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The vertical evolution of galactic discs is governed by the sub-structures within them. We examine the diversity of kinematic sub-structure present in the first 12 galaxies observed from the GECKOS survey, a VLT/MUSE large programme providing a systematic study of 35 edge-on, Milky Way-mass disc galaxies. Employing the nGIST analysis pipeline, we derive the mean line-of-sight stellar velocity ($V_{\star}$), velocity dispersion ($\sigma_{\star}$), skew ($h_{3}$), and kurtosis ($h_{4}$) for the sample, and examine 2D maps and 1D line profiles. Visually, the majority of this sample (8/12) are found to possess boxy-peanut bulges and host the corresponding kinematic structure predicted for stellar bars viewed in projection. Four galaxies exhibit strong evidence for the presence of nuclear discs, including central $h_{3}$-$V_{\star}$ anti-correlations, `croissant'-shaped central depressions in $\sigma_{\star}$ maps, strong gradients in $h_{3}$, and positive $h_{4}$ plateaus over the expected nuclear disc extent. The strength of the $h_{3}$ feature corresponds to the size of the nuclear disc, measured from the $h_{3}$ turnover radius. We can explain the features within the kinematic maps of all sample galaxies via disc structure(s) alone. We do not find any need to invoke the existence of dispersion-dominated bulges. Obtaining the specialised data products for this paper and the broader GECKOS survey required significant development of existing integral field spectroscopic (IFS) analysis tools. Therefore, we also present the nGIST pipeline: a modern, sophisticated, and easy-to-use pipeline for the analysis of galaxy IFS data. We conclude that the variety of kinematic sub-structures seen in GECKOS galaxies requires a contemporary view of galaxy morphology, expanding on the traditional view of galaxy structure, and uniting the kinematic complexity observed in the Milky Way with the extragalactic., Comment: 32 pages (9 of which are appendix), 26 figures, submitted to A&A. Comments welcome!

Using a combination of HST, JWST, and ALMA data, we perform spatially resolved spectral energy distributions (SED) fitting of fourteen 4

Vision-based motion estimation methods show promise in accurately and unobtrusively estimating human body motion for healthcare purposes. However, these methods are not specifically designed for healthcare purposes and face challenges in real-world applications. Human pose estimation methods often lack the accuracy needed for detecting fine-grained, subtle body movements, while optical flow-based methods struggle with poor lighting conditions and unseen real-world data. These issues result in human body motion estimation errors, particularly during critical medical situations where the body is motionless, such as during unconsciousness. To address these challenges and improve the accuracy of human body motion estimation for healthcare purposes, we propose the OPPH operator designed to enhance current vision-based motion estimation methods. This operator, which considers human body movement and noise properties, functions as a multi-stage filter. Results tested on two real-world and one synthetic human motion dataset demonstrate that the operator effectively removes real-world noise, significantly enhances the detection of motionless states, maintains the accuracy of estimating active body movements, and maintains long-term body movement trends. This method could be beneficial for analyzing both critical medical events and chronic medical conditions.

We present a near infrared (NIR) candidate star cluster catalog for the central kiloparsec of M82 based on new JWST NIRCam images. We identify star cluster candidates using the F250M filter, finding 1357 star cluster candidates with stellar masses $>10^4$ M$_\odot$. Compared to previous optical catalogs, nearly all (87%) of the candidates we identify are new. The star cluster candidates have a median intrinsic cluster radius of $\approx$1 pc and have stellar masses up to $10^6$ M$_\odot$. By comparing the color-color diagram to dust-free yggdrasil stellar population models, we estimate that the star cluster candidates have A$_{\rm V}\sim3-24$ mag, corresponding to A$_{\rm 2.5\mu m}\sim0.3-2.1$ mag. There is still appreciable dust extinction towards these clusters into the NIR. We measure the stellar masses of the star cluster candidates, assuming ages of 0 and 8 Myr. The slope of the resulting cluster mass function is $\beta=1.9\pm0.2$, in excellent agreement with studies of star clusters in other galaxies., Comment: Resubmitted to ApJL

The gas-phase velocity dispersions in disk galaxies, which trace turbulence in the interstellar medium, are observed to increase with lookback time. However, the mechanisms that set this rise in turbulence are observationally poorly constrained. To address this, we combine kiloparsec-scale ALMA observations of CO(3-2) and CO(4-3) with HST observations of H$\alpha$ to characterize the molecular gas and star formation properties of seven local analogues of main sequence galaxies at $z \sim 1-2$, drawn from the DYNAMO sample. Investigating the ''molecular gas main sequence'' on kpc-scales, we find that galaxies in our sample are more gas-rich than local star-forming galaxies at all disk positions. We measure beam smearing corrected molecular gas velocity dispersions and relate them to the molecular gas and star formation rate surface densities. Despite being relatively nearby ($z \sim 0.1$), DYNAMO galaxies exhibit high velocity dispersions and gas and star formation rate surface densities throughout their disks, when compared to local star forming samples. Comparing these measurements to predictions from star formation theory, we find very good agreements with the latest feedback-regulated star formation models. However, we find that theories which combine gravitational energy dissipation from radial gas transport with feedback over-estimate the observed molecular gas velocity dispersions., Comment: 24 pages, 12 figures, 2 tables, accepted for publication in The Astrophysical Journal

