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Andrew West

Publications and source records attributed to Andrew West.

15 recordsLinked to original sources
arXiv2025

Confined Space Underwater Positioning Using Collaborative Robots

Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor coverage, reliance on external infrastructure, and the need for feature-rich surroundings. Multipath effects from continuous sound reflections further degrade signal quality, reducing accuracy and reliability. Accurate and easily deployable positioning is essential for repeatable autonomous missions; however, this requirement has created a technological bottleneck limiting underwater robotic deployment. This paper presents the Collaborative Aquatic Positioning (CAP) system, which integrates collaborative robotics and sensor fusion to overcome these limitations. Inspired by the "mother-ship" concept, the surface vehicle acts as a mobile leader to assist in positioning a submerged robot, enabling localization even in GPS-denied and highly constrained environments. The system is validated in a large test tank through repeatable autonomous missions using CAP's position estimates for real-time trajectory control. Experimental results demonstrate a mean Euclidean distance (MED) error of 70 mm, achieved in real time without requiring fixed infrastructure, extensive calibration, or environmental features. CAP leverages advances in mobile robot sensing and leader-follower control to deliver a step change in accurate, practical, and infrastructure-free underwater localization.

cs.RO↗
arXiv2023

The High Energy X-ray Probe (HEX-P): Probing Accretion onto Stellar Mass Black Holes

Accretion is a universal astrophysical process that plays a key role in cosmic history, from the epoch of reionization to galaxy and stellar formation and evolution. Accreting stellar-mass black holes in X-ray binaries are one of the best laboratories to study the accretion process and probe strong gravity -- and most importantly, to measure the angular momentum, or spin, of black holes, and its role as a powering mechanism for relativistic astrophysical phenomena. Comprehensive characterization of the disk-corona system of accreting black holes, and their co-evolution, is fundamental to measurements of black hole spin. Here, we use simulated data to demonstrate how key unanswered questions in the study of accreting stellar-mass black holes will be addressed by the {\it High Energy X-ray Probe} (\hexp). \hexp\ is a probe-class mission concept that will combine high spatial resolution X-ray imaging and broad spectral coverage ($0.2\mbox{--}80$keV) with a sensitivity superior to current facilities (including \xmm\ and \nustar) to enable revolutionary new insights into a variety of important astrophysical problems. We illustrate the capability of \hexp\ to: 1) measure the evolving structures of black hole binary accretion flows down to low ($\lesssim0.1\%$) Eddington-scaled luminosities via detailed X-ray reflection spectroscopy; 2) provide unprecedented spectral observations of the coronal plasma, probing its elusive geometry and energetics; 3) perform detailed broadband studies of stellar mass black holes in nearby galaxies, thus expanding the repertoire of sources we can use to study accretion physics and determine the fundamental nature of black holes; and 4) act as a complementary observatory to a range of future ground and space-based astronomical observatories, thus providing key spectral measurements of the multi-component emission from the inner accretion flows of BH-XRBs.

astro-ph.HE↗
arXiv2023

X-ray Polarization of the Black Hole X-ray Binary 4U 1630-47 Challenges Standard Thin Accretion Disk Scenario

Large energy-dependent X-ray polarization degree is detected by the Imaging X-ray Polarimetry Explorer ({IXPE}) in the high-soft emission state of the black hole X-ray binary 4U 1630--47. The highly significant detection (at $\approx50\sigma$ confidence level) of an unexpectedly high polarization, rising from $\sim6\%$ at $2$ keV to $\sim10\%$ at $8$ keV, cannot be easily reconciled with standard models of thin accretion discs. In this work we compare the predictions of different theoretical models with the {IXPE} data and conclude that the observed polarization properties are compatible with a scenario in which matter accretes onto the black hole through a thin disc, covered by a partially-ionized atmosphere flowing away at mildly relativistic velocities.

astro-ph.HE↗
arXiv2022

The 511-CAM Mission: A Pointed 511 keV Gamma-Ray Telescope with a Focal Plane Detector Made of Stacked Transition Edge Sensor Microcalorimeter Arrays

The 511 keV gamma-ray emission from the galactic center region may fully or partially originate from the annihilation of positrons from dark matter particles with electrons from the interstellar medium. Alternatively, the positrons could be created by astrophysical sources, involving exclusively standard model physics. We describe here a new concept for a 511 keV mission called 511-CAM (511 keV gamma-ray CAmera using Micro-calorimeters) that combines focusing gamma-ray optics with a stack of Transition Edge Sensor (TES) microcalorimeter arrays in the focal plane. The 511-CAM detector assembly has a projected 511 keV energy resolution of 390 eV Full Width Half Maximum (FWHM) or better, and improves by a factor of at least 11 on the performance of state-of-the-art Ge-based Compton telescopes. Combining this unprecedented energy resolution with sub-arcmin angular resolutions afforded by Laue lens or channeling optics could make substantial contributions to identifying the origin of the 511 keV emission by discovering and characterizing point sources and measuring line-of-sight velocities of the emitting plasmas.

