arXiv subjects

R. Smith

Publications and source records attributed to R. Smith.

At least 73 records · Page 4Linked to original sources

arXiv2019

Physical properties of SDSS satellite galaxies in projected phase-space

We investigate how environment affects satellite galaxies using their location within the projected phase-space of their host haloes from the Wang et al.'s group catalogue. Using the Yonsei Zoom in Cluster Simulations, we derive zones of constant mean infall time T_inf in projected phase-space, and catalogue in which zone each observed galaxy falls. Within each zone we compute the mean observed galaxy properties including specific star formation rate, luminosity-weighted age, stellar metallicity and [alpha/Fe] abundance ratio. By comparing galaxies in different zones, we inspect how shifting the mean infall time from recent infallers (mean T_inf < 3 Gyr) to ancient infallers (mean T_inf > 5 Gyr) impacts galaxy properties at fixed stellar and halo mass. Ancient infallers are more quenched, and the impact of environmental quenching is visible down to low host masses (< group masses). Meanwhile, the quenching of recent infallers is weakly dependent on host mass, indicating they have yet to respond strongly to their current environment. [alpha/Fe] and especially metallicity are less dependent on host mass, but show a dependence on mean T_inf. We discuss these results in the context of longer exposure times for ancient infallers to environmental effects, which grow more efficient in hosts with a deeper potential well and a denser intracluster medium. We also compare our satellites with a control field sample, and find that even the most recent infallers (mean T_inf < 2 Gyr) are more quenched than field galaxies, in particular for cluster mass hosts. This supports the role of pre-processing and/or faster quenching in satellites.

astro-ph.GA↗

arXiv2018

Time Projection Chamber (TPC) Detectors for Nuclear Astrophysics Studies With Gamma Beams

Gamma-Beams at the HIgS facility in the USA and anticipated at the ELI-NP facility, now constructed in Romania, present unique new opportunities to advance research in nuclear astrophysics; not the least of which is resolving open questions in oxygen formation during stellar helium burning via a precise measurement of the 12C(a,g) reaction. Time projection chamber (TPC) detectors operating with low pressure gas (as an active target) are ideally suited for such studies. We review the progress of the current research program and plans for the future at the HIγS facility with the optical readout TPC (O-TPC) and the development of an electronic readout TPC for the ELI-NP facility (ELITPC).

physics.ins-det↗

arXiv2018

The Fornax Deep Survey with VST. V. Exploring the faintest regions of the bright early-type galaxies inside the virial radius

This paper is based on the multi-band (ugri) Fornax Deep Survey (FDS) with the VLT Survey Telescope (VST). We study bright early-type galaxies (m_B<15 mag) in the 9 square degrees around the core of the Fornax cluster, which covers the virial radius. The main goal of the present work is to provide the analysis of the light distribution for all galaxies out to unprecedented limits (in radius and surface brightness) and to release the main products resulting from this analysis in all FDS bands. From the isophote fit, we derive the azimuthally averaged surface brightness profiles, the position angle and ellipticity profiles as a function of the semi-major axis. In each band, we derive the total magnitudes, effective radii, integrated colors and stellar mass-to-light ratios. The long integration times, the arcsec-level angular resolution of OmegaCam@VST and the large covered area of FDS allow us to map the light and color distributions out to large galactocentric distances (up to about 10-15 R_e) and surface brightness levels beyond mu_r = 27 mag/arcsec^2 (mu_B > 28 mag/arcsec^2). Therefore, the new FDS data allow us to explore in great detail the morphology and structure of cluster galaxies out to the region of the stellar halo. The observations suggest that the Fornax cluster is not completely relaxed inside the virial radius. The bulk of the gravitational interactions between galaxies happens in the W-NW core region of the cluster, where most of the bright early-type galaxies are located and where the intra-cluster baryons (diffuse light and GCs) are found. We suggest that the W-NW sub-clump of galaxies results from an infalling group onto the cluster, which has modified the structure of the galaxy outskirts (making asymmetric stellar halos) and has produced the intra-cluster baryons (ICL and GCs), concentrated in this region of the cluster.

