Stereoscopic System Research Articles

Current status and operation of the H.E.S.S. array of imaging atmospheric Cherenkov telescopes

The High Energy Stereoscopic System (H.E.S.S.) is an array of five imaging atmospheric Cherenkov telescopes (IACTs) to study gamma-ray emission from astrophysical objects in the Southern hemisphere. It is the only hybrid array of IACTs, composed of telescopes with different collection area and footprint, individually optimised for a specific energy range. Collectively, the array is most sensitive to gamma rays in the range of 100GeV to 100TeV. The array has been in operation since 2002 and has been upgraded with new telescopes and cameras multiple times. Recent hardware upgrades and changes in the operational procedures increased the amount of observing time, which is of key importance for time-domain science. H.E.S.S. operations saw record data taking in 2020 and 2021 and we describe the current operations with specific emphasis on system performance, operational processes and workflows, quality control, and (near) real-time extraction of science results. In light of this, we will briefly discuss the early detection of gamma-ray emission from the recurrent nova RS Oph and alert distribution to the astrophysics community.

Nuclear and electromagnetic cascades induced by ultra-high-energy cosmic rays in radio galaxies: implications for Centaurus A

ABSTRACT Very high energy (VHE) γ-rays ($\gtrsim\!\! 0.1\rm ~TeV$) and neutrinos are crucial for identifying accelerators of ultra-high-energy cosmic rays (UHECRs), but this is challenging especially for UHECR nuclei. In this work, we develop a numerical code to solve the transport equation for UHECRs and their secondaries, where both nuclear and electromagnetic cascades are taken into account self-consistently, considering steady UHECR accelerators such as radio galaxies. In particular, we focus on Centaurus A, which has been proposed as one of the most promising UHECR sources in the local Universe. Motivated by observations of extended VHE γ-ray emission from its kiloparsec-scale jet by the High Energy Stereoscopic System (H.E.S.S.), we study interactions between UHECRs accelerated in the large-scale jet and various target photon fields including blazar-like beamed core emission, and present a quantitative study on VHE γ-ray signatures of UHECR nuclei, including the photodisintegration and Bethe–Heitler pair production processes. We show that VHE γ-rays from UHECR nuclei could be detected by the ground-based γ-ray telescopes given that the dominant composition of UHECRs consists of intermediate-mass (such as oxygen) nuclei.

Constraints on the Intergalactic Magnetic Field Using Fermi-LAT and H.E.S.S. Blazar Observations

Magnetic fields in galaxies and galaxy clusters are believed to be the result of the amplification of intergalactic seed fields during the formation of large-scale structures in the universe. However, the origin, strength, and morphology of this intergalactic magnetic field (IGMF) remain unknown. Lower limits on (or indirect detection of) the IGMF can be obtained from observations of high-energy gamma rays from distant blazars. Gamma rays interact with the extragalactic background light to produce electron−positron pairs, which can subsequently initiate electromagnetic cascades. The gamma-ray signature of the cascade depends on the IGMF since it deflects the pairs. Here we report on a new search for this cascade emission using a combined data set from the Fermi Large Area Telescope and the High Energy Stereoscopic System. Using state-of-the-art Monte Carlo predictions for the cascade signal, our results place a lower limit on the IGMF of B > 7.1 × 10−16 G for a coherence length of 1 Mpc even when blazar duty cycles as short as 10 yr are assumed. This improves on previous lower limits by a factor of 2. For longer duty cycles of 104 (107) yr, IGMF strengths below 1.8 × 10−14 G (3.9 × 10−14 G) are excluded, which rules out specific models for IGMF generation in the early universe.

