arXiv subjects

Jason Harris

Publications and source records attributed to Jason Harris.

At least 19 recordsLinked to original sources

arXiv2022

FC$^3$: Feasibility-Based Control Chain Coordination

Hierarchical coordination of controllers often uses symbolic state representations that fully abstract their underlying low-level controllers, treating them as "black boxes" to the symbolic action abstraction. This paper proposes a framework to realize robust behavior, which we call Feasibility-based Control Chain Coordination (FC$^3$). Our controllers expose the geometric features and constraints they operate on. Based on this, FC$^3$ can reason over the controllers' feasibility and their sequence feasibility. For a given task, FC$^3$ first automatically constructs a library of potential controller chains using a symbolic action tree, which is then used to coordinate controllers in a chain, evaluate task feasibility, as well as switching between controller chains if necessary. In several real-world experiments we demonstrate FC$^3$'s robustness and awareness of the task's feasibility through its own actions and gradual responses to different interferences.

cs.RO↗

arXiv2022

Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation

Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactive execution remains. In this paper we propose a model predictive control approach dedicated to robustly execute a single sequence of constraints, which corresponds to a discrete decision sequence of a TAMP plan. We decompose the overall control problem into three sub-problems (solving for sequential waypoints, their timing, and a short receding horizon path) that each is a non-linear program solved online in each MPC cycle. The resulting control strategy can account for long-term interdependencies of constraints and reactively plan for a timing-optimal transition through all constraints. We additionally propose phase backtracking when running constraints of the current phase cannot be fulfilled, leading to a fluent re-initiation behavior that is robust to perturbations and interferences by an experimenter.

cs.RO↗

arXiv2022

RBO Hand 3 -- A Platform for Soft Dexterous Manipulation

We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to serve as a robust research platform for extensive real-world experiments. It achieves these design goals by combining many degrees of actuation with intrinsic compliance, replicating relevant functioning of the human hand, and by combining robust components in a modular design. The RBO Hand 3 possesses 16 independent degrees of actuation, implemented in a dexterous opposable thumb, two-chambered fingers, an actuated palm, and the ability to spread the fingers. In this work, we derive the design objectives that are based on experimentation with the hand's predecessors, observations about human grasping, and insights about principles of dexterity. We explain in detail how the design features of the RBO Hand 3 achieve these goals and evaluate the hand by demonstrating its ability to achieve the highest possible score in the Kapandji test for thumb opposition, to realize all 33 grasp types of the comprehensive GRASP taxonomy, to replicate common human grasping strategies, and to perform dexterous in-hand manipulation.

cs.RO↗

arXiv2011

Surveying the Agents of Galaxy Evolution in the Tidally-Stripped, Low Metallicity Small Magellanic Cloud (SAGE-SMC). I. Overview

The Small Magellanic Cloud (SMC) provides a unique laboratory for the study of the lifecycle of dust given its low metallicity (~1/5 solar) and relative proximity (~60 kpc). This motivated the SAGE-SMC (Surveying the Agents of Galaxy Evolution in the Tidally-Stripped, Low Metallicity Small Magellanic Cloud) Spitzer Legacy program with the specific goals of studying the amount and type of dust in the present interstellar medium, the sources of dust in the winds of evolved stars, and how much dust is consumed in star formation. This program mapped the full SMC (30 sq. deg.) including the Body, Wing, and Tail in 7 bands from 3.6 to 160 micron using the IRAC and MIPS instruments on the Spitzer Space Telescope. The data were reduced, mosaicked, and the point sources measured using customized routines specific for large surveys. We have made the resulting mosaics and point source catalogs available to the community. The infrared colors of the SMC are compared to those of other nearby galaxies and the 8 micron/24 micron ratio is somewhat lower and the 70 micron/160 micron ratio is somewhat higher than the average. The global infrared spectral energy distribution shows that the SMC has ~3X lower aromatic emission/PAH (polycyclic aromatic hydrocarbon) abundances compared to most nearby galaxies. Infrared color-magnitude diagrams are given illustrating the distribution of different asymptotic giant branch stars and the locations of young stellar objects. Finally, the average spectral energy distribution (SED) of HII/star formation regions is compared to the equivalent Large Magellanic Cloud average HII/star formation region SED. These preliminary results are expanded in detail in companion papers.