astro-ph.GA↗

arXiv2018

Consequences of the external field effect for MOND disk galaxies in galaxy clusters

Galaxies within galaxy clusters are known to be subject to a wide variety of environmental effects, both gravitational and hydrodynamical. In this study, we examine the purely gravitational interaction of idealised galaxy models falling into a galaxy cluster in the context of Modified Newtonian Dynamics (MOND). This modification of gravity gives rise to an external field effect (EFE), where the internal dynamics of a system are affected by the presence of external gravitational fields. We examine the consequences of the EFE on low and high mass disk galaxies in time-evolving analytic background cluster potentials, considering orbits with weak and strong tidal fields. By varying the orbital plane of the galaxies we also test the effect of having the tidal interaction orthogonal or parallel to the disk. Furthermore, we consider as a control sample models where the EFE has been removed and they are only affected by tides. Our results suggest that MOND cluster galaxies should exhibit clear asymmetries in their isophotes, suffer increased mass loss and a reduction in their rotation curves due to the combined effect of cluster tides and the external field. In particular, low mass galaxies are hit hard by the EFE, becoming dominated by dispersion rather than rotation even in the absence of tides.

astro-ph.GA↗

arXiv2018

Design of a Multi-Modal End-Effector and Grasping System: How Integrated Design helped win the Amazon Robotics Challenge

We present the grasping system and design approach behind Cartman, the winning entrant in the 2017 Amazon Robotics Challenge. We investigate the design processes leading up to the final iteration of the system and describe the emergent solution by comparing it with key robotics design aspects. Following our experience, we propose a new design aspect, precision vs. redundancy, that should be considered alongside the previously proposed design aspects of modularity vs. integration, generality vs. assumptions, computation vs. embodiment and planning vs. feedback. We present the grasping system behind Cartman, the winning robot in the 2017 Amazon Robotics Challenge. The system makes strong use of redundancy in design by implementing complimentary tools, a suction gripper and a parallel gripper. This multi-modal end-effector is combined with three grasp synthesis algorithms to accommodate the range of objects provided by Amazon during the challenge. We provide a detailed system description and an evaluation of its performance before discussing the broader nature of the system with respect to the key aspects of robotic design as initially proposed by the winners of the first Amazon Picking Challenge. To address the principal nature of our grasping system and the reason for its success, we propose an additional robotic design aspect `precision vs. redundancy'. The full design of our robotic system, including the end-effector, is open sourced and available at http://juxi.net/projects/AmazonRoboticsChallenge/

cs.RO↗

arXiv2018

Mechanical Design of a Cartesian Manipulator for Warehouse Pick and Place

Robotic manipulation and grasping in cluttered and unstructured environments is a current challenge for robotics. Enabling robots to operate in these challenging environments have direct applications from automating warehouses to harvesting fruit in agriculture. One of the main challenges associated with these difficult robotic manipulation tasks is the motion planning and control problem for multi-DoF (Degree of Freedom) manipulators. This paper presents the design and performance evaluation of a low-cost Cartesian manipulator, Cartman who took first place in the Amazon Robotics Challenge 2017. It can perform pick and place tasks of household items in a cluttered environment. The robot is capable of linear speeds of 1 m/s and angular speeds of 1.5 rad/s, capable of sub-millimetre static accuracy and safe payload capacity of 2kg. Cartman can be produced for under 10 000 AUD. The complete design is open sourced and can be found at http://juxi.net/projects/AmazonRoboticsChallenge.

cs.RO↗

arXiv2018

Laboratory measurement of the brighter-fatter effect in an H2RG infrared detector

The "brighter-fatter" (BF) effect is a phenomenon (originally discovered in charge coupled devices) in which the size of the detector point spread function (PSF) increases with brightness. We present, for the first time, laboratory measurements demonstrating the existence of the effect in a Hawaii-2RG HgCdTe near infrared (NIR) detector. We use the Precision Projector Laboratory, a JPL facility for emulating astronomical observations with UV/VIS/NIR detectors, to project about 17,000 point sources onto the detector to stimulate the effect. After calibrating the detector for nonlinearity with flat-fields, we find evidence that charge is nonlinearly shifted from bright pixels to neighboring pixels during exposures of point sources, consistent with the existence of a BF-type effect. The Wide Field Infrared Survey Telescope (WFIRST) by NASA will use similar detectors to measure weak gravitational lensing from the shapes of hundreds of million of galaxies in the NIR. The WFIRST PSF size must be calibrated to approximately 0.1 percent to avoid biased inferences of dark matter and dark energy parameters; therefore further study and calibration of the BF effect in realistic images will be crucial.