We present new JWST/NIRSpec IFU observations of the J1000+0234 system at $z=4.54$, the dense core of a galaxy protocluster hosting a massive, dusty star forming galaxy (DSFG) with a low luminosity radio counterpart. The new data reveals two extended, high equivalent width (EW$_0 > 1000$ {\AA}) nebulae at each side of the DSFG disk along its minor axis (namely O3-N and O3-S). On one hand, O3-N's spectrum shows a prominent FWHM $\sim1300$ km s$^{-1}$ broad and blueshifted component, suggesting an outflow origin. On the other hand, O3-S stretches over parsec and has a velocity gradient that spans $800$ km s$^{-1}$ but no evidence of a broad component. Both sources, however, seem to be powered at least partially by an active galactic nucleus (AGN), so we classify them as extended emission-line regions (EELRs). The strongest evidence comes from the detection of the high-ionization [Ne V] $\lambda3427$ line toward O3-N, which paired with the non-detection of hard X-rays implies an obscuring column density above the Compton-thick regime. In O3-S, the [Ne V] line is not detected, but we measure a He II well above the expectation for star formation. We interpret this as O3-S being externally irradiated by the AGN, akin to the famous Hanny's Voorwerp object in the local Universe. In addition, more classical line ratio diagnostics (e.g. [O III]/H$\beta$ vs [N II]/H$\alpha$) put the DSFG itself in the AGN region of the diagrams, and hence the most probable host of the AGN. These results showcase the ability of JWST of unveiling highly obscured AGN at high redshifts., Comment: 5 pages, 4 figures plus 5 appendices (incl. 3 extra figures and one table). Submitted to A&A on July 17th 2024

Aging and chronic conditions affect older adults' daily lives, making early detection of developing health issues crucial. Weakness, common in many conditions, alters physical movements and daily activities subtly. However, detecting such changes can be challenging due to their subtle and gradual nature. To address this, we employ a non-intrusive camera sensor to monitor individuals' daily sitting and relaxing activities for signs of weakness. We simulate weakness in healthy subjects by having them perform physical exercise and observing the behavioral changes in their daily activities before and after workouts. The proposed system captures fine-grained features related to body motion, inactivity, and environmental context in real-time while prioritizing privacy. A Bayesian Network is used to model the relationships between features, activities, and health conditions. We aim to identify specific features and activities that indicate such changes and determine the most suitable time scale for observing the change. Results show 0.97 accuracy in distinguishing simulated weakness at the daily level. Fine-grained behavioral features, including non-dominant upper body motion speed and scale, and inactivity distribution, along with a 300-second window, are found most effective. However, individual-specific models are recommended as no universal set of optimal features and activities was identified across all participants.

While most galaxies live in group environments where they undergo an accelerated evolution, the characteristics of their circumgalactic medium (CGM) remain uncertain. We present an analysis of the CGM of two galaxy groups in different stages of interaction: (G1) a close pair of galaxies ($z=0.043$) separated by 87 kpc that do not show signs of interactions and (G2) four merging galaxies ($z=0.098$) separated by 10 kpc. We present spatially-resolved Keck/KCWI galaxy observations and HST/COS quasar spectra (G1 at 48 kpc and G2 at 100 kpc away) to quantify both the resolved galaxy and CGM properties in these two different group environments. G1 contains two typical star-forming galaxies with no evidence of strong outflows. G2 contains two star-forming, one post-starburst and one quiescent galaxy. Both groups have a range of CGM detected metal lines (HI, CII, SiII, SiIII, NV and OVI). Despite G2 being twice as far from the quasar, G2 has $\log (N(HI)/{\rm cm}^{-2})=17.33$, compared to $\log (N(HI)/{\rm cm}^{-2})=16.43$ for G1. We find that the CGM of the merging galaxies (G2) is more kinematically complex, is in a higher ionisation state, spans a wider range of metallicities and column densities, has smaller cloud sizes, and is inconsistent with the simple superposition model that seems to match well with G1. We conclude that the complexity of the CGM in merging galaxies surpasses that of not strongly interacting galaxies, suggesting that mergers play a significant role in shaping the intricate structure of the CGM., Comment: 20 pages, 16 figures, accepted for publication in MNRAS May 17th 2024

