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This work is concerned with the numerical approximation of solutions to models that are used to describe atmospheric or oceanographic flows. In particular, this work concen- trates on the approximation of the Shallow Water equations with bottom topography and the compressible Euler equations with a gravitational potential. Numerous methods have been developed to approximate solutions of these models. Of specific interest here are the approximations of near equilibrium solutions and, in the case of the Euler equations, the low Mach number flow regime. It is inherent in most of the numerical methods that the quality of the approximation increases with the number of degrees of freedom that are used. Therefore, these schemes are often run in parallel on big computers to achieve the best pos- sible approximation. However, even on those big machines, the desired accuracy can not be achieved by the given maximal number of degrees of freedom that these machines allow. The main focus in this work therefore lies in the development of numerical schemes that give better resolution of the resulting dynamics on the same number of degrees of freedom, compared to classical schemes.
This work is the result of a cooperation of Prof. Klingenberg of the Institute of Mathe- matics in Wu¨rzburg and Prof. R¨opke of the Astrophysical Institute in Wu¨rzburg. The aim of this collaboration is the development of methods to compute stellar atmospheres. Two main challenges are tackled in this work. First, the accurate treatment of source terms in the numerical scheme. This leads to the so called well-balanced schemes. They allow for an accurate approximation of near equilibrium dynamics. The second challenge is the approx- imation of flows in the low Mach number regime. It is known that the compressible Euler equations tend towards the incompressible Euler equations when the Mach number tends to zero. Classical schemes often show excessive diffusion in that flow regime. The here devel- oped scheme falls into the category of an asymptotic preserving scheme, i.e. the numerical scheme reflects the behavior that is computed on the continuous equations. Moreover, it is shown that the diffusion of the numerical scheme is independent of the Mach number.
In chapter 3, an HLL-type approximate Riemann solver is adapted for simulations of the Shallow Water equations with bottom topography to develop a well-balanced scheme. In the literature, most schemes only tackle the equilibria when the fluid is at rest, the so called Lake at rest solutions. Here a scheme is developed to accurately capture all the equilibria of the Shallow Water equations. Moreover, in contrast to other works, a second order extension is proposed, that does not rely on an iterative scheme inside the reconstruction procedure, leading to a more efficient scheme.
In chapter 4, a Suliciu relaxation scheme is adapted for the resolution of hydrostatic equilibria of the Euler equations with a gravitational potential. The hydrostatic relations are underdetermined and therefore the solutions to that equations are not unique. However, the scheme is shown to be well-balanced for a wide class of hydrostatic equilibria. For specific classes, some quadrature rules are computed to ensure the exact well-balanced property. Moreover, the scheme is shown to be robust, i.e. it preserves the positivity of mass and energy, and stable with respect to the entropy. Numerical results are presented in order to investigate the impact of the different quadrature rules on the well-balanced property.
In chapter 5, a Suliciu relaxation scheme is adapted for the simulations of low Mach number flows. The scheme is shown to be asymptotic preserving and not suffering from excessive diffusion in the low Mach number regime. Moreover, it is shown to be robust under certain parameter combinations and to be stable from an Chapman-Enskog analysis.
Numerical results are presented in order to show the advantages of the new approach.
In chapter 6, the schemes developed in the chapters 4 and 5 are combined in order to investigate the performance of the numerical scheme in the low Mach number regime in a gravitational stratified atmosphere. The scheme is shown the be well-balanced, robust and stable with respect to a Chapman-Enskog analysis. Numerical tests are presented to show the advantage of the newly proposed method over the classical scheme.
In chapter 7, some remarks on an alternative way to tackle multidimensional simulations are presented. However no numerical simulations are performed and it is shown why further research on the suggested approach is necessary.