astro-ph.CO↗

arXiv2010

First Results from the NOAO Survey of the Outer Limits of the Magellanic Clouds

[abridged] We describe the first results from the NOAO Outer Limits Survey. The survey consists of deep images of 55 0.6x0.6 degree fields at distances up to 20 degrees from the LMC/SMC, and 10 controls. The fields probe the outer structure of the Clouds, the Magellanic Stream, the Leading Arm, and the wake of the new LMC orbit. Images were taken in 5 filters on the CTIO Blanco 4-m and Mosaic2 camera, with calibration at the CTIO 0.9-m. The CRI images reach depths below the oldest LMC/SMC main sequence (MS) turnoffs, yielding probes of structure combined with ability to measure stellar ages and metallicities. M and DDO51 images allow for discrimination of LMC and SMC giant stars from foreground dwarfs, allowing us to use giants as additional probes. From photometry of 8 fields at radii of 7-19 degrees N of the LMC bar, we find MS stars associated with the LMC to 16 degrees from the LMC center, while the much rarer giants can only be convincingly detected out to 11 degrees. In one control field, we see the signature of the Milky Way globular cluster NGC 1851. The CMDs show that while at 7-degree radius LMC populations as young as 500 Myr are present, at radii more than 11 degrees only the underlying old metal-poor population remains, demonstrating the existence of a population gradient. Even at extreme distances, the dominant age is much less than "globular Cluster age." MS star counts follow an exponential decline with a scale length of 1.15 kpc, essentially the same scale length as gleaned for the inner LMC disk from prior studies. While we cannot rule out tidal structure elsewhere, detection of ordered structure to 12 disk scale lengths is unprecedented, and adds to the puzzle of the LMC's interaction history. Our results do not rule out the possible existence of an LMC stellar halo, which may only dominate the disk at yet larger radii.

astro-ph.GA↗

arXiv2009

The Star Formation History of the Large Magellanic Cloud

We present the first-ever global, spatially-resolved reconstruction of the star formation history (SFH) of the Large Magellanic Cloud (LMC), based on the application of our StarFISH analysis software to the multiband photometry of twenty million of its stars from the Magellanic Clouds Photometric Survey. The general outlines of our results are consistent with previously published results: following an initial burst of star formation, there was a quiescent epoch from approximately 12 to 5 Gyr ago. Star formation then resumed and has proceeded until the current time at an average rate of roughly 0.2 solar masses/yr, with temporal variations at the factor-of-two level. The re-ignition of star formation about 5 Gyr ago, in both the LMC and SMC, is suggestive of a dramatic event at that time in the Magellanic system. Among the global variations in the recent star formation rate are peaks at roughly 2 Gyr, 500 Myr, 100 Myr and 12 Myr. The peaks at 500 Myr and 2 Gyr are nearly coincident with similar peaks in the SFH of the Small Magellanic Cloud, suggesting a joint history for these galaxies extending back at least several Gyr. The chemical enrichment history recovered from our StarFISH analysis is in broad agreement with that inferred from the LMC's star cluster population, although our constraints on the ancient chemical enrichment history are weak. We conclude from the concordance between the star formation and chemical enrichment histories of the field and cluster populations that the field and cluster star formation modes are tightly coupled.

astro-ph.CO↗

arXiv2009

Star Formation History and Chemical Evolution of the Sextans Dwarf Spheroidal Galaxy

We present the star formation history and chemical evolution of the Sextans dSph dwarf galaxy as a function of galactocentric distance. We derive these from the $VI$ photometry of stars in the $42' \times 28'$ field using the SMART model developed by Yuk & Lee (2007, ApJ, 668, 876) and adopting a closed-box model for chemical evolution. For the adopted age of Sextans 15 Gyr, we find that $>$84% of the stars formed prior to 11 Gyr ago, significant star formation extends from 15 to 11 Gyr ago ($\sim$ 65% of the stars formed 13 to 15 Gyr ago while $\sim$ 25% formed 11 to 13 Gyr ago), detectable star formation continued to at least 8 Gyr ago, the star formation history is more extended in the central regions than the outskirts, and the difference in star formation rates between the central and outer regions is most marked 11 to 13 Gyr ago. Whether blue straggler stars are interpreted as intermediate age main sequence stars affects conclusions regarding the star formation history for times 4 to 8 Gyr ago, but this is at most only a trace population. We find that the metallicity of the stars increased rapidly up to [Fe/H]=--1.6 in the central region and to [Fe/H]=--1.8 in the outer region within the first Gyr, and has varied slowly since then. The abundance ratios of several elements derived in this study are in good agreement with the observational data based on the high resolution spectroscopy in the literature. We conclude that the primary driver for the radial gradient of the stellar population in this galaxy is the star formation history, which self-consistently drives the chemical enrichment history.