Performance and systematic uncertainties of CTA-North in conditions of reduced atmospheric transmission

The Cherenkov Telescope Array (CTA) is the next-generation stereoscopic system of Imaging Atmospheric Cherenkov Telescopes (IACTs). In IACTs, the atmosphere is used as a calorimeter to measure the energy of extensive air showers induced by cosmic gamma rays, which brings along a series of constraints on the precision to which energy can be reconstructed. The presence of clouds during observations can severely affect Cherenkov light yield, contributing to the systematic uncertainty in energy scale calibration. To minimize these systematic uncertainties, a calibration of telescopes is of great importance. For this purpose, the influence of cloud transmission and altitude on CTA-N performance degradation was investigated using detailed Monte Carlo simulations for the case where no action is taken to correct for the effects of clouds. Variations of instrument response functions in the presence of clouds are presented. In the presence of clouds with low transmission (≤ 80%) the energy resolution is aggravated by 30% at energies below 1 TeV, and by 10% at higher energies. For higher transmissions, the energy resolution is worse by less than 10% in the whole energy range. The angular resolution varies up to 10% depending both on the transmission and altitude of the cloud. The sensitivity of the array is most severely reduced at lower energies, even by 60% at 40 GeV, depending on the clouds' properties. A simple semi-analytical model of sensitivity degradation has been introduced to summarize the influence of clouds on sensitivity and provide useful scaling relations.

Optimization of SSVEP-BCI Virtual Reality Stereo Stimulation Parameters Based on Knowledge Graph.

The steady-state visually evoked potential (SSVEP) is an important type of BCI that has various potential applications, including in virtual environments using virtual reality (VR). However, compared to VR research, the majority of visual stimuli used in the SSVEP-BCI are plane stimulation targets (PSTs), with only a few studies using stereo stimulation targets (SSTs). To explore the parameter optimization of the SSVEP-BCI virtual SSTs, this paper presents a parameter knowledge graph. First, an online VR stereoscopic stimulation SSVEP-BCI system is built, and a parameter dictionary for VR stereoscopic stimulation parameters (shape, color, and frequency) is established. The online experimental results of 10 subjects under different parameter combinations were collected, and a knowledge graph was constructed to optimize the SST parameters. The best classification performances of the shape, color, and frequency parameters were sphere (91.85%), blue (94.26%), and 13Hz (95.93%). With various combinations of virtual reality stereo stimulation parameters, the performance of the SSVEP-BCI varies. Using the knowledge graph of the stimulus parameters can help intuitively and effectively select appropriate SST parameters. The knowledge graph of the stereo target stimulation parameters presented in this work is expected to offer a way to convert the application of the SSVEP-BCI and VR.

A REPLICABLE OPEN-SOURCE MULTI-CAMERA SYSTEM FOR LOW-COST 4D GLACIER MONITORING

Abstract. Image-based monitoring has emerged as a prevalent technique for sensing mountain environments. Monoscopic time-lapse cameras, which rely on digital image correlation to quantify glacier motion, have limitations due to the need for a Digital Elevation Model for deriving 3D flow velocity fields. Multi-camera systems overcome this limitation, as they allow for a 3D reconstruction of the scene. This paper presents a replicable low-cost stereoscopic system designed for 4D glacier monitoring. The system consists of independent and autonomous units, built from off-the-shelves components, such as a DSLR camera, an Arduino microcontroller, and a Raspberry Pi Zero, reducing costs compared to pre-built time-lapse cameras. The units are energetically self-sufficient and resistant to harsh alpine conditions. The system was successfully tested for more than a year to monitor the northwest terminus of the Belvedere Glacier (Italian Alps). Daily stereo-pairs acquired were processed with Structure-from-Motion to derive 3D point clouds of the glacier terminus and estimate glacier retreat and ice volume loss. By combining the information about ice volume loss with ablation estimates and ice flow velocity information, e.g., derived from monoscopic-camera time series, a multi-camera system enables a comprehensive understanding of sub-seasonal glacier dynamics.

