Context. AGILE is an Italian Space Agency mission dedicated to observing the gamma-ray Universe. The AGILE's very innovative instrumentation for the first time combines a gamma-ray imager (sensitive in the energy range 30 MeV-50 GeV), a hard X-ray imager (sensitive in the range 18-60 keV), a calorimeter (sensitive in the range 350 keV-100 MeV), and an anticoincidence system. AGILE was successfully launched on 2007 April 23 from the Indian base of Sriharikota and was inserted in an equatorial orbit with very low particle background. Aims. AGILE provides crucial data for the study of active galactic nuclei, gamma-ray bursts, pulsars, unidentified gamma-ray sources, galactic compact objects, supernova remnants, TeV sources, and fundamental physics by microsecond timing.Methods. An optimal sky angular positioning (reaching 0.1 degrees in gamma-rays and 1-2 arcmin in hard X-rays) and very large fields of view (2.5 sr and 1 sr, respectively) are obtained by the use of Silicon detectors integrated in a very compact instrument. Results. AGILE surveyed the gamma-ray sky and detected many Galactic and extragalactic sources during the first months of observations. Particular emphasis is given to multifrequency observation programs of extragalactic and galactic objects. Conclusions. AGILE is a successful high-energy gamma-ray mission that reached its nominal scientific performance. The AGILE Cycle-1 pointing program started on 2007 December 1, and is open to the international community through a Guest Observer Program.

We propose Behavior Engineering as a new technological area whose aim is to provide methodologies and tools for developing autonomous robots. Building robots is a very complex engineering enterprise that requires the exact definition and scheduling of the activities which a designer, or a team of designers, should follow. Behavior Engineering is, within the autonomous robotics realm, the equivalent of more established disciplines like Software Engineering and Knowledge Engineering. In this article we first give a detailed presentation of a Behavior Engineering methodology, which we call Behavior Analysis and Training (BAT), where we stress the role of learning and training. Then we illustrate the application of the BAT methodology to three cases involving different robots: two mobile robots and a manipulator. Results show the feasibility of the proposed approach.

The New Hard X-ray Mission (NHXM) is a space X-ray telescope project focused on the 0.2 to 80 keV energy band, coupled to good imaging, spectroscopic and polarimetry detectors. The mission is currently undergoing the Phase B study and it has been proposed to ESA as a small-size mission to be further studied in the context of the M3 call; even if the mission was not downselected for this call, its study is being continued by ASI. The required performance is reached with a focal length of 10 m and with four mirror modules, each of them composed of 70 NiCo electroformed mirror shells. The reflecting coating is a broadband graded multilayer film, and the focal plane is mounted onto an extensible bench. Three of the four modules are equipped with a camera made of two detectors positioned in series, a Silicon low energy detector covering the range 0.2 to 15 keV and a high energy detector based on CdTe sensitive from 10 keV up to 120 keV. The fourth module is dedicated to the polarimetry to be performed with enhanced imaging capabilities. In this paper the latest development in the design and manufacturing of the optics is presented. The design has been optimized in order to increase as much as possible the effective area in the high-energy band. The manufacturing of the mirror shells benefits from the latest development in the mandrel production (figuring and polishing), in the multilayer deposition and in the integration improvements.

MPE will provide the X-ray Survey Telescope eROSITA [5] for the Russian Spektrum-Roentgen-Gamma Mission [4] to be launched in 2011. The design of the X-ray mirror system is based on that of ABRIXAS: The bundle of 7 mirror modules with the short focal length of 1600 mm makes it still a compact instrument while, however, its sensitivity in terms of effective area, field-of-view, and angular resolution shall be largely enhanced with respect to ABRIXAS. The number of nested mirror shells increases from 27 to 54 compared to ABRIXAS thus enhancing the effective area in the soft band by a factor of six. The angular resolution is targeted to be 15 arc seconds half-energy width (HEW) on-axis resulting in an average HEW of 26 arc seconds over the 61 arc minutes field-of-view (FoV). The instrument's high grasp of about 1000 cm 2 deg 2 in the soft spectral range and still 10 cm 2 deg 2 at 10 keV combined with a survey duration of 4 years will generate a new rich database of X-ray sources over the whole sky. As the 7 mirror modules are co-aligned eROSITA is also able to perform pointed observations.