astro-ph.IM↗
arXiv2022

Performance of the X-Calibur Hard X-Ray Polarimetry Mission during its 2018/19 Long-Duration Balloon Flight

X-Calibur is a balloon-borne telescope that measures the polarization of high-energy X-rays in the 15--50keV energy range. The instrument makes use of the fact that X-rays scatter preferentially perpendicular to the polarization direction. A beryllium scattering element surrounded by pixellated CZT detectors is located at the focal point of the InFOCμS hard X-ray mirror. The instrument was launched for a long-duration balloon (LDB) flight from McMurdo (Antarctica) on December 29, 2018, and obtained the first constraints of the hard X-ray polarization of an accretion-powered pulsar. Here, we describe the characterization and calibration of the instrument on the ground and its performance during the flight, as well as simulations of particle backgrounds and a comparison to measured rates. The pointing system and polarimeter achieved the excellent projected performance. The energy detection threshold for the anticoincidence system was found to be higher than expected and it exhibited unanticipated dead time. Both issues will be remedied for future flights. Overall, the mission performance was nominal, and results will inform the design of the follow-up mission XL-Calibur, which is scheduled to be launched in summer 2022.

astro-ph.IM↗
arXiv2022

Millimeter-Wave Sensing for Avoidance of High-Risk Ground Conditions for Mobile Robots

Mobile robot autonomy has made significant advances in recent years, with navigation algorithms well developed and used commercially in certain well-defined environments, such as warehouses. The common link in usage scenarios is that the environments in which the robots are utilized have a high degree of certainty. Operating environments are often designed to be robot friendly, for example augmented reality markers are strategically placed and the ground is typically smooth, level, and clear of debris. For robots to be useful in a wider range of environments, especially environments that are not sanitized for their use, robots must be able to handle uncertainty. This requires a robot to incorporate new sensors and sources of information, and to be able to use this information to make decisions regarding navigation and the overall mission. When using autonomous mobile robots in unstructured and poorly defined environments, such as a natural disaster site or in a rural environment, ground condition is of critical importance and is a common cause of failure. Examples include loss of traction due to high levels of ground water, hidden cavities, or material boundary failures. To evaluate a non-contact sensing method to mitigate these risks, Frequency Modulated Continuous Wave (FMCW) radar is integrated with an Unmanned Ground Vehicle (UGV), representing a novel application of FMCW to detect new measurands for Robotic Autonomous Systems (RAS) navigation, informing on terrain integrity and adding to the state-of-the-art in sensing for optimized autonomous path planning. In this paper, the FMCW is first evaluated in a desktop setting to determine its performance in anticipated ground conditions. The FMCW is then fixed to a UGV and the sensor system is tested and validated in a representative environment containing regions with significant levels of ground water saturation.

cs.RO↗
arXiv2020

The formation of atomic oxygen and hydrogen in atmospheric pressure plasmas containing humidity: picosecond two-photon absorption laser induced fluorescence and numerical simulations

Atmospheric pressure plasmas are effective sources for reactive species, making them applicable for industrial and biomedical applications. We quantify ground-state densities of key species, atomic oxygen (O) and hydrogen (H), produced from admixtures of water vapour (up to 0.5%) to the helium feed gas in a radio-frequency-driven plasma at atmospheric pressure. Absolute density measurements, using two-photon absorption laser induced fluorescence, require accurate effective excited state lifetimes. For atmospheric pressure plasmas, picosecond resolution is needed due to the rapid collisional de-excitation of excited states. These absolute O and H density measurements, at the nozzle of the plasma jet, are used to benchmark a plug-flow, 0D chemical kinetics model, for varying humidity content, to further investigate the main formation pathways of O and H. It is found that impurities can play a crucial role for the production of O at small molecular admixtures. Hence, for controllable reactive species production, purposely admixed molecules to the feed gas is recommended, as opposed to relying on ambient molecules. The controlled humidity content was also identified as an effective tailoring mechanism for the O/H ratio.

physics.plasm-ph↗
arXiv2017

Collisions of Terrestrial Worlds: The Occurrence of Extreme Mid-Infrared Excesses around Low-Mass Field Stars