Deep learning techniques for imaging air Cherenkov telescopes

Very-high-energy (VHE) gamma rays and charged cosmic rays (CCRs) provide an observational window into the acceleration mechanisms of extreme astrophysical environments. One of the major challenges at imaging air Cherenkov telescopes (IACTs) designed to look for VHE gamma rays, is the separation of air showers initiated by CCRs which form a background to gamma-ray searches. Two other less well-studied problems at IACTs are (a) the classification of different primary nuclei among the CCR events, and (b) identification of anomalous events initiated by beyond-the-Standard-Model (BSM) particles that could give rise to shower signatures which differ from the standard images of either gamma rays or CCR showers. The problems of categorizing the primary particle that initiates a shower image, or the problem of tagging anomalous shower events in a model-independent way, are problems that are well suited to a machine learning approach. Traditional studies that have explored gamma-ray/CCR separation have used a multivariate analysis based on derived shower properties, which contains significantly reduced information about the shower. In our work, we address the problems outlined above by using machine learning architectures trained on full simulated shower images, as opposed to training on just a few derived shower properties. We illustrate the techniques of binary and multicategory classification using convolutional neural networks, and we also pioneer the use of autoencoders for anomaly detection at VHE gamma-ray experiments. The latter technique has been studied previously in the context of collider physics, to tag anomalous BSM candidates in a model-independent way. In this study, for the first time, we demonstrate the efficacy of these techniques in the domain of VHE gamma-ray experiments. As a case study, we apply our techniques to the High Energy Stereoscopic System experiment. However, the real strength of the techniques that we broach here in the context of VHE gamma-ray observatories, is that these methods can be applied broadly to any other IACT---such as the upcoming Cherenkov Telescope Array---or can even be suitably adapted to CCR experiments.

Search for the evaporation of primordial black holes with H.E.S.S.

Primordial Black Holes (PBHs) are hypothetical black holes predicted to have been formed from density fluctuations in the early Universe. PBHs with an initial mass around 1014–1015 g are expected to end their evaporation at present times in a burst of particles and very-high-energy (VHE) gamma rays. Those gamma rays may be detectable by the High Energy Stereoscopic System (H.E.S.S.), an array of imaging atmospheric Cherenkov telescopes. This paper reports on the search for evaporation bursts of VHE gamma rays with H.E.S.S., ranging from 10 to 120 seconds, as expected from the final stage of PBH evaporation and using a total of 4816 hours of observations. The most constraining upper limit on the burst rate of local PBHs is 2000 pc-3 yr-1 for a burst interval of 120 seconds, at the 95% confidence level. The implication of these measurements for PBH dark matter are also discussed.

HESS J1809−193: A halo of escaped electrons around a pulsar wind nebula?

Context. HESS J1809−193 is an unassociated very-high-energy γ-ray source located on the Galactic plane. While it has been connected to the nebula of the energetic pulsar PSR J1809−1917, supernova remnants and molecular clouds present in the vicinity also constitute possible associations. Recently, the detection of γ-ray emission up to energies of ∼100 TeV with the HAWC observatory has led to renewed interest in HESS J1809−193. Aims. We aim to understand the origin of the γ-ray emission of HESS J1809−193. Methods. We analysed 93.2 h of data taken on HESS J1809−193 above 0.27 TeV with the High Energy Stereoscopic System (H.E.S.S.), using a multi-component, three-dimensional likelihood analysis. In addition, we provide a new analysis of 12.5 yr of Fermi-LAT data above 1 GeV within the region of HESS J1809−193. The obtained results are interpreted in a time-dependent modelling framework. Results. For the first time, we were able to resolve the emission detected with H.E.S.S. into two components: an extended component (modelled as an elongated Gaussian with a 1-σ semi-major and semi-minor axis of ∼0.62° and ∼0.35°, respectively) that exhibits a spectral cutoff at ∼13 TeV, and a compact component (modelled as a symmetric Gaussian with a 1-σ radius of ∼0.1°) that is located close to PSR J1809−1917 and shows no clear spectral cutoff. The Fermi-LAT analysis also revealed extended γ-ray emission, on scales similar to that of the extended H.E.S.S. component. Conclusions. Our modelling indicates that based on its spectrum and spatial extent, the extended H.E.S.S. component is likely caused by inverse Compton emission from old electrons that form a halo around the pulsar wind nebula. The compact component could be connected to either the pulsar wind nebula or the supernova remnant and molecular clouds. Due to its comparatively steep spectrum, modelling the Fermi-LAT emission together with the H.E.S.S. components is not straightforward.