astro-ph.IM↗

arXiv2018

Gas expulsion in highly substructured embedded star clusters

We investigate the response of initially substructured, young, embedded star clusters to instantaneous gas expulsion of their natal gas. We introduce primordial substructure to the stars and the gas by simplistically modelling the star formation process so as to obtain a variety of substructure distributed within our modelled star forming regions. We show that, by measuring the virial ratio of the stars alone (disregarding the gas completely), we can estimate how much mass a star cluster will retain after gas expulsion to within 10% accuracy, no matter how complex the background structure of the gas is, and we present a simple analytical recipe describing this behaviour. We show that the evolution of the star cluster while still embedded in the natal gas, and the behavior of the gas before being expelled, are crucial processes that affect the timescale on which the cluster can evolve into a virialized spherical system. Embedded star clusters that have high levels of substructure are subvirial for longer times, enabling them to survive gas expulsion better than a virialized and spherical system. By using a more realistic treatment for the background gas than our previous studies, we find it very difficult to destroy the young clusters with instantaneous gas expulsion. We conclude that gas removal may not be the main culprit for the dissolution of young star clusters.

astro-ph.GA↗

arXiv2018

Demonstration of Universal Parametric Entangling Gates on a Multi-Qubit Lattice

We show that parametric coupling techniques can be used to generate selective entangling interactions for multi-qubit processors. By inducing coherent population exchange between adjacent qubits under frequency modulation, we implement a universal gateset for a linear array of four superconducting qubits. An average process fidelity of $\mathcal{F}=93\%$ is estimated for three two-qubit gates via quantum process tomography. We establish the suitability of these techniques for computation by preparing a four-qubit maximally entangled state and comparing the estimated state fidelity against the expected performance of the individual entangling gates. In addition, we prepare an eight-qubit register in all possible bitstring permutations and monitor the fidelity of a two-qubit gate across one pair of these qubits. Across all such permutations, an average fidelity of $\mathcal{F}=91.6\pm2.6\%$ is observed. These results thus offer a path to a scalable architecture with high selectivity and low crosstalk.

quant-ph↗

arXiv2018

Cartman: The low-cost Cartesian Manipulator that won the Amazon Robotics Challenge

The Amazon Robotics Challenge enlisted sixteen teams to each design a pick-and-place robot for autonomous warehousing, addressing development in robotic vision and manipulation. This paper presents the design of our custom-built, cost-effective, Cartesian robot system Cartman, which won first place in the competition finals by stowing 14 (out of 16) and picking all 9 items in 27 minutes, scoring a total of 272 points. We highlight our experience-centred design methodology and key aspects of our system that contributed to our competitiveness. We believe these aspects are crucial to building robust and effective robotic systems.

cs.RO↗

arXiv2018

Magnetic fields at the onset of high-mass star formation

Context: The importance of magnetic fields at the onset of star formation related to the early fragmentation and collapse processes is largely unexplored today. Aims: We want to understand the magnetic field properties at the earliest evolutionary stages of high-mass star formation. Methods: The Atacama Large Millimeter Array is used at 1.3mm wavelength in full polarization mode to study the polarized emission and by that the magnetic field morphologies and strengths of the high-mass starless region IRDC18310-4. Results: The polarized emission is clearly detected in four sub-cores of the region. In general it shows a smooth distribution, also along elongated cores. Estimating the magnetic field strength via the Davis-Chandrasekhar-Fermi method and following a structure function analysis, we find comparably large magnetic field strengths between ~0.6 and 3.7mG. Comparing the data to spectral line observations, the turbulent-to-magnetic energy ratio is low, indicating that turbulence does not significantly contribute to the stability of the gas clump. A mass-to-flux ratio around the critical value 1.0 - depending on column density - indicates that the region starts to collapse which is consistent with the previous spectral line analysis of the region. Conclusions: While this high-mass region is collapsing and thus at the verge of star formation, the high magnetic field values and the smooth spatial structure indicate that the magnetic field is important for the fragmentation and collapse process. This single case study can only be the starting point for larger sample studies of magnetic fields at the onset of star formation.