In this paper we study the filamentary substructure of 3.3 $\mu$m PAH emission from JWST/NIRCam observations in the base of the M82 star-burst driven wind. We identify plume-like substructure within the PAH emission with widths of $\sim$50 pc. Several of the plumes extend to the edge of the field-of-view, and thus are at least 200-300 pc in length. In this region of the outflow, the vast majority ($\sim$70\%) of PAH emission is associated with the plumes. We show that those structures contain smaller scale "clouds" with widths that are $\sim$5-15 pc, and they are morphologically similar to the results of "cloud-crushing" simulations. We estimate the cloud-crushing time-scales of $\sim$0.5-3 Myr, depending on assumptions. We show this time scale is consistent with a picture in which these observed PAH clouds survived break-out from the disk rather than being destroyed by the hot wind. The PAH emission in both the midplane and the outflow is shown to tightly correlate with that of Pa$\alpha$ emission (from HST/NICMOS data), at the scale of both plumes and clouds, though the ratio of PAH-to-Pa$\alpha$ increases at further distances from the midplane. Finally, we show that the outflow PAH emission is suppressed in regions of the M82 wind that are bright in X-ray emission. Overall, our results are broadly consistent with a picture in which cold gas in galactic outflows is launched via hierarchically structured plumes, and those small scale clouds are more likely to survive the wind environment when collected into the larger plume structure., Comment: Submitted to MNRAS

We present a statistical study of the properties of diffuse HI in ten nearby galaxies, comparing the HI detected by the single-dish telescope FAST (FEASTS program) and the interferometer VLA (THINGS program), respectively. The THINGS' observation missed HI with a median of 23% due to the short-spacing problem of interferometry and limited sensitivity. We extract the diffuse HI by subtracting the dense HI, which is obtained from the THINGS data with a uniform flux-density threshold, from the total HI detected by FAST. Among the sample, the median diffuse-HI fraction is 34%, and more diffuse HI is found in galaxies exhibiting more prominent tidal-interaction signatures. The diffuse HI we detected seems to be distributed in disk-like layers within a typical thickness of $1\,\text{kpc}$, different from the more halo-like diffuse HI detected around NGC 4631 in a previous study. Most of the diffuse HI is cospatial with the dense HI and has a typical column density of $10^{17.7}$-$10^{20.1}\,\text{cm}^{-2}$. The diffuse and dense HI exhibits a similar rotational motion, but the former lags by a median of 25% in at least the inner disks, and its velocity dispersions are typically twice as high. Based on a simplified estimation of circum-galactic medium properties and assuming pressure equilibrium, the volume density of diffuse HI appears to be constant within each individual galaxy, implying its role as a cooling interface. Comparing with existing models, these results are consistent with a possible link between tidal interactions, the formation of diffuse HI, and gas accretion., Comment: 45 pages, 23 figures. In press at ApJ. Data will be released at the FEASTS site upon publication

We present the results of direct-method metallicity measurements in the disk and outflow of the low-metallicity starburst galaxy NGC 1569. We use Keck Cosmic Web Imager observations to map the galaxy across 54$\arcsec$ (800 pc) along the major axis and 48$\arcsec$ (700 pc) along the minor axis with a spatial resolution of 1$\arcsec$ ($\sim$15 pc). We detect common strong emission lines ([\ion{O}{III}] $\lambda$5007, H$\beta$, [\ion{O}{II}] $\lambda$3727) and the fainter [\ion{O}{III}] $\lambda$4363 auroral line, which allows us to measure electron temperature ($T_e$) and metallicity. Theory suggests that outflows drive metals out of the disk driving observed trends between stellar mass and gas-phase metallicity. Our main result is that the metallicity in the outflow is similar to that of the disk, $Z_{\rm out} / Z_{\rm ISM} \approx 1$. This is consistent with previous absorption line studies in higher mass galaxies. Assumption of a mass-loading factor of $\dot{M}_{\rm out}/{\rm SFR}\sim3$ makes the metal-loading of NGC 1569 consistent with expectations derived from the mass-metallicity relationship. Our high spatial resolution metallicity maps reveal a region around a supermassive star cluster (SSC-B) with distinctly higher metallicity and higher electron density, compared to the disk. Given the known properties of SSC-B the higher metallicity and density of this region are likely the result of star formation-driven feedback acting on the local scale. Overall, our results are consistent with the picture in which metal-enriched winds pollute the circumgalactic medium surrounding galaxies, and thus connect the small-scale feedback processes to large-scale properties of galaxy halos., Comment: 15 pages, 11 figures, accepted by MNRAS

Three-dimensional data registration is an established yet challenging problem that is key in many different applications, such as mapping the environment for autonomous vehicles, and modeling objects and people for avatar creation, among many others. Registration refers to the process of mapping multiple data into the same coordinate system by means of matching correspondences and transformation estimation. Novel proposals exploit the benefits of deep learning architectures for this purpose, as they learn the best features for the data, providing better matches and hence results. However, the state of the art is usually focused on cases of relatively small transformations, although in certain applications and in a real and practical environment, large transformations are very common. In this paper, we present ReLaTo (Registration for Large Transformations), an architecture that faces the cases where large transformations happen while maintaining good performance for local transformations. This proposal uses a novel Softmax pooling layer to find correspondences in a bilateral consensus manner between two point sets, sampling the most confident matches. These matches are used to estimate a coarse and global registration using weighted Singular Value Decomposition (SVD). A target-guided denoising step is then applied to both the obtained matches and latent features, estimating the final fine registration considering the local geometry. All these steps are carried out following an end-to-end approach, which has been shown to improve 10 state-of-the-art registration methods in two datasets commonly used for this task (ModelNet40 and KITTI), especially in the case of large transformations.