The extragalactic gamma-ray sky is dominated by blazars, active galactic nuclei (AGN) with a relativistic jet that is closely aligned with the line of sight. Galaxies develop an active nucleus if the central supermassive black hole (BH) accretes large amounts of ambient matter and magnetic flux. The inflowing mass accumulates around the plane perpendicular to the accretion flow's angular momentum. The flow is heated through viscous friction and part of the released energy is radiated as blackbody or non-thermal radiation, with luminosities that can dominate the accumulated stellar luminosity of the host galaxy. A fraction of the accretion flow luminosity is reprocessed in a surrounding field of ionised gas clouds. These clouds, revolving around the central BH, emit Doppler-broadened atomic emission lines. The region where these broad-line-emitting clouds are located is called broad-line region (BLR).
About one in ten AGN forms an outflow of radiation and relativistic particles, called a relativistic jet. According to the Blandford-Znajek mechanism, this is facilitated through electromagnetic processes in the magnetosphere of a spinning BH. The latter induces a magnetospheric poloidal current circuit, generating a decelerating torque on the BH and inducing a toroidal magnetic field. Consequently, rotational energy of the BH is converted to Poynting flux streaming away mainly along the rotational axis and starting the jet. One possibility for particle acceleration near the jet base is realised by magnetospheric vacuum gaps, regions temporarily devoid of plasma, such that an intermittent electric field arises parallel to the magnetic field lines, enabling particle acceleration and contributing to the mass loading of the jets.
Magnetised structures, containing bunches of relativistic electrons, propagate away from the galactic nucleus along the jets. Assuming that these electrons emit synchrotron radiation and that they inverse-Compton (IC) up-scatter abundant target photons, which can either be the synchrotron photons themselves or photons from external emitters, the emitted spectrum can be theoretically determined. Additionally taking into account that these emission regions move relativistically themselves and that the emission is Doppler-boosted and beamed in forward direction, the typical two-hump spectral energy distribution (SED) of blazars is recovered.
There are however findings that challenge this well-established model. Short-time variability, reaching down to minute scales at very high energy gamma rays, is today known to be a widespread phenomenon of blazars, calling for very compact emission regions. In most models of such optically thick emission regions, the gamma-ray flux is usually pair-absorbed exponentially, without considering the cascade evolving from the pair-produced electrons. From the observed flux, it is often concluded that emission emanates from larger distances where the region is optically thin, especially from outside of the BLR. Only in few blazars gamma-ray attenuation associated with pair absorption in the BLR was clearly reported.
With the advent of sophisticated high-energy or very high energy gamma-ray detectors, like the Fermi Large Area Telescope or the Major Atmospheric Gamma-ray Imaging Cherenkov telescopes, besides the extraordinarily fast variability spectral features have been found that cannot be explained by conventional models reproducing the two-hump SED. Two such narrow spectral features are discussed in this work. For the nearby blazar Markarian 501, hints to a sharp peak around 3 TeV have been reported from a multi-wavelength campaign carried out in July 2014, while for 3C 279 a spectral dip was found in 2018 data, that can hardly be described with conventional fitting functions. In this work it is examined whether these spectral peculiarities of blazar jet emission can be explained, if the full radiation reprocessing through an IC pair cascade is accounted for.
Such a cascade is the multiple concatenation of IC scattering events and pair production events. In the cascades generally considered in this work, relativistic electrons and high-energy photons are injected into a fixed soft target photon field. A mathematical description for linear IC pair cascades with escape terms is delivered on the basis of preliminary works. The steady-state kinetic equations for the electrons and for the photons are determined, whereby it is paid attention to an explicit formulation and to motivating the correct integration borders of all integrals from kinematic constraints. In determining the potentially observable gamma-ray flux, both the attenuated injected flux and the flux evolving as an effect of IC up-scattering, pair absorption and escape are incorporated, giving the emerging spectra very distinct imprints.