astro-ph.CO↗

arXiv2009

The ACS Nearby Galaxy Survey Treasury

The ACS Nearby Galaxy Survey Treasury (ANGST) is a systematic survey to establish a legacy of uniform multi-color photometry of resolved stars for a volume-limited sample of nearby galaxies (D<4 Mpc). The survey volume encompasses 69 galaxies in diverse environments, including close pairs, small & large groups, filaments, and truly isolated regions. The galaxies include a nearly complete range of morphological types spanning a factor of ~10^4 in luminosity and star formation rate. The survey data consists of images taken with ACS on HST, supplemented with archival data and new WFPC2 imaging taken after the failure of ACS. Survey images include wide field tilings covering the full radial extent of each galaxy, and single deep pointings in uncrowded regions of the most massive galaxies in the volume. The new wide field imaging in ANGST reaches median 50% completenesses of m_F475W=28.0 mag, m_F606W=27.3 mag, and m_F814W=27.3 mag, several magnitudes below the tip of the red giant branch (TRGB). The deep fields reach magnitudes sufficient to fully resolve the structure in the red clump. The resulting photometric catalogs are publicly accessible and contain over 34 million photometric measurements of >14 million stars. In this paper we present the details of the sample selection, imaging, data reduction, and the resulting photometric catalogs, along with an analysis of the photometric uncertainties (systematic and random), for both the ACS and WFPC2 imaging. We also present uniformly derived relative distances measured from the apparent magnitude of the TRGB.

astro-ph.GA↗

arXiv2009

The Stellar Ancestry of Supernovae in the Magellanic Clouds - I. the Most Recent Supernovae in the Large Magellanic Cloud

We use the star formation history map of the Large Magellanic Cloud to study the sites of the eight smallest (and presumably youngest) supernova remnants in the Cloud: SN 1987A, N158A, N49, and N63A (core collapse remnants), 0509-67.5, 0519-69.0, N103B, and DEM L71 (Type Ia remnants). The local star formation histories provide unique insights into the nature of the supernova progenitors, which we compare with the properties of the supernova explosions derived from the remnants themselves and from supernova light echoes. We find that all the core collapse supernovae that we have studied are associated with vigorous star formation in the recent past. Stars more massive than 21.5Msun are very scarce around SNR N49, implying that the magnetar SGR 0526-66 in this SNR was either formed elsewhere or came from a progenitor with a mass well below the 30Msun threshold suggested in the literature. Three of our four Ia SNRs are associated with old, metal poor stellar populations. This includes SNR 0509-67.5, which is known to have been originated by an extremely bright Type Ia event, and yet is located very far away from any sites of recent star formation, in a population with a mean age of 7.9 Gyr. The Type Ia SNR N103B, on the other hand, is associated with recent star formation, and might have had a relatively younger and more massive progenitor with substantial mass loss before the explosion. We discuss these results in the context of our present understanding of core collapse and Type Ia supernova progenitors.

astro-ph.SR↗

arXiv2009

The Mass-Loss Return From Evolved Stars to the LMC: Empirical Relations for Excess Emission at 8 and 24 μm

We present empirical relations describing excess emission from evolved stars in the Large Magellanic Cloud (LMC) using data from the SAGE (Surveying the Agents of a Galaxy's Evolution) survey which includes the IRAC 3.6, 4.5, 5.8 and 8.0 μm and MIPS 24, 70 and 160 μm bands. We combine the SAGE data with the Two Micron All Sky Survey (2MASS; J, H and Ks) and the optical Magellanic Cloud Photometric Survey (MCPS; U, B, V and I) point source catalogs to create complete spectral energy distributions (SEDs) of the asymptotic giant branch (AGB) star candidates in the LMC. AGB star outflows are among the main producers of dust in a galaxy, and this mass loss results in an excess in the fluxes observed in the 8 and 24 \mic m bands. We identify oxygen-rich, carbon-rich and extreme AGB star populations in our sample based on their 2MASS and IRAC colors. We calculate excesses fluxes in the mid-IR bands by comparison of the SEDs with model photospheres. We find about 16,000 O-rich, 6300 C-rich and 1000 extreme sources with reliable 8 μm excesses, and about 4500 O-rich, 5300 C-rich and 960 extreme sources with reliable 24 \mic m excesses. The excesses are in the range 0.1 mJy--5 Jy. The 8 and 24 \mic m excesses for all three types of AGB candidates show a general increasing trend with luminosity. The dust color temperature derived from the ratio of the 8 and 24 \mic m excesses decreases with an increase in excess, while the 24 \mic m optical depth increases with excess. The extreme AGB candidates are the major contributors to the mass loss, and we estimate the total AGB mass-loss return to the LMC to be (5.9--13)\times 10^{-3} Msun yr^{-1}.