We present the results of an investigation into the occurrence and properties (stellar age and mass trends) of low-mass field stars exhibiting extreme mid-infrared (MIR) excesses ($L_\mathrm{IR} / L_\ast \gtrsim 0.01$). Stars for the analysis were initially selected from the Motion Verified Red Stars (MoVeRS) catalog of photometric stars with SDSS, 2MASS, and $WISE$ photometry and significant proper motions. We identify 584 stars exhibiting extreme MIR excesses, selected based on an empirical relationship for main sequence $W1-W3$ colors. For a small subset of the sample, we show, using spectroscopic tracers of stellar age (H$α$ and Li ${\rm{\small I}}$) and luminosity class, that the parent sample is likely comprised of field dwarfs ($\gtrsim$ 1 Gyr). We also develop the Low-mass Kinematics ($LoKi$) galactic model to estimate the completeness of the extreme MIR excess sample. Using Galactic height as a proxy for stellar age, the completeness corrected analysis indicates a distinct age dependence for field stars exhibiting extreme MIR excesses. We also find a trend with stellar mass (using $r-z$ color as a proxy). Our findings are consistent with the detected extreme MIR excesses originating from dust created in a short-lived collisional cascade ($\lesssim$ 100,000 years) during a giant impact between two large planetismals or terrestrial planets. These stars with extreme MIR excesses also provide support for planetary collisions being the dominant mechanism in creating the observed $Kepler$ dichotomy (the need for more than a single mode, typically two, to explain the variety of planetary system architectures $Kepler$ has observed), rather than different formation mechanisms.

astro-ph.SR↗
arXiv2009

Resolved Spectroscopy of M Dwarf/L Dwarf Binaries. III. The "Wide" L3.5/L4 Dwarf Binary 2MASS J15500845+1455180AB

We report the identification of 2MASS J15500845+1455180 as a 0"9 L dwarf visual binary. This source is resolved in Sloan Digital Sky Survey (SDSS) images and in near-infrared imaging with the IRTF SpeX imager/spectrometer. The two components, oriented along a north-south axis, have similar brightnesses in the near-infrared (Delta{K} ~ 0.2 mag), although the fainter northern component is redder in J-K color. Resolved near-infrared spectroscopy indicates spectral types of L3.5 and L4, consistent with its L3 combined-light optical classification based on SDSS data. Physical association is confirmed through common proper motion, common spectrophotometric distances and low probability of chance alignment. The projected physical separation of 2MASS J1550+1455AB, 30+/-3 AU at an estimated distance of 33+/-3 pc, makes it the widest L dwarf-L dwarf pair identified to date, although such a separation is not unusual among very low-mass field binaries. The angular separation and spectral composition of this system makes it an excellent target for obtaining a precise lithium depletion age, and a potential age standard for low-temperature atmosphere studies.

astro-ph.SR↗
arXiv2009

Increasing the Number of Underrepresented Minorities in Astronomy: Executive Summary

Promoting racial and ethnic diversity is critically important to the future success and growth of the field of astronomy. The raw ability, drive and interest required to excel in the field is distributed without regard to race, gender, or socioeconomic background. By not actively promoting diversity in our field we risk losing talented people to other professions (or losing them entirely), which means that there will be astronomical discoveries that simply won't get made. There is demonstrated evidence that STEM fields benefit from diverse perspectives on problems that require more complex thought processes. This is especially relevant to a field like astronomy where more and more work is being done collaboratively. The lack of notable growth in African American, Hispanic, and Native American representation in astronomy indicates that the 'pipeline' for these individuals is systemically leaky at critical junctures. Substantially more effort must be directed toward improving the educational and career development of minorities to insure that these potential colleagues are supported through the process. However, simply recognizing that the pipeline is faulty is woefully inadequate. There must be very specific, targeted solutions to help improve the situation. With this in mind, we offer two position papers addressing specific areas of improvement that we identify as (a) essential for any foreseeable progress in the field, and (b) attainable in the 2010-2020 decade. These position papers focus primarily on African Americans, Hispanics, and Native Americans. Although we do not directly address issues of Asian Americans, Pacific Islanders, and other groups, many of the recommendations made here can be adapted to address issues faced by these groups as well.

astro-ph.IM↗
arXiv2009

Increasing the Number of Underrepresented Minorities in Astronomy at the Undergraduate, Graduate, and Postdoctoral Levels (Paper I)

