Synergism of binocular and motion stereo for passive ranging

Range measurements to objects in the world relative to mobile platforms such as ground or air vehicles are critical for visually aided navigation and obstacle detection/avoidance. An approach is presented that consists of a synergistic combination of two types of passive ranging method: binocular stereo and motion stereo. We show a new way to model the errors in binocular and motion stereo in conjunction with an inertial navigation system (INS) and derive the appropriate Kalman filter to refine the estimates from these two stereo ranging techniques. We present results using laboratory images that show that refined estimates can be optimally combined to give range values which are more accurate than any one of the individual estimates from binocular and motion stereo. By incorporating a blending filter, the approach has the potential of providing accurate, dense range measurements for all the pixels in the field of view (FOV)     

Ulysses observations of a coronal origin particle event at 32° south heliographic latitutde

A remarkable streaming beam-like particle event of 60 keV-5 MeV ions and of 38–315 keV electrons has been reported previously. This event has been associated with the passage of a Coronal Mass Ejection (CME) over the Ulysses spacecraft on June 9–13, 1993. At this time, the spacecraft was located at 4.6 AU from the sun and at an heliolatitude of 32° south. It was proposed (Armstrong et al., 1994) that the particle injection source could have been of coronal origin. In this study, we analyse the solar activity during this period. We identify a region of solar radio noise storms in the corona and in particular, a flare on June 7 that presents all the required characteristics to produce the hot plasma beam observed in the interplanetary medium.     

Ulysses observations of latitude gradients in the heliospheric magnetic field: Radial component and variances

The radial component of the magnetic field at Ulysses, over latitudes from –10° to –45° and distances from 5.3 to 3.8 AU, compares very well with corresponding measurements being made by IMP-8 in the ecliptic at 1AU. There is little, if any, evidence of a latitude gradient. Variances in the field, normalized to the square of the field magnitude, show little change with latitude in variations in the magnitude but a large increase in the transverse field variations. The latter are shown to be caused by the presence of large amplitude, long period Alfvénic fluctuations. This identification is based on the close relation between the magnetic field and velocity perturbations including the effect of anisotropy in the solar wind pressure. The waves are propagating outward from the Sun, as in the ecliptic, but variance analysis indicates that the direction of propagation is radial rather than field-aligned. A significant long-period component of 10 hours is present.     

Ulysses out-of-ecliptic observations of “27-day” variations in high energy cosmic ray intensity

We report the discovery that for latitudes above 40°S, the observed recurring modulation of cosmic rays and anomalous nuclei occurs without the detection byUlysses of the solar wind velocity and magnetic field recurring enhancements that have, heretofore at lower latitudes, defined corotating interaction regions—i.e., the mechanism producing the recurring intensity variations >40°S appears to be located beyond the radial range ofUlysses.     

Interplanetary shock waves: Ulysses observations in and out of the ecliptic plane

Between its launch in October 1990 and the end of 1993, approximately 160 fast collisionless shock waves were observed in the solar wind by the Ulysses space probe. During the in-ecliptic part of the mission, to February 1992, the observed shock waves were first caused mainly by solar transient events following the solar maximum and the reorganisation of the large scale coronal fields. With the decay in solar activity, relatively stable Corotating Interaction Regions (CIRs) were observed betwen 3 and 5.4 AU, each associated with at least one forwardreverse shock pair. During the out-of-ecliptic phase of the orbit, from February 1992 onwards, CIRs and shock pairs associated with them continued to dominate the observations. From July 1992, Ulysses encountered the fast solar wind flow from the newly developed southern polar coronal hole, and from May 1993 remained in the unipolar magnetic region associated with this coronal hole. At latitudes beyond 30°, CIRs were associated almost exclusively with reverse shocks only. A comprehensive list of shock waves identified in the magnetic field and solar wind plasma data from Ulysses is given in Table 1. The principal characteristics were determined mainly from the magnetic field data. General considerations concerning the determination of shock characteristics are outlined in the Introduction.     

X-Ray spectroscopic investigation of the coronal structure of capella

The binary system Capella (G6 III + F9 III) has been observed on 1979 March 15 and on 1980 March 15–17 with the Objective Grating Spectrometer (OGS) onboard theEinstein Observatory. The spectrum measured with the 1000 l/mm grating covers the range 5–30 Å with a resolution < 1 Å. The spectra show evidence for a bimodal temperature distribution of emission measure in an optically thin plasma with one component 5 million degrees and the other one 10 million degrees. Spectral features can be identified with line emissions from O VIII, Fe XVII, Fe XVIII, Fe XXIV, and Ne X ions. Good spectral fits have been obtained assuming standard cosmic abundances. The data are interpreted in terms of emission from hot static coronal loops rather similar to the magnetic arch structures found on the Sun. It is shown that the conditions required by this model exist on Capella. Mean values of loop parameters are derived for both temperature components.     

The Rosat mission

The primary scientific objective of the ROSAT mission is to perform the first all sky survey with an imaging X-ray telescope leading to an improvement in sensitivity by several orders of magnitude compared with previous surveys. Consequently a large number of new sources (> 10⁵) will be discovered and located with an accuracy of 1 arcmin. After completion of the survey which will take about half a year the instrument will be used for detailed observations of selected targets.The X-ray telescope consists of a fourfold nested Wolter type I mirror system with 80 cm aperture and 240 cm focal length, and three focal plane detectors. In the baseline version these will be imaging proportional counters (0.1 – 2 keV) providing a field of view of 2⁰ × 2⁰.     

Optical observations of the X-ray source 2S0921-630

We report photometric observations of the optical counterpart of the X-ray source 2S0921-630. The data, obtained at the South African Astronomical Observatory during 3 weeks in 1980 and 1981, are consistent with a 17.9 day periodic modulation of the flux in the B band. Correlated variability of the (B-V) and (U-B) colour indices with the B mag. is demonstrated and quantified. The observed B mag. and colours at maximum and minimum light are used to compute some of the system parameters. A model of 2S0921-630 is proposed in terms of a binary system in which the variable inclination of a luminous accretion disc produces the long-term modulation of the optical flux.     

An investigation into the nature of the 4.4 hr periodic source 4U1755-33

We present the results of a continuous 18 hour observation of 4U1755-33 made with the European Space Agency's EXOSAT Observatory. Four 50 min dips in X-ray intensity were observed equally spaced with a period of 4.4 hrs, confirming the periodicity first suggested in White et al. (1984). The dips are spectrally independent. We examine the properties of 4U1755-33 and conclude that the source is most probably point-like and that the metallicity of the absorbing material is at least 600 times less than cosmic values.