astro-ph.GA↗

arXiv2017

Parametrically Activated Entangling Gates Using Transmon Qubits

We describe and implement a family of entangling gates activated by radio-frequency flux modulation applied to a tunable transmon that is statically coupled to a neighboring transmon. The effect of this modulation is the resonant exchange of photons directly between levels of the two-transmon system, obviating the need for mediating qubits or resonator modes and allowing for the full utilization of all qubits in a scalable architecture. The resonance condition is selective in both the frequency and amplitude of modulation and thus alleviates frequency crowding. We demonstrate the use of three such resonances to produce entangling gates that enable universal quantum computation: one iSWAP gate and two distinct controlled Z gates. We report interleaved randomized benchmarking results indicating gate error rates of 6% for the iSWAP (duration 135ns) and 9% for the controlled Z gates (durations 175 ns and 270 ns), limited largely by qubit coherence.

quant-ph↗

arXiv2017

Dynamical density functional theory for the evaporation of droplets of nanoparticle suspension

We develop a lattice gas model for the drying of droplets of a nanoparticle suspension on a planar surface, using dynamical density functional theory (DDFT) to describe the time evolution of the solvent and nanoparticle density profiles. The DDFT assumes a diffusive dynamics but does not include the advective hydrodynamics of the solvent, so the model is relevant to highly viscous or near to equilibrium systems. Nonetheless, we see an equivalent of the coffee-ring stain effect, but in the present model it occurs for thermodynamic rather the fluid-mechanical reasons. The model incorporates the effect of phase separation and vertical density variations within the droplet and the consequence of these on the nanoparticle deposition pattern on the surface. We show how to include the effect of slip or no-slip at the surface and how this is related to the receding contact angle. We also determine how the equilibrium contact angle depends on the microscopic interaction parameters.

cond-mat.soft↗

arXiv2017

Gravity as the main driver of non-thermal motions in massive star formation

The origin of non-thermal motions in massive star forming regions can be ascribed to turbulence acting against the gravitational collapse, or to the self-gravity itself driving the rapid global collapse. The dependence between velocity dispersion, radius and clouds surface density found by Heyer et al. (2009), $σ/R^{1/2}\propto Σ^{1/2}$, has been interpreted in terms of global collapse of clouds. In this work we demonstrate that this relation is an expression of a more general relation between accelerations. We introduce the gravo-turbulent acceleration, a$_k$, which describe the non-thermal motions in each region, and the acceleration generated by the gravitational field a$_G$, which is proportional to $Σ$. We also introduce a new coefficient, the force partition coefficient $α_{for}$ which is equivalent to the virial parameter but does not distinguish between collapsing and non-collapsing regions. In this work we use the a$_k$ - a$_G$ formalism in the analysis of a new sample of 16 massive starless clumps (MSCls) combined with data from the literature. We show that a$_k$ and a$_G$ are not independent. The non-thermal motions in each region can originate from both local turbulence and self-gravity but overall the data in the a$_k$ vs. a$_G$ diagram demonstrate that the majority of the non-thermal motions originate from self-gravity. We further show that all the MSCls with $Σ\geq 0.1$ g cm$^{-2}$ show signs of infall motions, a strong indication that the denser regions are the first to collapse. Finally, we include in the formalism the contribution of an external pressure and the magnetic fields.