astro-ph.CO↗

arXiv2009

Star Formation Around the Youngest Supernova Remnants in the Large Magellanic Cloud: Implications for Type Ia Supernova Progenitors

We use the star formation history map of the Large Magellanic Cloud recently published by Harris & Zaritsky to study the sites of the youngest Type Ia supernova remnants. We find that most Type Ia remnants are associated with old, metal-poor stellar populations, with little or no recent star formation. These include SNR 0509-67.5 which is known to have been originated by an extremely bright SN 1991T-like event, and yet is located very far away from any star forming regions. The Type Ia remnant SNR N103B, however, is associated with vigorous star formation activity in the last 100 Myr, and might have had a relatively younger and more massive progenitor.

astro-ph.SR↗

arXiv2008

The ACS Nearby Galaxy Survey Treasury I. The Star Formation History of the M81 Outer Disk

The ACS Nearby Galaxy Survey Treasury (ANGST) is a large Hubble Space Telescope (HST) Advanced Camera for Surveys (ACS) treasury program to obtain resolved stellar photometry for a volume-limited sample of galaxies out to 4 Mpc. As part of this program, we have obtained deep ACS imaging of a field in the outer disk of the large spiral galaxy M81. The field contains the outskirts of a spiral arm as well as an area containing no current star formation. Our imaging results in a color-magnitude diagram (CMD) reaching to F814W = 28.8 and F606W = 29.5, one magnitude fainter than the red clump. Through detailed modeling of the full CMD, we quantify the age and metallicity distribution of the stellar populations contained in the field. The mean metallicity in the field is -1<[M/H]<0 and only a small fraction of stars have ages <~1 Gyr. The results show that most of the stars in this outer disk field were formed by z~1 and that the arm structure at this radius has a lifetime of >~100 Myr. We discuss the measured evolution of the M81 disk in the context of surveys of high-redshift disk galaxies and deep stellar photometry of other nearby galaxies. All of these indicate that massive spiral disks are mostly formed by z~1 and that they have experienced rapid metal enrichment.

astro-ph↗

arXiv2008

The evolution of star clusters: The resolved-star approach

We present the first results of a new technique to detect, locate, and characterize young dissolving star clusters. Using HST/ACS archival images of the nearby galaxy IC2574, we performed stellar PSF photometry and selected the most massive stars as our first test sample. We used a group-finding algorithm on the selected massive stars to find cluster candidates. We then plot the color-magnitude diagrams for each group, and use stellar evolutionary models to estimate their age. So far, we found 79 groups with ages of up to about 100 Myr, displaying various sizes and densities.

astro-ph↗

arXiv2008

The Formation of Constellation III in the Large Magellanic Cloud

We present a detailed reconstruction of the star-formation history of the Constellation III region in the Large Magellanic Cloud, to constrain the formation mechanism of this enigmatic feature. Star formation in Constellation III seems to have taken place during two distinct epochs: there is the 8-15 Myr epoch that had previously been recognized, but we also see strong evidence for a separate "burst" of star formation 25-30 Myr ago. The "super-supernova" or GRB blast wave model for the formation of Constellation III is difficult to reconcile with such an extended, two-epoch star formation history, because the shock wave should have induced star formation throughout the structure simultaneously, and any unconsumed gas would quickly be dissipated, leaving nothing from which to form a subsequent burst of activity. We propose a "truly stochastic" self-propagating star formation model, distinct from the canonical model in which star formation proceeds in a radially-directed wave from the center of Constellation III to its perimeter. As others have noted, and we now confirm, the bulk age gradients demanded by such a model are simply not present in Constellation III. In our scenario, the prestellar gas is somehow pushed into these large-scale arc structures, without simultaneously triggering immediate and violent star formation throughout the structure. Rather, star formation proceeds in the arc according to the local physical conditions of the gas. Self-propagating star formation is certainly possible, but in a truly stochastic manner, without a directed, large scale pattern.