If the ethnic makeup of the astronomy profession is to achieve parity with the general population within one generation (~30 years), the number of underrepresented minorities earning graduate degrees in astronomy and astrophysics must increase in the coming decade by a factor of 5 to 10. To accomplish this, the profession must develop and invest in mechanisms to more effectively move individuals across critical educational junctures to the PhD and beyond. Early and continuous research engagement starting in the undergraduate years is critical to this vision, in which the federally funded research internship programs (e.g. NSF REU, NASA GSRP) and national centers/observatories play a vital role. Regionally based partnerships with minority-serving institutions (MSIs) are crucial for tapping extant pools of minority talent, as are post-baccalaurate and/or masters degree "bridging" programs that provide critical stepping stones to the PhD. Because of the strong undergraduate physics, engineering, and computer science backgrounds of many students from MSIs, we suggest that instrument development and large scale computing/data-mining are particularly promising avenues for engagement in the coming decade.

astro-ph.IM↗
arXiv2009

Increasing the Number of Underrepresented Minorities in Astronomy Through K-12 Education and Public Outreach (Paper II)

In order to attract, recruit and retain underrepresented minority students to pursue Astronomy and related fields, we must ensure that there continues to be a well qualified pool of graduate and undergraduate students from which to recruit. This required pool of people are today's elementary, middle and high school students. The Astronomy community must be proactive in demonstrating the importance of pursing scientific study and careers to these students and their parents. Only by actively engaging these communities can U.S Astronomy hope to increase the numbers of minority PhDs and continue to be a leader in Astronomical discovery and knowledge.

astro-ph.IM↗
arXiv2008

Connecting Gas Dynamics and Star Formation Histories in Nearby Galaxies: The VLA-ANGST Survey

In recent years, HST revolutionized the field of star formation in nearby galaxies. Due to its high angular resolution it has now become possible to construct star formation histories of individual stellar populations on scales of a few arcseconds spanning a range of up to ~600 Myr. This method will be applied to the ANGST galaxies, a large HST volume limited survey to map galaxies up to distances of 3.5-4.0 Mpc (excluding the Local Group). The ANGST sample is currently followed--up by high, ~6'' resolution VLA observations of neutral, atomic hydrogen (HI) in the context of VLA-ANGST, an approved Large VLA Project. The VLA resolution is well matched to that of the spatially resolved star formation history maps. The combination of ANGST and VLA-ANGST data will provide a new, promising approach to study essential fields of galaxy evolution such as the triggering of star formation, the feedback of massive stars into the interstellar medium, and the structure and dynamics of the interstellar medium.

astro-ph↗
arXiv2005

Dark Matter and Stellar Mass in the Luminous Regions of Disk Galaxies

We investigate the correlations among stellar mass (M_*), disk scale length (R_d), and rotation velocity at 2.2 disk scale lengths (V_2.2) for a sample of 81 disk-dominated galaxies (disk/total >= 0.9) selected from the SDSS. We measure V_2.2 from long-slit H-alpha rotation curves and infer M_* from galaxy i-band luminosities (L_i) and g-r colors. We find logarithmic slopes of 2.60+/-0.13 and 3.05+/-0.12 for the L_i-V_2.2 and M_*-V_2.2 relations, somewhat shallower than most previous studies, with intrinsic scatter of 0.13 dex and 0.16 dex. Our direct estimates of the total-to-stellar mass ratio within 2.2R_d, assuming a Kroupa IMF, yield a median ratio of 2.4 for M_*>10^10 Msun and 4.4 for M_*=10^9-10^10 Msun, with large scatter at a given M_* and R_d. The typical ratio of the rotation speed predicted for the stellar disk alone to the observed rotation speed at 2.2R_d is ~0.65. The distribution of R_d at fixed M_* is broad, but we find no correlation between disk size and the residual from the M_*-V_2.2 relation, implying that this relation is an approximately edge-on view of the disk galaxy fundamental plane. Independent of the assumed IMF, this result implies that stellar disks do not, on average, dominate the mass within 2.2R_d. We discuss our results in the context of infall models of disk formation in cold dark matter halos. A model with a disk-to-halo mass ratio m_d=0.05 provides a reasonable match to the R_d-M_* distribution for spin parameters λranging from ~0.04-0.08, and it yields a reasonable match to the mean M_*-V_2.2 relation. A model with m_d=0.1 predicts overly strong correlations between disk size and M_*-V_2.2 residual. Explaining the wide range of halo-to-disk mass ratios within 2.2R_d requires significant scatter in m_d values, with systematically lower m_d for galaxies with lower $M_*$.

astro-ph↗