Binocular Rivalry Impact on Macroblock-Loss Error Concealment for Stereoscopic 3D Video Transmission

Three-dimensional video services delivered through wireless communication channels have to deal with numerous challenges due to the limitations of both the transmission channel's bandwidth and receiving devices. Adverse channel conditions, delays, or jitters can result in bit errors and packet losses, which can alter the appearance of stereoscopic 3D (S3D) video. Due to the perception of dissimilar patterns by the two human eyes, they can not be fused into a stable composite pattern in the brain and hence try to dominate by suppressing each other. Thus, a psychovisual sensation that is called binocular rivalry occurs. As a result, undetectable changes causing irritating flickering effects are seen, leading to visual discomforts such as eye strain, headache, nausea, and weariness. This study addresses the observer's quality of experience (QoE) by analyzing the binocular rivalry impact on the macroblock (MB) losses in a frame and its error propagation due to predictive frame encoding in stereoscopic video transmission systems. To simulate the processing of experimental videos, the Joint Test Model (JM) reference software has been used as it is recommended by the International Telecommunication Union (ITU). Existing error concealing techniques were then applied to the contiguous lost MBs for a variety of transmission impairments. In order to validate the authenticity of the simulated packet loss environment, several objective evaluations were carried out. Standard numbers of subjects were then engaged in the subjective testing of common 3D video sequences. The results were then statistically examined using a standard Student's t-test, allowing the impact of binocular rivalry to be compared to that of a non-rivalry error condition. The major goal is to assure error-free video communication by minimizing the negative impacts of binocular rivalry and boosting the ability to efficiently integrate 3D video material to improve viewers' overall QoE.

Development and multi-institutional validation of a convolutional neural network to detect vertebral body mis-alignments in 2D x-ray setup images.

Misalignment to the incorrect vertebral body remains a rare but serious patient safety risk in image-guided radiotherapy (IGRT). Our group has proposed that an automated image-review algorithm be inserted into the IGRT process as an interlock to detect off-by-one vertebral body errors. This study presents the development and multi-institutional validation of a convolutional neural network (CNN)-based approach for such an algorithm using patient image data from a planar stereoscopic x-ray IGRT system. X-rays and digitally reconstructed radiographs (DRRs) were collected from 429 spine radiotherapy patients (1,592 treatment fractions) treated at six institutions using a stereoscopic x-ray image guidance system. Clinically-applied, physician approved, alignments were used for true-negative, "no-error" cases. "Off-by-one vertebral body" errors were simulated by translating DRRs along the spinal column using a semi-automated method. A leave-one-institution-out approach was used to estimate model accuracy on data from unseen institutions as follows: All of the images from five of the institutions were used to train a CNN model from scratch using a fixed network architecture and hyper-parameters. The size of this training set ranged from 5,700 to 9,372 images, depending on exactly which five institutions were contributing data. The training set was randomized and split using a 75/25 split into the final training/ validation sets. X-ray/ DRR image pairs and the associated binary labels of "no-error" or "shift" were used as the model input. Model accuracy was evaluated using images from the sixth institution, which were left out of the training phase entirely. This test set ranged from 180 to 3,852 images, again depending on which institution had been left out of the training phase. The trained model was used to classify the images from the test set as either "no-error" or "shifted", and the model predictions were compared to the ground truth labels to assess the model accuracy. This process was repeated until each institution's images had been used as the testing dataset. When the six models were used to classify unseen image pairs from the institution left out during training, the resulting receiver operating characteristic area under the curve values ranged from 0.976 to 0.998. With the specificity fixed at 99%, the corresponding sensitivities ranged from 61.9% to 99.2% (mean: 77.6%). With the specificity fixed at 95%, sensitivities ranged from 85.5% to 99.8% (mean: 92.9%). This study demonstrated the CNN-based vertebral body misalignment model is robust when applied to previously unseen test data from an outside institution, indicating that this proposed additional safeguard against misalignment is feasible. This article is protected by copyright. All rights reserved.

H.E.S.S. Follow-up Observations of GRB 221009A

GRB 221009A is the brightest gamma-ray burst (GRB) ever detected. To probe the very-high-energy (VHE; >100 GeV) emission, the High Energy Stereoscopic System (H.E.S.S.) began observations 53 hr after the triggering event, when the brightness of the moonlight no longer precluded observations. We derive differential and integral upper limits using H.E.S.S. data from the third, fourth, and ninth nights after the initial GRB detection, after applying atmospheric corrections. The combined observations yield an integral energy flux upper limit of above E thr = 650 GeV. The constraints derived from the H.E.S.S. observations complement the available multiwavelength data. The radio to X-ray data are consistent with synchrotron emission from a single electron population, with the peak in the spectral energy distribution occurring above the X-ray band. Compared to the VHE-bright GRB 190829A, the upper limits for GRB 221009A imply a smaller gamma-ray to X-ray flux ratio in the afterglow. Even in the absence of a detection, the H.E.S.S. upper limits thus contribute to the multiwavelength picture of GRB 221009A, effectively ruling out an IC-dominated scenario.

