additional benefits compared to symmetric splitting methods. Relevant applications include nonreversible systems and ground state computations for linear Schr\"odinger equations based on the imaginary time propagation. Numerical examples confirm the favourable error behaviour of higher-order symmetric-conjugate splitting methods and illustrate the usefulness of a time stepsize control, where the local error estimation relies on the computation of the imaginary parts and thus requires negligible costs., Comment: Paper to be published in Journal of Computational Dynamics