The realization of X-ray telescopes with imaging capabilities in the hard (> 10 keV) X-ray band requires the adoption of optics with shallow (< 0.25 deg) grazing angles to enhance the reflectivity of reflective coatings. On the other hand, to obtain large collecting area, large mirror diameters (< 350 mm) are necessary. This implies that mirrors with focal lengths ≥10 m shall be produced and tested. Full-illumination tests of such mirrors are usually performed with onground X-ray facilities, aimed at measuring their effective area and the angular resolution; however, they in general suffer from effects of the finite distance of the X-ray source, e.g. a loss of effective area for double reflection. These effects increase with the focal length of the mirror under test; hence a "partial" full-illumination measurement might not be fully representative of the in-flight performances. Indeed, a pencil beam test can be adopted to overcome this shortcoming, because a sector at a time is exposed to the X-ray flux, and the compensation of the beam divergence is achieved by tilting the optic. In this work we present the result of a hard X-ray test campaign performed at the BL20B2 beamline of the SPring-8 synchrotron radiation facility, aimed at characterizing the Point Spread Function (PSF) of a multilayer-coated Wolter-I mirror shell manufactured by Nickel electroforming. The mirror shell is a demonstrator for the NHXM hard X-ray imaging telescope (0.3 -80 keV), with a predicted HEW (Half Energy Width) close to 20 arcsec. We show some reconstructed PSFs at monochromatic X-ray energies of 15 to 63 keV, and compare them with the PSFs computed from post-campaign metrology data, self-consistently treating profile and roughness data by means of a method based on the Fresnel diffraction theory. The modeling matches the measured PSFs accurately.

Abstract. Simbol-X will push grazing incidence imaging up to 80 keV, providing a strong improvement both in sensitivity and angular resolution compared to all instruments that have operated so far above 10 keV. The superb hard X-ray imaging capability will be guaranteed by a mirror module of 100 electroformed Nickel shells with a multilayer reflecting coating. Here we will describe the technogical development and solutions adopted for the fabrication of the mirror module, that must guarantee an Half Energy Width (HEW) better than 20 arcsec from 0.5 up to 30 keV and a goal of 40 arcsec at 60 keV. During the phase A, terminated at the end of 2008, we have developed three engineering models with two, two and three shells, respectively. The most critical aspects in the development of the Simbol-X mirrors are i) the production of the 100 mandrels with very good surface quality within the timeline of the mission, ii) the replication of shells that must be very thin (a factor of 2 thinner than those of XMM-Newton) and still have very good image quality up to 80 keV, iii) the development of an integration process that allows us to integrate these very thin mirrors maintaining their intrinsic good image quality. The Phase A study has shown that we can fabricate the mandrels with the needed quality and that we have developed a valid integration process. The shells that we have produced so far have a quite good image quality, e.g. HEW < ∼ 30 arcsec at 30 keV, and effective area. However, we still need to make some improvements to reach the requirements. We will briefly present these results and discuss the possible improvements that we will investigate during phase B.

The New Hard X-ray Mission (NHXM) Italian project will be operated by 2016. It is based on 4 hard X-ray optics modules, each formed by 60 evenly spaced multilayer coated Wolter I mirror shells. For the achievement of a long focal length (10 m) an extensible bench is used. The pseudo-cylindrical Wolter I monolithic substrates where the multilayer coating is applied will be produced using the Ni electroforming replica approach. For three of the four mirror modules the focal plane will host a hybrid a detector system, consisting in the combination of a Si-based low energy detector (efficient from 0.5 up to ~ 15 keV) , on top of a high energy CdTe pixellated detector (efficient from 10 keV up to ~ 80 keV); the two cameras will be surrounded by both a passive shield and an anticoincidence shield. The total on axis effective area of the three telescopes at 1 keV and at 30 kev is of 1500 cm 2 and 350 cm 2 respectively. The angular resolution requirement is better than 20 arcsec HEW at 30 keV, while the Field of View at 50% vignetting is 12 arcmin (diameter). The payload is finally completed with the fourth telescope module, that will have as a focal plane detector a high sensitivity imaging photoelectric polarimetric system, operating from 2 up to 35 keV. In this paper, after an overview of the mission configuration and its scientific goals, we report on the design and development of the multilayer optics of the mission, based on thin replicated Ni mirror shells.

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