arXiv subjects

Christopher Golling

Publications and source records attributed to Christopher Golling.

2 recordsLinked to original sources

arXiv2026

Choreographing the Way of Water: A Computational Framework for Aquatic Robotic Art

Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. This paper presents the cyber-physical architecture of Way of Water, a vertically integrated framework that orchestrates a fleet of autonomous surface vessels as a distributed choreographic platform. Moving beyond the surface-pixel paradigm, these vessels use laminar nozzles and multi-zone lighting to extend their expressive range from the 2D water plane into the 3D volumetric domain. Our primary contribution is the Way of Water Studio, a browser-based, timeline-compositing authoring paradigm that treats the fleet as a DAW-like instrument for music-responsive choreography. The Studio encapsulates Sequential Convex Programming for trajectory generation and Model Predictive Control for disturbance rejection presented through a visual timeline, broadening access to high-performance aquatic robotics for non-programmer artists. Grounding the Studio is the full cyber-physical stack: a custom holonomic chassis, a state-estimation and control stack tuned for the aquatic domain, and an LTE/MQTT fleet link with RTK-GPS time synchronization. We report on the system's validation across two distinct deployments: an 18-vessel Swan Lake interpretation at Lake Zurich and an 8-vessel Time Space Existence 2025 Venice Biennale demonstration at Forte Marghera, establishing a foundational reference for the design and deployment of fluidic robotic swarms.

cs.RO↗

arXiv2023

Large-scale excess HI absorption around $z\approx4$ galaxies detected in a background galaxy spectrum in the MUSE eXtremely Deep Field

Observationally mapping the relation between galaxies and the intergalactic medium (IGM) is of key interest for studies of cosmic reionization. Diffuse hydrogen gas has typically been observed in HI Lyman-$\alpha$ (Ly$\alpha$) absorption in the spectra of bright background quasars. However, it is important to extend these measurements to background galaxies as quasars become increasingly rare at high redshift and rarely probe closely separated sight-lines. Here we use deep integral field spectroscopy in the MUSE eXtremely Deep Field to demonstrate the measurement of the Ly$\alpha$ transmission at $z\approx4$ in absorption to a background galaxy at $z=4.77$. The HI transmission is consistent with independent quasar sight-lines at similar redshifts. Exploiting the high number of spectroscopic redshifts of faint galaxies (500 between $z=4.0-4.7$ within a radius of 8 arcmin) that are tracers of the density field, we show that Ly$\alpha$ transmission is inversely correlated with galaxy density, i.e. transparent regions in the Ly$\alpha$ forest mark under-dense regions at $z\approx4$. Due to large-scale clustering, galaxies are surrounded by excess HI absorption over the cosmic mean out to 4 cMpc/h. We also find that redshifts from the peak of the Ly$\alpha$ line are typically offset from the systemic redshift by +170 km/s. This work extends results from $z\approx 2 - 3$ to higher redshifts and demonstrates the power of deep integral field spectroscopy to simultaneously measure the ionization structure of the IGM and the large-scale density field in the early Universe.

astro-ph.GA↗