Much effort is dedicated to the numerical solution of the electrons' kinetic equation via iterative schemes. It is explained why pointwise iteration from higher to lower Lorentz factors is more efficient than iterating the whole set of sampling points. The algorithm is parallelised at two positions. First, several workers can perform pointwise iterations simultaneously. Second, the most demanding integral is cut into a number of part integrals which can be determined by multiple workers. Through these measures, the Python code can be readily applied to simulate steady-state IC pair cascades with escape.
In the case of Markarian 501 the developed framework is as follows. The AGN hosts an advection-dominated accretion flow with a normalised accretion rate of several \(10^{-4}\) and an electron temperature near \(10^{10}\) K. On the one hand, the accretion flow illuminates the few ambient gas clouds with approximate radius \(10^{11}\) m, which reprocess a fraction 0.01 of the luminosity into hydrogen and helium emission lines. On the other hand, the gamma rays from the accretion flow create electrons and positrons in a sporadically active vacuum gap in the BH magnetosphere. In the active gap, a power of roughly 0.001 of the Blandford-Znajek power is extracted from the rotating BH through a gap potential drop of several \(10^{18}\) V, generating ultra-relativistic electrons, which subsequently are multiplied by a factor of about \(10^6\) through interaction with the accretion flow photons. This electron beam propagates away from the central engine and encounters the photon field of one passing ionised cloud. The resulting IC pair cascade is simulated and the evolving gamma-ray spectrum is determined. Just above the absorption troughs due to the hydrogen lines, the spectrum exhibits a narrow bump around 3 TeV. When the cascaded emission is added to the emission generated at larger distances, the observed multi-wavelength SED including the sharp peak at 3 TeV is reproduced, underlining that radiation processes beyond conventional models are motivated by distinct spectral features.
The dip in the spectrum of 3C 279 is addressed by a similar cascade model. Three types of injection are considered, varying in the ratio of the photon density to the electron density and varying in the spectral shape. The IC pair cascade is assumed to happen either in the dense BLR photon field with a luminosity of several \(10^{37}\) W and a radial size of few \(10^{14}\) m or in the diluted photon field outside of the BLR. The latter scenario is however rejected as the spectral slope around several 100 MeV and the dip at few 10 GeV cannot be reconciled within this model. The radiation cascaded in the BLR can explain the observational data, irrespective of the assumed injected rate. It is therefore concluded that for this period of gamma-ray emission, the radiation production happens at the edge of the BLR of 3C 279.
Both investigations show that IC pair cascades can account for fine structure seen in blazar SEDs. It is insufficient to restrict the radiation transport to pure exponential absorption of an injection term. Pair production and IC up-scattering by all generations of photons and electrons in the optically thick regime critically shape the emerging spectra. As the advent of future improved detectors will provide more high-precision spectra, further observations of narrow spectral features can be expected. It seems therefore recommendable to incorporate cascading into conventional radiation production models or to extend the model developed in this work by synchrotron radiation.
Im Rahmen eines selbst-konsistenten Outer-Gap-Modells der Pulsar-Magnetosphäre wurde die elektromagnetische sehr hochenergetische Strahlung des Crab-Pulsars simuliert. Dies wurde parallel anhand zweier verschiedener Fälle getan, die sich in den angenommenen Gleichungen für die elektrische Feldstärke und für den Krümmungsradius der magnetischen Feldlinien unterscheiden. Die Kinetik der geladenen Teilchen bei ihrer Propagation durch die Outer Gap wurde unter Einbeziehung von Krümmungsstrahlung, inverser Compton-Streuung und Triple Paarbildung betrachtet. Das theoretisch simulierte Spektrum wird mit von Fermi-LAT und von den MAGIC Teleskopen gemessenen Daten verglichen.