Understanding the TeV γ-ray emission surrounding the young massive star cluster Westerlund 1

Context. Young massive star clusters (YMCs) have increasingly become the focus of discussions on the origin of galactic cosmic rays (CRs). The proposition that CRs are accelerated inside superbubbles (SBs) blown by the strong winds of these clusters avoids issues faced by the standard paradigm of acceleration at supernova remnant shocks. Aims. We provide an interpretation of the latest TeV γ-ray observations of the region around the YMC Westerlund 1 taken with the High Energy Stereoscopic System (H.E.S.S.) in terms of diffusive shock acceleration at the cluster wind termination shock, taking the spectrum and morphology of the emission into account. As Westerlund 1 is a prototypical example of a YMC, this study is relevant to the general question about the role of YMCs for the Galactic CR population. Methods. We generated model γ-ray spectra, characterised particle propagation inside the SB based on the advection, diffusion, and cooling timescales, and constrained key parameters of the system. We considered hadronic emission from proton-proton interaction and subsequent pion decay and leptonic emission from inverse Compton scattering on all relevant photon fields, including the cosmic microwave background, diffuse and dust-scattered starlight, and the photon field of Westerlund 1 itself. The effect of the magnetic field on cooling and propagation is discussed. Klein-Nishina effects are found to be important in determining the spectral evolution of the electron population. Results. A leptonic origin of the bulk of the observed γ-rays is preferable. The model is energetically plausible, consistent with the presence of a strong shock, and allows for the observed energy-independent morphology. The hadronic model faces two main issues: confinement of particles to the emission region, and an unrealistic energy requirement.

Search for Gamma-Ray Spectral Lines from Dark Matter Annihilation up to 100 TeV toward the Galactic Center with MAGIC

Linelike features in TeV γ rays constitute a "smoking gun" for TeV-scale particle dark matter and new physics. Probing the Galactic Center region with ground-based Cherenkov telescopes enables the search for TeV spectral features in immediate association with a dense dark matter reservoir at a sensitivity out of reach for satellite γ-ray detectors, and direct detection and collider experiments. We report on 223hours of observations of the Galactic Center region with the MAGIC stereoscopic telescope system reaching γ-ray energies up to 100TeV. We improved the sensitivity to spectral lines at high energies using large-zenith-angle observations and a novel background modeling method within a maximum-likelihood analysis in the energy domain. No linelike spectral feature is found in our analysis. Therefore, we constrain the cross section for dark matter annihilation into two photons to ⟨σv⟩≲5×10^{-28} cm^{3} s^{-1} at 1TeV and ⟨σv⟩≲1×10^{-25} cm^{3} s^{-1} at 100TeV, achieving the best limits to date for a dark matter mass above 20TeV and a cuspy dark matter profile at the Galactic Center. Finally, we use the derived limits for both cuspy and cored dark matter profiles to constrain supersymmetric wino models.

Investigating the use of spectacle lenses to alleviate vergence-accommodation mismatch in a stereoscopic remote vision system

Vergence-accommodation (VA) mismatch is a component of stereoscopic 3D remote vision system (RVS) design linked to depth misperception and visual discomfort. VA mismatch is caused by an unnatural conflict between the focal distance of the image (and thus accommodative demand) and the binocular vergence demand. A possible solution to mitigate VA mismatch is to change the accommodative demand with an optical correction, reducing the mismatch with the vergence demand. This experiment investigated the effect of low-add spectacle lenses (eyewear) on RVS performance and visual comfort. While previous research showed a positive effect of decreasing VA mismatch with the use of switchable lenses to adjust focal distance, the optical changes in this investigation were insufficient to make a difference. We conclude that the use of eyewear with a small dioptric add is not an effective solution to improve stereoscopic RVS performance or viewing comfort.