astro-ph.GA↗

arXiv2017

Semantic Segmentation from Limited Training Data

We present our approach for robotic perception in cluttered scenes that led to winning the recent Amazon Robotics Challenge (ARC) 2017. Next to small objects with shiny and transparent surfaces, the biggest challenge of the 2017 competition was the introduction of unseen categories. In contrast to traditional approaches which require large collections of annotated data and many hours of training, the task here was to obtain a robust perception pipeline with only few minutes of data acquisition and training time. To that end, we present two strategies that we explored. One is a deep metric learning approach that works in three separate steps: semantic-agnostic boundary detection, patch classification and pixel-wise voting. The other is a fully-supervised semantic segmentation approach with efficient dataset collection. We conduct an extensive analysis of the two methods on our ARC 2017 dataset. Interestingly, only few examples of each class are sufficient to fine-tune even very deep convolutional neural networks for this specific task.

cs.RO↗

arXiv2017

Modelling the evaporation of nanoparticle suspensions from heterogeneous surfaces

We present a Monte Carlo (MC) grid-based model for the drying of drops of a nanoparticle suspension upon a heterogeneous surface. The model consists of a generalised lattice-gas in which the interaction parameters in the Hamiltonian can be varied to model different properties of the materials involved. We show how to choose correctly the interactions, to minimise the effects of the underlying grid so that hemispherical droplets form. We also include the effects of surface roughness to examine the effects of contact-line pinning on the dynamics. When there is a `lid' above the system, which prevents evaporation, equilibrium drops form on the surface, which we use to determine the contact angle and how it varies as the parameters of the model are changed. This enables us to relate the interaction parameters to the materials used in applications. The model has also been applied to drying on heterogeneous surfaces, in particular to the case where the suspension is deposited on a surface consisting of a pair of hydrophilic conducting metal surfaces that are either side of a band of hydrophobic insulating polymer. This situation occurs when using inkjet printing to manufacture electrical connections between the metallic parts of the surface. The process is not always without problems, since the liquid can dewet from the hydrophobic part of the surface, breaking the bridge before the drying process is complete. The MC model reproduces the observed dewetting, allowing the parameters to be varied so that the conditions for the best connection can be established. We show that if the hydrophobic portion of the surface is located at a step below the height of the neighbouring metal, the chance of dewetting of the liquid during the drying process is significantly reduced.

cond-mat.soft↗

arXiv2017

Nonlinearity and pixel shifting effects in HXRG infrared detectors

We study the nonlinearity (NL) in the conversion from charge to voltage in infrared detectors (HXRG) for use in precision astronomy. We present laboratory measurements of the NL function of a H2RG detector and discuss the accuracy to which it would need to be calibrated in future space missions to perform cosmological measurements through the weak gravitational lensing technique. In addition, we present an analysis of archival data from the infrared H1RG detector of the Wide Field Camera 3 in the Hubble Space Telescope that provides evidence consistent with the existence of a sensor effect analogous to the brighter-fatter effect found in Charge-Coupled Devices. We propose a model in which this effect could be understood as shifts in the effective pixel boundaries, and discuss prospects of laboratory measurements to fully characterize this effect.

astro-ph.IM↗

arXiv2017

Discovery and Physical Characterization of a Large Scattered Disk Object at 92 AU

We report the observation and physical characterization of the possible dwarf planet \UZ\ ("DeeDee"), a dynamically detached trans-Neptunian object discovered at 92 AU. This object is currently the second-most distant known trans-Neptunian object with reported orbital elements, surpassed in distance only by the dwarf planet Eris. The object was discovered with an $r$-band magnitude of 23.0 in data collected by the Dark Energy Survey between 2014 and 2016. Its 1140-year orbit has $(a,e,i) = (109~\mathrm{AU}, 0.65, 26.8^{\circ})$. It will reach its perihelion distance of 38 AU in the year 2142. Integrations of its orbit show it to be dynamically stable on Gyr timescales, with only weak interactions with Neptune. We have performed followup observations with ALMA, using 3 hours of on-source integration time to measure the object's thermal emission in the Rayleigh-Jeans tail. The signal is detected at 7$σ$ significance, from which we determine a $V$-band albedo of $13.1^{+3.3}_{-2.4}\mathrm{(stat)}^{+2.0}_{-1.4}\mathrm{(sys)}$ percent and a diameter of $635^{+57}_{-61}\mathrm{(stat)}^{+32}_{-39}\mathrm{(sys)}$~km, assuming a spherical body with uniform surface properties.

astro-ph.EP↗