The ALMA [CII] Resolved Ism in STar-forming gALaxies (CRISTAL) survey is a Cycle 8 ALMA Large Programme that studies the cold gas component of high-redshift galaxies. Its sub-arcsecond resolution observations are key to disentangling physical mechanisms that shape galaxies during cosmic dawn. In this paper, we explore the morphology and kinematics of the cold gas, star-forming, and stellar components in the star-forming main-sequence galaxy CRISTAL-05/HZ3, at z = 5.54. Our analysis includes 0.3" spatial resolution (~2 kpc) ALMA observations of the [CII] line. While CRISTAL-05 was previously classified as a single source, our observations reveal that the system is a close interacting pair surrounded by an extended component of carbon-enriched gas. This is imprinted in the disturbed elongated [CII] morphology and the separation of the two components in the position-velocity diagram (~100 km/s). The central region is composed of two components, named C05-NW and C05-SE, with the former being the dominant one. A significant fraction of the [CII] arises beyond the close pair up to 10 kpc, while the regions forming new massive stars and the stellar component seem compact (r_[CII] ~ 4 r_UV), as traced by rest-frame UV and optical imaging obtained with the Hubble Space Telescope and the James Webb Space Telescope. Our kinematic model, using the DYSMALpy software, yields a minor contribution of dark matter of C05-NW within a radius of ~2x Reff. Finally, we explore the resolved [CII]/FIR ratios as a proxy for shock-heating produced by this merger. We argue that the extended [CII] emission is mainly caused by the merger, which could not be discerned with lower-resolution observations. Our work emphasizes the need for high-resolution observations to fully characterize the dynamic stages of infant galaxies and the physical mechanisms that drive the metal enrichment of the circumgalactic medium., Comment: Submitted to A&A - comments are welcome! - 19 pages, 13 figures

We measure resolved (kiloparsec-scale) outflow properties in a sample of 10 starburst galaxies from the DUVET sample, using Keck/KCWI observations of H$\beta$ and [OIII]~$\lambda$5007. We measure $\sim450$ lines-of-sight that contain outflows, and use these to study scaling relationships of outflow velocity ($v_{\rm out}$), mass-loading factor ($\eta$; mass outflow rate per SFR) and mass flux ($\dot{\Sigma}_{\rm out}$; mass outflow rate per area) with co-located SFR surface density ($\Sigma_{\rm SFR}$) and stellar mass surface density ($\Sigma_{\ast}$). We find strong, positive correlations of $\dot{\Sigma}_{\rm out} \propto \Sigma_{\rm SFR}^{1.2}$ and $\dot{\Sigma}_{\rm out} \propto \Sigma_{\ast}^{1.7}$. We also find shallow correlations between $v_{\rm out}$ and both $\Sigma_{\rm SFR}$ and $\Sigma_{\ast}$. Our resolved observations do not suggest a threshold in outflows with $\Sigma_{\rm SFR}$, but rather we find that the local specific SFR ($\Sigma_{\rm SFR}/\Sigma_\ast$) is a better predictor of where outflows are detected. We find that outflows are very common above $\Sigma_{\rm SFR}/\Sigma_\ast\gtrsim 0.1$~Gyr$^{-1}$ and rare below this value. We argue that our results are consistent with a picture in which outflows are driven by supernovae, and require more significant injected energy in higher mass surface density environments to overcome local gravity. The correlations we present here provide a statistically robust, direct comparison for simulations and higher redshift results from JWST., Comment: 14 pages, 7 figures, plus 4 figures in appendix, submitted to MNRAS

We present new observations of the central 1 kpc of the M 82 starburst obtained with the James Webb Space Telescope (JWST) near-infrared camera (NIRCam) instrument at a resolution ~0.05"-0.1" (~1-2 pc). The data comprises images in three mostly continuum filters (F140M, F250M, and F360M), and filters that contain [FeII] (F164N), H2 v=1-0 (F212N), and the 3.3 um PAH feature (F335M). We find prominent plumes of PAH emission extending outward from the central starburst region, together with a network of complex filamentary substructure and edge-brightened bubble-like features. The structure of the PAH emission closely resembles that of the ionized gas, as revealed in Paschen alpha and free-free radio emission. We discuss the origin of the structure, and suggest the PAHs are embedded in a combination of neutral, molecular, and photoionized gas., Comment: Submitted to The Astrophysical Journal

