arXiv subjects

Richard Freedman

Publications and source records attributed to Richard Freedman.

25 records · Page 2Linked to original sources

arXiv2018

An Anytime Algorithm for Task and Motion MDPs

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies require decision making over longer time-horizons and scales, their feasibility depends on low-level constraints based upon the geometries and continuous dynamics of the environment. The hybrid nature of this problem makes it difficult to scale; most existing approaches focus on deterministic, fully observable scenarios. We present a new approach where the high-level decision problem occurs in a stochastic setting and can be modeled as a Markov decision process. In contrast to prior efforts, we show that complete MDP policies, or contingent behaviors, can be computed effectively in an anytime fashion. Our algorithm continuously improves the quality of the solution and is guaranteed to be probabilistically complete. We evaluate the performance of our approach on a challenging, realistic test problem: autonomous aircraft inspection. Our results show that we can effectively compute consistent task and motion policies for the most likely execution-time outcomes using only a fraction of the computation required to develop the complete task and motion policy.

cs.AI↗

arXiv2017

Uniform Atmospheric Retrieval Analysis of Ultracool Dwarfs II: Properties of 11 T-dwarfs

Brown dwarf spectra are rich in information revealing of the chemical and physical processes operating in their atmospheres. We apply a recently developed atmospheric retrieval tool to an ensemble of late T-dwarf (600-800K) near infrared spectra. With these spectra we are able to place direct constraints the molecular abundances of H$_2$O, CH$_4$, CO, CO$_2$, NH$_3$, H$_2$S, and Na+K, gravity, thermal structure (and effective temperature), photometric radius, and cloud optical depths. We find that ammonia, water, methane, and the alkali metals are present and well constrained in all 11 objects. From the abundance constraints we find no significant trend in the water, methane, or ammonia abundances with temperature, but find a very strong ($>$25$σ$) increasing trend in the alkali metal abundances with effective temperature, indicative of alkali rainout. We also find little evidence for optically thick clouds. With the methane and water abundances, we derive the intrinsic atmospheric metallicity and carbon-to-oxygen ratios. We find in our sample, that metallicities are typically sub solar and carbon-to-oxygen ratios are somewhat super solar, different than expectations from the local stellar population. We also find that the retrieved vertical thermal profiles are consistent with radiative equilibrium over the photospheric regions. Finally, we find that our retrieved effective temperatures are lower than previous inferences for some objects and that our radii are larger than expectations from evolutionary models, possibly indicative of un-resolved binaries. This investigation and methodology represents a paradigm in linking spectra to the determination of the fundamental chemical and physical processes governing cool brown dwarf atmospheres.

astro-ph.SR↗

arXiv2017

Retrieval of atmospheric properties of cloudy L dwarfs

We present the first results from applying the spectral inversion technique in the cloudy L dwarf regime. Our new framework provides a flexible approach to modelling cloud opacity which can be built incrementally as the data requires, and improves upon previous retrieval experiments in the brown dwarf regime by allowing for scattering in two stream radiative transfer. Our first application of the tool to two mid-L dwarfs is able to reproduce their near-infrared spectra far more closely than grid models. Our retrieved thermal, chemical, and cloud profiles allow us to estimate $T_{\rm eff} = 1796^{+23}_{-25}$ K and $\log g = 5.21^{+0.05}_{-0.08}$ for 2MASS J05002100+0330501 and for 2MASSW J2224438-015852 we find $T_{\rm eff} = 1723^{+18}_{-19}$ K and $\log g = 5.31^{+0.04}_{-0.08}$, in close agreement with previous empirical estimates. Our best model for both objects includes an optically thick cloud deck which passes $τ_{cloud} \geq 1$ (looking down) at a pressure of around 5 bar. The temperature at this pressure is too high for silicate species to condense, and we argue that corundum and/or iron clouds are responsible for this cloud opacity. Our retrieved profiles are cooler at depth, and warmer at altitude than the forward grid models that we compare, and we argue that some form of heating mechanism may be at work in the upper atmospheres of these L dwarfs. We also identify anomalously high CO abundance in both targets, which does not correlate with the warmth of our upper atmospheres or our choice of cloud model, and find similarly anomalous alkali abundance for one of our targets. These anomalies may reflect unrecognised shortcomings in our retrieval model, or inaccuracies in our gas phase opacities.

astro-ph.SR↗

arXiv2015

The LEECH Exoplanet Imaging Survey: Characterization of the Coldest Directly Imaged Exoplanet, GJ 504 b, and Evidence for Super-Stellar Metallicity