On-orbit verification of RL-based APC calibrations for micrometre level microwave ranging system
(2023)
Micrometre level ranging accuracy between satellites on-orbit relies on the high-precision calibration of the antenna phase center (APC), which is accomplished through properly designed calibration maneuvers batch estimation algorithms currently. However, the unmodeled perturbations of the space dynamic and sensor-induced uncertainty complicated the situation in reality; ranging accuracy especially deteriorated outside the antenna main-lobe when maneuvers performed. This paper proposes an on-orbit APC calibration method that uses a reinforcement learning (RL) process, aiming to provide the high accuracy ranging datum for onboard instruments with micrometre level. The RL process used here is an improved Temporal Difference advantage actor critic algorithm (TDAAC), which mainly focuses on two neural networks (NN) for critic and actor function. The output of the TDAAC algorithm will autonomously balance the APC calibration maneuvers amplitude and APC-observed sensitivity with an object of maximal APC estimation accuracy. The RL-based APC calibration method proposed here is fully tested in software and on-ground experiments, with an APC calibration accuracy of less than 2 mrad, and the on-orbit maneuver data from 11–12 April 2022, which achieved 1–1.5 mrad calibration accuracy after RL training. The proposed RL-based APC algorithm may extend to prove mass calibration scenes with actions feedback to attitude determination and control system (ADCS), showing flexibility of spacecraft payload applications in the future.
The most energetic versions of active galactic nuclei (AGNs) feature two highly-relativistic plasma outflows, so-called jets, that are created in the vicinity of the central supermassive black hole and evolve in opposite directions. In blazars, which dominate the extragalactic gamma-ray sky, the jets are aligned close to the observer's line of sight leading to strong relativistic beaming effects of the jet emission. Radio observations especially using very long baseline interferometry (VLBI) provide the best way to gain direct information on the intrinsic properties of jets down to sub-parsec scales, close to their formation region.
In this thesis, I focus on the properties of three AGNs, IC 310, PKS 2004-447, and 3C 111 that belong to the small non-blazar population of gamma-ray-loud AGNs. In these kinds of AGNs, the jets are less strongly aligned with respect to the observer than in blazars. I study them in detail with a variety of radio astronomical instruments with respect to their high-energy emission and in the context of the large samples in the monitoring programmes MOJAVE and TANAMI. My analysis of radio interferometric observations and flux density monitoring data reveal very different characteristics of the jet emission in these sources. The work presented in this thesis illustrates the diversity of the radio properties of gamma-ray-loud AGNs that do not belong to the dominating class of blazars.
Diese Arbeit beschäftigt sich mit Strahlungsprozessen in Blazaren. Bei den Blazaren handelt es sich um eine Unterkategorie der aktiven Galaxienkerne, bei denen die Jetachse in Richtung des Beobachters zeigt. Charakteristisch für die Blazare ist ein Multifrequenzspektrum der Photonen, welches sich vom Radiobereich bis hin zur Gamma-Strahlung mit TeV-Energien erstreckt. Insbesondere der Gamma-Bereich rückt aktuell in den Fokus der Betrachtung mit Experimenten wie zum Beispiel FERMI und MAGIC. Ziel dieser Arbeit ist die Modellierung der auftretenden Strahlungsprozesse und die Beschreibung der Multifrequenzspektren der Blazare mit Hilfe eines hadronisch-leptonischen Modells. Grundlage hierfür ist ein selbstkonsistentes Synchrotron-Selbst-Compton-Modell (SSC), welches zur Beschreibung des Spektrums der Quelle 1 ES 1218+30.4 verwendet wird. Dabei wird die Parameterwahl unterstützt durch eine Abschätzung der Masse des zentralen schwarzen Loches. Das hier behandelte SSC-Modell wird dahingehend untersucht, wie es sich unter Veränderung der Modellparameter verhält. Dabei werden Abhängigkeiten des Photonenspektrums von Änderungsfaktoren der Parameter abgeleitet. Außerdem werden diese Abhängigkeiten in Relation gesetzt und aus dieser Betrachtung ergibt sich die Schlussfolgerung, dass unter der Voraussetzung eines festen Spektralindex der Elektronenverteilung die Wahl eines Parametersatzes zur Modellierung eines Photonenspektrums eindeutig ist. Zur Einführung eines zeitabhängigen, hadronischen Modells wird das SSCModell um die Anwesenheit nichtthermischer Protonen erweitert. Dadurch kann Proton-Synchrotron-Strahlung einen Beitrag im Gamma-Bereich leisten. Außerdem werden durch Proton-Photon-Wechselwirkung Pionen erzeugt. Aus deren Zerfall werden zusammen mit der Paarbildung aus Photon-Photon-Absorption sekundäre Elektronen und Positronen produziert, die wiederum zum Hochenergiespektrum beitragen. Neben den Pionen werden bei der Proton-Photon- Wechselwirkung