Despite recent advances in video action recognition achieving strong performance on existing benchmarks, these models often lack robustness when faced with natural distribution shifts between training and test data. We propose two novel evaluation methods to assess model resilience to such distribution disparity. One method uses two different datasets collected from different sources and uses one for training and validation, and the other for testing. More precisely, we created dataset splits of HMDB-51 or UCF-101 for training, and Kinetics-400 for testing, using the subset of the classes that are overlapping in both train and test datasets. The other proposed method extracts the feature mean of each class from the target evaluation dataset's training data (i.e. class prototype) and estimates test video prediction as a cosine similarity score between each sample to the class prototypes of each target class. This procedure does not alter model weights using the target dataset and it does not require aligning overlapping classes of two different datasets, thus is a very efficient method to test the model robustness to distribution shifts without prior knowledge of the target distribution. We address the robustness problem by adversarial augmentation training - generating augmented views of videos that are "hard" for the classification model by applying gradient ascent on the augmentation parameters - as well as "curriculum" scheduling the strength of the video augmentations. We experimentally demonstrate the superior performance of the proposed adversarial augmentation approach over baselines across three state-of-the-art action recognition models - TSM, Video Swin Transformer, and Uniformer. The presented work provides critical insight into model robustness to distribution shifts and presents effective techniques to enhance video action recognition performance in a real-world deployment.

Massive star-forming galaxies in the high-redshift universe host large reservoirs of cold gas in their circumgalactic medium (CGM). Traditionally, these reservoirs have been linked to diffuse H I Lyman-$\alpha$ (Ly$\alpha)$ emission extending beyond $\approx 10$ kpc scales. In recent years, millimeter/submillimeter observations are starting to identify even colder gas in the CGM through molecular and/or atomic tracers such as the [C II] $158\,\mu$m transition. In this context, we study the well-known J1000+0234 system at $z=4.54$ that hosts a massive dusty star-forming galaxy (DSFG), a UV-bright companion, and a Ly$\alpha$ blob. We combine new ALMA [C II] line observations taken by the CRISTAL survey with data from previous programs targeting the J1000+0234 system, and achieve a deep view into a DSFG and its rich environment at a 0.2" resolution. We identify an elongated [C II]-emitting structure with a projected size of 15 kpc stemming from the bright DSFG at the center of the field, with no clear counterpart at any other wavelength. The plume is oriented $\approx 40^{\circ}$ away from the minor axis of the DSFG, and shows significant spatial variation of its spectral parameters. In particular, the [C II] emission shifts from 180 km/s to 400 km/s between the bottom and top of the plume, relative to the DSFG's systemic velocity. At the same time, the line width starts at 400-600 km/s but narrows down to 190 km/s at top end of the plume. We discuss four possible scenarios to interpret the [C II] plume: a conical outflow, a cold accretion stream, ram pressure stripping, and gravitational interactions. While we cannot strongly rule out any of these with the available data, we disfavor the ram pressure stripping scenario due to the requirement of special hydrodynamic conditions., Comment: 17 pages (14 main text, 2 for references and 1 appendix page), 7 figures and 4 tables. Submitted to A&A

Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the potential for dexterous manipulation of DLOs using an anthropomorphic hand is under-explored. We present DexDLO, a model-free framework that learns dexterous dynamic manipulation policies for deformable linear objects with a fixed-base dexterous hand in an end-to-end way. By abstracting several common DLO manipulation tasks into goal-conditioned tasks, our DexDLO can perform these tasks, such as DLO grabbing, DLO pulling, DLO end-tip position controlling, etc. Using the Mujoco physics simulator, we demonstrate that our framework can efficiently and effectively learn five different DLO manipulation tasks with the same framework parameters. We further provide a thorough analysis of learned policies, reward functions, and reduced observations for a comprehensive understanding of the framework., Comment: 7 pages, 8 figures, submitted to ICRA 2024

This study explores the aerothermal behaviour of a rigid mechanically deployable aeroshell developed at Imperial College London for high payload atmospheric entry missions. The multiphysics CFD software STAR-CCM+ is used to perform a Conjugate Heat Transfer analysis on the aeroshell's faceted geometry. Results are presented for four different geometry models tested in air at Mach 5 with angles of attack 0{\deg}, 5{\deg} and 10{\deg}. The predicted surface heat transfer reveals areas of elevated heat loads at the ribs between facets and at the aeroshell shoulder, due to local boundary layer thinning. The increase in heat transfer at the ribs depends on the sharpness of the rib: more rounded shapes result in lower heat fluxes. Comparison with high-speed wind tunnel tests shows good agreement with experimental data. Stanton number and temperature profiles agree within 8% and 2%, respectively. The discrepancies between experiments and simulations are largest at the sharp ribs of the aeroshell. The sources of error can be associated with three-dimensional effects neglected in the heat flux derivations from temperature measurements as well as experimental uncertainties., Comment: Conference paper presented at HiSST: 2nd International Coneference on High-Speed Vehicle Science Technology (Bruges, Belgium 2022)

A new application for real-time monitoring of the lack of movement in older adults' own homes is proposed, aiming to support people's lives and independence in their later years. A lightweight camera monitoring system, based on an RGB-D camera and a compact computer processor, was developed and piloted in community homes to observe the daily behavior of older adults. Instances of body inactivity were detected in everyday scenarios anonymously and unobtrusively. These events can be explained at a higher level, such as a loss of consciousness or physiological deterioration. The accuracy of the inactivity monitoring system is assessed, and statistics of inactivity events related to the daily behavior of older adults are provided. The results demonstrate that our method achieves high accuracy in inactivity detection across various environments and camera views. It outperforms existing state-of-the-art vision-based models in challenging conditions like dim room lighting and TV flickering. However, the proposed method does require some ambient light to function effectively., Comment: 10 pages, 11 figures, paper