As gas giant planets and brown dwarfs radiate away the residual heat from their formation, they cool through a spectral type transition from L to T, which encompasses the dissipation of cloud opacity and the appearance of strong methane absorption. While there are hundreds of known T-type brown dwarfs, the first generation of directly-imaged exoplanets were all L-type. Recently, Kuzuhara et al. (2013) announced the discovery of GJ 504 b, the first T dwarf exoplanet. GJ 504 b provides a unique opportunity to study the atmosphere of a new type of exoplanet with a ~500 K temperature that bridges the gap between the first directly imaged planets (~1000 K) and our own Solar System's Jupiter (~130 K). We observed GJ 504 b in three narrow L-band filters (3.71, 3.88, and 4.00 microns), spanning the red end of the broad methane fundamental absorption feature (3.3 microns) as part of the LEECH exoplanet imaging survey. By comparing our new photometry and literature photometry to a grid of custom model atmospheres, we were able to fit GJ 504 b's unusual spectral energy distribution for the first time. We find that GJ 504 b is well-fit by models with the following parameters: T_eff=544+/-10 K, g<600 m/s^2, [M/H]=0.60+/-0.12, cloud opacity parameter of f_sed=2-5, R=0.96+/-0.07 R_Jup, and log(L)=-6.13+/-0.03 L_Sun, implying a hot start mass of 3-30 M_jup for a conservative age range of 0.1-6.5 Gyr. Of particular interest, our model fits suggest that GJ 504 b has a super-stellar metallicity. Since planet formation can create objects with non-stellar metallicities, while binary star formation cannot, this result suggests that GJ 504 b formed like a planet, not like a binary companion.

astro-ph.EP↗

arXiv2014

Warming early Mars with CO2 and H2

The presence of valleys on ancient terrains of Mars suggest that liquid water flowed on the martian surface 3.8 billion years ago or before. The above-freezing temperatures required to explain valley formation could have been transient, in response to frequent large meteorite impacts on early Mars, or they could have been caused by long-lived greenhouse warming. Climate models that consider only the greenhouse gases carbon dioxide and water vapor have been unable to recreate warm surface conditions, given the lower solar luminosity at that time. Here we use a one-dimensional climate model to demonstrate that an atmosphere containing 1.3-4 bar of CO2 and water vapor, along with 5 to 20 percent H2, could have raised the mean surface temperature of early Mars above the freezing point of water. Vigorous volcanic outgassing from a highly reduced early martian mantle is expected to provide sufficient atmospheric H2 and CO2, the latter from the photochemical oxidation of outgassed CH4 and CO, to form a CO2-H2 greenhouse. Such a dense early martian atmosphere is consistent with independent estimates of surface pressure based on cratering data.

astro-ph.EP↗

arXiv2014

The Atmospheres of Earth-like Planets after Giant Impact Events

It is now understood that the accretion of terrestrial planets naturally involves giant collisions, the moon-forming impact being a well known example. In the aftermath of such collisions the surface of the surviving planet is very hot and potentially detectable. Here we explore the atmospheric chemistry, photochemistry, and spectral signatures of post-giant-impact terrestrial planets enveloped by thick atmospheres consisting predominantly of CO2, and H2O. The atmospheric chemistry and structure are computed self-consistently for atmospheres in equilibrium with hot surfaces with composition reflecting either the bulk silicate Earth (which includes the crust, mantle, atmosphere and oceans) or Earth's continental crust. We account for all major molecular and atomic opacity sources including collision-induced absorption. We find that these atmospheres are dominated by H2O and CO2, while the formation of CH4, and NH3 is quenched due to short dynamical timescales. Other important constituents are HF, HCl, NaCl, and SO2. These are apparent in the emerging spectra, and can be indicative that an impact has occurred. The use of comprehensive opacities results in spectra that are a factor of 2 lower in surface brightness in the spectral windows than predicted by previous models. The estimated luminosities show that the hottest post-giant-impact planets will be detectable with near-infrared coronagraphs on the planned 30m-class telescopes. The 1-4um region will be most favorable for such detections, offering bright features and better contrast between the planet and a potential debris disk. We derive cooling timescales on the order of 10^5-10^6 Myrs, based on the modeled effective temperatures. This leads to the possibility of discovering tens of such planets in future surveys.

astro-ph.EP↗

arXiv2012

Masses, Radii, and Cloud Properties of the HR 8799 Planets

The near-infrared colors of the planets directly imaged around the A star HR 8799 are much redder than most field brown dwarfs of the same effective temperature. Previous theoretical studies of these objects have concluded that the atmospheres of planets b, c, and d are unusually cloudy or have unusual cloud properties. Some studies have also found that the inferred radii of some or all of the planets disagree with expectations of standard giant planet evolution models. Here we compare the available data to the predictions of our own set of atmospheric and evolution models that have been extensively tested against observations of field L and T dwarfs, including the reddest L dwarfs. Unlike some previous studies we require mutually consistent choices for effective temperature, gravity, cloud properties, and planetary radius. This procedure thus yields plausible values for the masses, effective temperatures, and cloud properties of all three planets. We find that the cloud properties of the HR 8799 planets are not unusual but rather follow previously recognized trends, including a gravity dependence on the temperature of the L to T spectral transition--some reasons for which we discuss. We find the inferred mass of planet b is highly sensitive to whether or not we include the H and K band spectrum in our analysis. Solutions for planets c and d are consistent with the generally accepted constraints on the age of the primary star and orbital dynamics. We also confirm that, like in L and T dwarfs and solar system giant planets, non-equilibrium chemistry driven by atmospheric mixing is also important for these objects. Given the preponderance of data suggesting that the L to T spectral type transition is gravity dependent, we present an exploratory evolution calculation that accounts for this effect. Finally we recompute the the bolometric luminosity of all three planets.

astro-ph.EP↗