Stereoscopic Camera-Sensor Model for the Development of Highly Automated Driving Functions within a Virtual Test Environment

The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments and virtual sensor models. In the context of this, the present paper documents the development of a sensor model for depth estimation of virtual three-dimensional scenarios. For this purpose, the geometric and algorithmic principles of stereoscopic camera systems are recreated in a virtual form. The model is implemented as a subroutine in the Epic Games Unreal Engine, which is one of the most common Game Engines. Its architecture consists of several independent procedures that enable a local depth estimation, but also a reconstruction of a whole three-dimensional scenery. In addition, a separate programme for calibrating the model is presented. In addition to the basic principles, the architecture and the implementation, this work also documents the evaluation of the model created. It is shown that the model meets specifically defined requirements for real-time capability and the accuracy of the evaluation. Thus, it is suitable for the virtual testing of common algorithms and highly automated driving functions.

Super-Resolution Reconstruction for Stereoscopic Omnidirectional Display Systems via Dynamic Convolutions and Cross-View Transformer

Super-Resolution Reconstruction for Stereoscopic Omnidirectional Display Systems via Dynamic Convolutions and Cross-View Transformer

Imaging/nonimaging microoptical elements and stereoscopic systems based on femtosecond laser direct writing

Imaging/nonimaging microoptical elements and stereoscopic systems based on femtosecond laser direct writing

Detailed Analysis of the TeV γ-Ray Sources 3HWC J1928+178, 3HWC J1930+188, and the New Source HAWC J1932+192

The latest High Altitude Water Cherenkov (HAWC) point-like source catalog up to 56 TeV reported the detection of two sources in the region of the Galactic plane at galactic longitude 52° < ℓ < 55°, 3HWC J1930+188 and 3HWC J1928+178. The first one is associated with a known TeV source, the supernova remnant SNR G054.1+00.3. It was discovered by one of the currently operating Imaging Atmospheric Cherenkov Telescope (IACT), the Very Energetic Radiation Imaging Telescope Array System (VERITAS), detected by the High Energy Stereoscopic System (H.E.S.S), and identified as a composite SNR. However, the source 3HWC J1928+178, discovered by HAWC and coincident with the pulsar PSR J1928+1746, was not detected by any IACT despite their long exposure on the region, until a recent new analysis of H.E.S.S. data was able to confirm it. Moreover, no X-ray counterpart has been detected from this pulsar. We present a multicomponent fit of this region using the latest HAWC data. This reveals an additional new source, HAWC J1932+192, which is potentially associated with the pulsar PSR J1932+1916, whose γ-ray emission could come from the acceleration of particles in its pulsar wind nebula. In the case of 3HWC J1928+178, several possible explanations are explored, in an attempt to unveil the origins of the very-high-energy γ-ray emission.

Development of a model of combination of solar concentrators and agricultural fields

We have developed several prototypes of solar concentrators that are compact, light, and inexpensive. As an example of solar concentrators, we selected parabolic solar concentrators with plane mirrors that approximate the parabolic surface. The green energy is very important in modern world because of global climate change, which has caused disproportion in the ecological balance, population growth rates, an increase in demand for food and electricity against the backdrop of a decrease in arable land. They are now the main challenges to the development of agriculture and ensuring sustainable food security of many countries. In this paper, as one of the ways to address these challenges, the problems of combining crops with agrivoltaics are studied using the example of two countries – Mexico and Azerbaijan. The economy of both countries is based on oil production, relief and climate have many common features, which are expressed particularly in the abundance of solar radiation, the predominance of mountainous regions with remote and hard-to-reach settlements that need to create autonomous life support systems. A methodology is proposed for the evaluation of the impact of combinations of solar concentrators together with certain agricultural crops. The proposed mathematical model is simple and applicable for different cases of combination of solar concentrators and agricultural fields. The main problem for proposed solar concentrators is the automatization of the assembly process of these solar concentrators. We proposed two methods of assembly that is, using a parabolic rule and using a robotic arm with a stereoscopic vision system. Both methods are described in this article. The simulation of these processes was made with using software of SolidWorks