Most of a galaxy's mass is located out to hundreds of kiloparsecs beyond its stellar component. This diffuse reservoir of gas, the circumgalactic medium (CGM), acts as the interface between a galaxy and the cosmic web that connects galaxies. We present kiloparsec-scale resolution integral field spectroscopy of emission lines that trace cool ionized gas from the center of a nearby galaxy to 30 kpc into its CGM. We find a smooth surface brightness profile with a break in slope at twice the 90% stellar radius. The gas also transitions from being photoionized by HII star-forming regions in the disk to being ionized by shocks or the extragalactic UV background at larger distances. These changes represent the boundary between the interstellar medium (ISM) and the CGM, revealing how the dominant reservoir of baryonic matter directly connects to its galaxy., Comment: 20 pages, 3 figures, 2 extended data figures, 2 tables. Authors' version. Accepted: 14 Aug 2024. Published in Nature Astronomy 6 Sep 2024

We present a method to characterize star-formation driven outflows from edge-on galaxies and apply this method to the metal-poor starburst galaxy, Mrk 1486. Our method uses the distribution of emission line flux (from H$\beta$ and [OIII] 5007) to identify the location of the outflow and measure the extent above the disk, the opening angle, and the transverse kinematics. We show that this simple technique recovers a similar distribution of the outflow without requiring complex modelling of line-splitting or multi-Gaussian components, and is therefore applicable to lower spectral resolution data. In Mrk 1486 we observe an asymmetric outflow in both the location of the peak flux and total flux from each lobe. We estimate an opening angle of $17-37^{\circ}$ depending on the method and assumptions adopted. Within the minor axis outflows, we estimate a total mass outflow rate of $\sim2.5$ M$_{\odot}$ yr$^{-1}$, which corresponds to a mass loading factor of $\eta=0.7$. We observe a non-negligible amount of flux from ionized gas outflowing along the edge of the disk (perpendicular to the biconical components), with a mass outflow rate $\sim0.9$ M$_{\odot}$ yr$^{-1}$. Our results are intended to demonstrate a method that can be applied to high-throughput, low spectral resolution observations, such as narrow band filters or low spectral resolution IFS that may be more able to recover the faint emission from outflows., Comment: 12 Pages, 6 Figures

We present GECKOS (Generalising Edge-on galaxies and their Chemical bimodalities, Kinematics, and Outflows out to Solar environments), a new ESO VLT/MUSE large program. The main aim of GECKOS is to reveal the variation in key physical processes of disk formation by connecting Galactic Archaeology with integral field spectroscopic observations of nearby galaxies. Edge-on galaxies are ideal for this task: they allow us to disentangle the assembly history imprinted in thick disks and provide the greatest insights into outflows. The GECKOS sample of 35 nearby edge-on disk galaxies is designed to trace the assembly histories and properties of galaxies across a large range of star formation rates, bulge-to-total ratios, and boxy and non-boxy bulges. GECKOS will deliver spatially resolved measurements of stellar abundances, ages, and kinematics, as well as ionised gas metallicities, ionisation parameters, pressure, and inflow and outflow kinematics; all key parameters for building a complete chemodynamical picture of disk galaxies. With these data, we aim to extend Galactic analysis methods to the wider galaxy population, reaping the benefits of detailed Milky Way studies, while probing the diverse mechanisms of galaxy evolution., Comment: 6 pages, 2 figures, Proceedings of IAUS 377, eds. F. Tabatabaei, B. Barbuy, and Y. Ting

Recovering an outdoor environment's surface mesh is vital for an agricultural robot during task planning and remote visualization. Our proposed solution is based on a newly-designed panoramic stereo camera along with a hybrid novel software framework that consists of three fusion modules. The panoramic stereo camera with a pentagon shape consists of 5 stereo vision camera pairs to stream synchronized panoramic stereo images for the following three fusion modules. In the disparity fusion module, rectified stereo images produce the initial disparity maps using multiple stereo vision algorithms. Then, these initial disparity maps, along with the intensity images, are input into a disparity fusion network to produce refined disparity maps. Next, the refined disparity maps are converted into full-view point clouds or single-view point clouds for the pose fusion module. The pose fusion module adopts a two-stage global-coarse-to-local-fine strategy. In the first stage, each pair of full-view point clouds is registered by a global point cloud matching algorithm to estimate the transformation for a global pose graph's edge, which effectively implements loop closure. In the second stage, a local point cloud matching algorithm is used to match single-view point clouds in different nodes. Next, we locally refine the poses of all corresponding edges in the global pose graph using three proposed rules, thus constructing a refined pose graph. The refined pose graph is optimized to produce a global pose trajectory for volumetric fusion. In the volumetric fusion module, the global poses of all the nodes are used to integrate the single-view point clouds into the volume to produce the mesh of the whole garden. The proposed framework and its three fusion modules are tested on a real outdoor garden dataset to show the superiority of the performance., Comment: 32 pages