außerdem noch Neutrinos und Neutronen erzeugt, die einen direkten Einblick in die Emissionsregion erlauben. Das hier vorgestellte hadronische Modell wird auf die Quelle 3C 279 angewandt. Für diese Quelle reicht mit der Detektion im VHE-Bereich der SSCAnsatz nicht aus, um das Photonenspektrum zu beschreiben. Mit dem vorgelegten Modell gelingt die Beschreibung des Spektrums in den SSC-kritischen Bereichen sehr gut. Insbesondere können verschiedene Flusszustände modelliert und allein durch Veränderung der Maximalenergien von Protonen und Elektronen ineinander überführt werden. Diese einfache Möglichkeit der Modellierung der Variabilität der Quelle unterstreicht die Wahl des hadronischen Ansatzes. Somit wird hier ein sehr gutes Werkzeug zur Untersuchung der Emissionsprozesse in Blazaren geliefert. Darüber hinaus ist mit der Abschätzung des Neutrino-Flusses zwar die Detektion von 3C 279 als Punktquelle mit IceCube unwahrscheinlich, jedoch liefert das Modell generell die Möglichkeit im Kontext des Multimessenger-Ansatzes Antworten zu liefern. Im gleichen Kontext wird auch der Beitrag zur kosmischen Strahlung durch entweichende Neutronen untersucht.
Multi-Wavelength Observations of the high-peaked BL Lacertae objects 1ES 1011+496 and 1ES 2344+514
(2012)
BL Lacertae objects belong to the most luminous sources in the Universe. They represent a subclass of active galactic nuclei with a spectrum that is dominated by non-thermal emission, extending from radio wavelengths to tera electronvolt (TeV) energies. The emission is strongly variable on time scales of years down to minutes, and arises from relativistic jets pointing at small angles to the line of sight of the observer, which is the reason for naming them “blazars”. Blazars are the dominant extragalactic source class in the radio, microwave and gamma-ray regime, are prime candidates for the origin of the Cosmic Rays and excellent laboratories to study black hole and jet physics as well as relativistic effects. Despite more than 20 years of observational efforts, the physical mechanisms driving their emission are not yet fully understood. So far, studies of their broad-band continuum emission were mostly concentrated on bright, flaring states. However, for a better understanding of the central engine powering the jets, the bias from flux-limited observations of the past must be overcome and their long-term average continuum spectral energy distributions (SEDs) must be determined. This work presents the first simultaneous multi-wavelength campaigns from the radio to the TeV regime of two high-frequency peaked BL Lacertae objects known to emit at TeV energies. The first source, 1ES 1011+496, was observed between February and May 2008, the second one, 1ES 2344+514, between September 2008 and February 2009. The extensive observational campaigns were organised independently from an external trigger for the presence of a flaring state. Since the duty cycle of major flux outbursts is known to be rather low, the campaigns were expected to yield SEDs representative of the long-term average emission. Central for this thesis is the analysis of data obtained with the MAGIC Cherenkov telescope, measuring energy spectra and light curves from ~0.1 to ~10 TeV. For the remaining instruments, observation time was proposed and additional data was organised by collaboration with the instrument teams by the author of this work. Such data was obtained mostly in a fully reduced state. Individual light curves are investigated as well as combined in a search for inter-band correlations. The data of both sources reveal a notable lack of a correlation between the emission at radio and optical wavelengths, indicating that the radio and short-wavelength emission arise in different regions of the jet. Quasi-simultaneous SEDs of two different flux states are observationally determined and described by a one-zone as well as a self-consistent two-zone synchrotron self-Compton model. First approaches to model the SEDs by means of a Chi2 minimisation technique are briefly discussed. The SEDs and the resulting model parameters, characterising the physical conditions in the emission regions, are compared to archival data. Though the models can describe the data well, for 1ES 1011+496 the model parameters indicate that in addition to the synchrotron and inverse-Compton emission of relativistic electrons, emission due to accelerated protons seems to be required. The SEDs of 1ES 2344+514 reveal one of the lowest activity states ever detected from the source. Despite that, the model parameters are not indicative of a distinct quiescent state, which may be caused by the degeneracy of the different parameters in one-zone models. Moreover, indications accumulate that the radiation can not be attributed to a single emission region. The results disfavour some of the current blazar classification schemes and the so-called “blazar sequence”, emphasising the need for a more realistic explanation of the systematics of the blazar SEDs in terms of fundamental parameters.