astro-ph↗

arXiv2007

Stellar Clusters in NGC 1313: Evidence for Infant Mortality

We present evidence that infant mortality of stellar clusters is likely to be a major and very efficient process for the dissolution of young clusters in the spiral galaxy NGC 1313. Performing stellar PSF photometry on archival HST/ACS images of the galaxy, we find that a large fraction of early B-type stars are seen outside of star clusters and well spread within the galactic disk, consistent with the scenario of infant mortality. We also calculate the UV flux produced by the stars in and out the clusters and find that 75 to 90% of the UV flux in NGC 1313 is produced by stars outside the clusters. These results suggest that the infant mortality of star clusters is probably the underlying cause of the diffuse UV emission in starburst galaxies. Infant mortality would also explain the numerous B-type stars observed in the background field of our Galaxy as well. We exclude the possibility that unresolved low-mass star clusters and scaled OB associations might be the main source for the diffuse UV emission.

astro-ph↗

arXiv2006

The Magellanic Bridge: The Nearest Purely Tidal Stellar Population

We report on observations of the stellar populations in twelve fields spanning the region between the Magellanic Clouds, made with the Mosaic-II camera on the 4-meter telescope at the Cerro-Tololo Inter-American Observatory. The two main goals of the observations are to characterize the young stellar population (which presumably formed in situ in the Bridge and therefore represents the nearest stellar population formed from tidal debris), and to search for an older stellar component (which would have been stripped from either Cloud as stars, by the same tidal forces which formed the gaseous Bridge). We determine the star-formation history of the young inter-Cloud population, which provides a constraint on the timing of the gravitational interaction which formed the Bridge. We do not detect an older stellar population belonging to the Bridge in any of our fields, implying that the material that was stripped from the Clouds to form the Magellanic Bridge was very nearly a pure gas.

astro-ph↗

arXiv2006

Catching Dissolving Clusters: a New Approach

Traditional studies of stellar clusters in external galaxies use surface photometry and therefore focus on systems that are still bright and compact enough to be separated from the stellar background. Consequently, the latter stages of unbound cluster evolution are still poorly understood. This dramatically constrains our knowledge of the dissolution processes of stellar clusters in various physical environments. We present the first results of a new approach to directly detect and quantify the characteristics of evolved stellar clusters. Using the exceptional spatial resolution and sensitivity of HST/ACS images to resolve the stellar content nearby galaxies, we construct colour-magnitude diagrams for the observed fields. This enable us to separate the younger population likely present in young clusters from the older stellar content of the star field background. We utilize a clustering algorithm to assign each star to a group based on its local spatial density. This novel approach makes use of algorithms typically applied in N-body and cosmological studies. We test the method and show that it successfully detects less compact clusters that would normally be lost in the star field background. We also detect B-type stars well spread in the galaxy disk of NGC 1313, probably the result of infant mortality of stellar clusters.

astro-ph↗

arXiv2006

Spitzer Survey of the Large Magellanic Cloud, Surveying the Agents of a Galaxy's Evolution (SAGE) I: Overview and Initial Results

We are performing a uniform and unbiased, ~7x7 degrees imaging survey of the Large Magellanic Cloud (LMC), using the IRAC and MIPS instruments on board the Spitzer Space Telescope in order to survey the agents of a galaxy's evolution (SAGE), the interstellar medium (ISM) and stars in the LMC. The detection of diffuse ISM with column densities >1.2x10^21 H cm^-2 permits detailed studies of dust processes in the ISM. SAGE's point source sensitivity enables a complete census of newly formed stars with masses >3 solar masses that will determine the current star formation rate in the LMC. SAGE's detection of evolved stars with mass loss rates >1x10^-8 solar masses per year will quantify the rate at which evolved stars inject mass into the ISM of the LMC. The observing strategy includes two epochs in 2005, separated by three months, that both mitigate instrumental artifacts and constrain source variability. The SAGE data are non-proprietary. The data processing includes IRAC and MIPS pipelines and a database for mining the point source catalogs, which will be released to the community in support of Spitzer proposal cycles 4 and 5. We present initial results on the epoch 1 data with a special focus on the N79 and N83 region. The SAGE epoch 1 point source catalog has ~4 million sources. The point source counts are highest for the IRAC 3.6 microns band and decrease dramatically towards longer wavelengths consistent with the fact that stars dominate the point source catalogs and that the dusty objects, e.g. young stellar objects and dusty evolved stars that detected at the longer wavelengths, are rare in comparison. We outline a strategy for identifying foreground MW stars, that may comprise as much as 18% of the source list, and background galaxies, that may comprise ~12% of the source list.

astro-ph↗