In Paper I we showed that clumps in high-redshift galaxies, having a high star formation rate density (\Sigma_SFR), produce disks with two tracks in the [Fe/H]-[\alpha/Fe] chemical space, similar to that of the Milky Way's (MW's) thin + thick disks. Here we investigate the effect of clumps on the bulge's chemistry. The chemistry of the MW's bulge is comprised of a single track with two density peaks separated by a trough. We show that the bulge chemistry of an N-body + smoothed particle hydrodynamics clumpy simulation also has a single track. Star formation within the bulge is itself in the high-\Sigma_SFR clumpy mode, which ensures that the bulge's chemical track follows that of the thick disk at low [Fe/H] and then extends to high [Fe/H], where it peaks. The peak at low metallicity instead is comprised of a mixture of in-situ stars and stars accreted via clumps. As a result, the trough between the peaks occurs at the end of the thick disk track. We find that the high-metallicity peak dominates near the mid-plane and declines in relative importance with height, as in the MW. The bulge is already rapidly rotating by the end of the clump epoch, with higher rotation at low [\alpha/Fe]. Thus clumpy star formation is able to simultaneously explain the chemodynamic trends of the MW's bulge, thin + thick disks and the Splash., Comment: 25 pages, in press at ApJ

To enable a mobile manipulator to perform human tasks from a single teaching demonstration is vital to flexible manufacturing. We call our proposed method MMPA (Mobile Manipulator Process Automation with One-shot Teaching). Currently, there is no effective and robust MMPA framework which is not influenced by harsh industrial environments and the mobile base's parking precision. The proposed MMPA framework consists of two stages: collecting data (mobile base's location, environment information, end-effector's path) in the teaching stage for robot learning; letting the end-effector repeat the nearly same path as the reference path in the world frame to reproduce the work in the automation stage. More specifically, in the automation stage, the robot navigates to the specified location without the need of a precise parking. Then, based on colored point cloud registration, the proposed IPE (Iterative Pose Estimation by Eye & Hand) algorithm could estimate the accurate 6D relative parking pose of the robot arm base without the need of any marker. Finally, the robot could learn the error compensation from the parking pose's bias to modify the end-effector's path to make it repeat a nearly same path in the world coordinate system as recorded in the teaching stage. Hundreds of trials have been conducted with a real mobile manipulator to show the superior robustness of the system and the accuracy of the process automation regardless of the harsh industrial conditions and parking precision. For the released code, please contact marketing@amigaga.com, Comment: 25 pages

The spectral line energy distribution of carbon monoxide contains information about the physical conditions of the star forming molecular hydrogen gas; however, the relation to local radiation field properties is poorly constrained. Using ~ 1-2 kpc scale ALMA observations of CO(3-2) and CO(4-3), we characterize the CO(4-3)/CO(3-2) line ratios of local analogues of main sequence galaxies at z ~ 1-2, drawn from the DYNAMO sample. We measure CO(4-3)/CO(3-2) across the disk of each galaxy and find a median line ratio of $R_{43} = 0.54^{+0.16}_{-0.15}$ for the sample. This is higher than literature estimates of local star-forming galaxies and is consistent with multiple lines of evidence that indicate DYNAMO galaxies, despite residing in the local Universe, resemble main-sequence galaxies at z ~ 1-2. Comparing to existing lower resolution CO(1-0) observations, we find $R_{41}$ and $R_{31}$ values in the range $\sim 0.2-0.3$ and $\sim 0.4-0.8$ respectively. We combine our kpc-scale resolved line ratio measurements with HST observations of H$\alpha$ to investigate the relation to star formation rate surface density and compare this relation to expectations from models. We find increasing CO(4-3)/CO(3-2) with increasing star formation rate surface density; however, models over-predict the line ratios across the range of star formation rate surface densities we probe, particularly at the lower range. Finally, SOFIA observations with HAWC+ and FIFI-LS reveal low dust temperatures and no deficit of [CII] emission with respect to the total infrared luminosity., Comment: 22 pages, 9 figures, 4 tables, ApJ accepted

We compare 500~pc scale, resolved observations of ionised and molecular gas for the $z\sim0.02$ starbursting disk galaxy IRAS08339+6517, using measurements from KCWI and NOEMA. We explore the relationship of the star formation driven ionised gas outflows with colocated galaxy properties. We find a roughly linear relationship between the outflow mass flux ($\dot{\Sigma}_{\rm out}$) and star formation rate surface density ($\Sigma_{\rm SFR}$), $\dot{\Sigma}_{\rm out}\propto\Sigma_{\rm SFR}^{1.06\pm0.10}$, and a strong correlation between $\dot{\Sigma}_{\rm out}$ and the gas depletion time, such that $\dot{\Sigma}_{\rm out} \propto t_{dep}^{-1.1\pm0.06}$. Moreover, we find these outflows are so-called ``breakout" outflows, according to the relationship between the gas fraction and disk kinematics. Assuming that ionised outflow mass scales with total outflow mass, our observations suggest that the regions of highest $\Sigma_{\rm SFR}$ in IRAS08 are removing more gas via the outflow than through the conversion of gas into stars. Our results are consistent with a picture in which the outflow limits the ability for a region of a disk to maintain short depletion times. Our results underline the need for resolved observations of outflows in more galaxies., Comment: 16 pages, 7 figures, Submitted to ApJ