Flux distribution is an important tool to understand the variability processes in activegalactic nuclei. We now have available a great deal of observational evidences pointing towards thepresence of log-normal components in the high energy light curves, and different models have beenproposed to explain these data. Here, we collect some of the recent developments on this topic usingthe well-known blazar Mrk 501 as example of complex and interesting aspects coming from its fluxdistribution in different energy ranges and at different timescales. The observational data we refer toare those collected in a complementary manner by Fermi-LAT over multiple years, and by the FirstG-APD Cherenkov Telescope (FACT) telescope and the H.E.S.S. array in correspondence of the brightflare of June 2014
The next-generation Event Horizon Telescope (ngEHT) will be a significant enhancement of the Event Horizon Telescope (EHT) array, with ∼10 new antennas and instrumental upgrades of existing antennas. The increased uv-coverage, sensitivity, and frequency coverage allow a wide range of new science opportunities to be explored. The ngEHT Analysis Challenges have been launched to inform the development of the ngEHT array design, science objectives, and analysis pathways. For each challenge, synthetic EHT and ngEHT datasets are generated from theoretical source models and released to the challenge participants, who analyze the datasets using image reconstruction and other methods. The submitted analysis results are evaluated with quantitative metrics. In this work, we report on the first two ngEHT Analysis Challenges. These have focused on static and dynamical models of M87* and Sgr A* and shown that high-quality movies of the extended jet structure of M87* and near-horizon hourly timescale variability of Sgr A* can be reconstructed by the reference ngEHT array in realistic observing conditions using current analysis algorithms. We identify areas where there is still room for improvement of these algorithms and analysis strategies. Other science cases and arrays will be explored in future challenges.
Lidar pose tracking of a tumbling spacecraft using the smoothed normal distribution transform
(2023)
Lidar sensors enable precise pose estimation of an uncooperative spacecraft in close range. In this context, the iterative closest point (ICP) is usually employed as a tracking method. However, when the size of the point clouds increases, the required computation time of the ICP can become a limiting factor. The normal distribution transform (NDT) is an alternative algorithm which can be more efficient than the ICP, but suffers from robustness issues. In addition, lidar sensors are also subject to motion blur effects when tracking a spacecraft tumbling with a high angular velocity, leading to a loss of precision in the relative pose estimation. This work introduces a smoothed formulation of the NDT to improve the algorithm’s robustness while maintaining its efficiency. Additionally, two strategies are investigated to mitigate the effects of motion blur. The first consists in un-distorting the point cloud, while the second is a continuous-time formulation of the NDT. Hardware-in-the-loop tests at the European Proximity Operations Simulator demonstrate the capability of the proposed methods to precisely track an uncooperative spacecraft under realistic conditions within tens of milliseconds, even when the spacecraft tumbles with a significant angular rate.