In this paper we use HST/WFC3 observations of 6 galaxies from the DYNAMO survey, combined with stellar population modelling of the SED, to determine the stellar masses of DYNAMO clumps. The DYNAMO sample has been shown to have properties similar to $z\approx1.5$ turbulent, clumpy disks. DYNAMO sample clump masses offer a useful comparison for studies of $z>1$ in that the galaxies have the same properties, yet the observational biases are significantly different. Using DYNAMO we can more easily probe rest-frame near-IR wavelengths and also probe finer spatial scales. We find that the stellar mass of DYNAMO clumps is typically $10^{7}-10^8 \mathrm{M}_\odot$. We employ a technique that makes non-parametric corrections in removal of light from nearby clumps, and carries out a locally determined disk subtraction. The process of disk subtraction is the dominant effect, and can alter clump masses at the 0.3~dex level. Using these masses, we investigate the stellar mass function of clumps in DYNAMO galaxies. DYNAMO stellar mass functions follow a declining power law with slope $\alpha \approx -1.4$, which is slightly shallower than, but similar to what is observed in $z>1$ lensed galaxies. We compare DYNAMO clump masses to results of simulations. The masses and galactocentric position of clumps in DYNAMO galaxies are more similar to long-lived clumps in simulations. Similar to recent DYNAMO results on the stellar population gradients, these results are consistent with simulations that do not employ strong "early" radiative feedback prescriptions., Comment: 22 pages, 15 figures, accepted by MNRAS

We study star formation driven outflows in a $z\sim0.02$ starbursting disk galaxy, IRAS08339+6517, using spatially resolved measurements from the Keck Cosmic Web Imager (KCWI). We develop a new method incorporating a multi-step process to determine whether an outflow should be fit in each spaxel, and then subsequently decompose the emission line into multiple components. We detect outflows ranging in velocity, $v_{\rm out}$, from $100-600$ km s$^{-1}$ across a range of star formation rate surface densities, $\Sigma_{\rm SFR}$, from $\sim$0.01-10 M$_\odot$ yr$^{-1}$ kpc$^{-2}$ in resolution elements of a few hundred parsec. Outflows are detected in $\sim100\%$ of all spaxels within the half-light radius, and $\sim70\%$ within $r_{90}$, suggestive of a high covering fraction for this starbursting disk galaxy. Around $2/3$ of the total outflowing mass originates from the star forming ring, which corresponds to $<10\%$ of the total area of the galaxy. We find that the relationship between $v_{\rm out}$ and the $\Sigma_{\rm SFR}$, as well as between the mass loading factor, $\eta$, and the $\Sigma_{\rm SFR}$, are consistent with trends expected from energy-driven feedback models. We study the resolution effects on this relationship and find stronger correlations above a re-binned size-scale of $\sim500$ pc. Conversely, we do not find statistically significant consistency with the prediction from momentum-driven winds., Comment: 15 pages, 9 Figures, accepted by MNRAS

We report on the internal distribution of star formation efficiency in IRAS 08339+6517 (hereafter IRAS08), using $\sim$200~pc resolution CO(2-1) observations from NOEMA. The molecular gas depletion time changes by 2 orders-of-magnitude from disk-like values in the outer parts to less than 10$^8$~yr inside the half-light radius. This translates to a star formation efficiency per free-fall time that also changes by 2 orders-of-magnitude, reaching 50-100\%, different than local spiral galaxies and typical assumption of constant, low star formation efficiencies. Our target is a compact, massive disk galaxy that has SFR 10$\times$ above the $z=0$ main-sequence; Toomre $Q\approx0.5-0.7$ and high gas velocity dispersion ($\sigma_{mol}\approx 25$~km~s$^{-1}$). We find that IRAS08 is similar to other rotating, starburst galaxies from the literature in the resolved $\Sigma_{SFR}\propto\Sigma_{mol}^N$ relation. By combining resolved literature studies we find that distance from the main-sequence is a strong indicator of the Kennicutt-Schmidt powerlaw slope, with slopes of $N\approx1.6$ for starbursts from 100-10$^4$~M$_{\odot}$~pc$^{-2}$. Our target is consistent with a scenario in which violent disk instabilities drive rapid inflows of gas. It has low values of Toomre-$Q$, and also at all radii the inflow timescale of the gas is less than the depletion time, which is consistent with the flat metallicity gradients in IRAS08. We consider these results in light of popular star formation theories, in general observations of IRAS08 find the most tension with theories in which star formation efficiency is a constant. Our results argue for the need of high spatial resolution CO observations are a larger number of similar targets., Comment: Accepted to ApJ