arXiv subjects

Trung Ha

Publications and source records attributed to Trung Ha.

13 recordsLinked to original sources

arXiv2026

Low cost, easily manufactured, highly flexible strain and touch sensitive fiber for robotics applications

Existing stretch and touch sensors for robots are generally expensive with respect to at least one of material costs, required manufacturing equipment, or manufacturing time. We present and experimentally characterize a conductive fiber made using only inexpensive commercial off-the-shelf parts (conductive thread at $0.07/ft, silicone tubing at $0.94/ft) and tools (loop-style needle threader at $2), which can be manufactured quickly (20 cm length in 2 minutes.) We demonstrate its use as a resistive strain sensor with three applications: Triggering a grasp in a pneumatically actuated assistive finger, sensing the pose of a pneumatically actuated robotic strap, and estimating the pose of a flexible solid. We also demonstrate that it can be used as a capacitive sensor with two applications: First, as a touch sensor which triggers a commercial robot arm to move, and second, as a near-field sensor enabling the robot arm to follow a moving hand. The capacitive sensors are knitted, showcasing the high flexibility of the fiber. We discuss methods for improving manufacturing scalability and their cost trade-offs. Finally, we demonstrate a method for repairing a cut fiber.

cs.RO↗

arXiv2025

Black Hole-Host Galaxy Correlations with Machine Learning: A Comparative Study of Illustris, TNG, and EAGLE

Supermassive black holes (SMBHs) are known to correlate with many properties of their host galaxies, but we do not fully understand these correlations. The strengths (tightness) of these correlations have also been widely debated. In this work, we explore SMBH-host relations in three state-of-the-art cosmological simulations: Illustris, TNG, and EAGLE. Using a variety of machine learning regressors, we measure the scaling relations between black hole mass ($M_{\rm BH}$) and galaxy properties including stellar velocity dispersion ($\sigma$), stellar mass ($M_{\star}$), dark matter halo mass ($M_{\rm Halo}$), and the Sersic index. We find that machine learning regressors provide predictive capabilities superior to linear regression in many scaling relations in simulations, and Multi-layer Perceptron (MLP) regressor has the strongest performance. SMBH-host relations have different strengths in different simulations as a result of their sub-grid models. Similar to the observations, the $M_{\rm BH} $-$\sigma$ relation is a strong correlation in all simulations, but in TNG, the $M_{\rm BH} $-$M_{\star}$ relation is even tighter than $M_{\rm BH} $-$\sigma$. EAGLE produces the weakest SMBH-host correlations among all simulations. Low mass SMBHs tend to be poorly correlated with their host galaxies, but including them can still help machines better grasp the correlations in Illustris and TNG. Combining galaxy properties that strongly correlate with $M_{\rm BH} $ but poorly correlate with each other can improve MLP's performance. $M_{\rm BH} $ is most accurately predicted when all galaxy properties are included in the training, suggesting that SMBH-host correlations are fundamentally multi-dimensional in these simulations.

astro-ph.GA↗

arXiv2025

Probing Turbulence, Gravity, Supernovae, and Magnetic Field Effects with the 6D Kinematics of Young Stars in Milky Way Star-Forming Regions

The dynamics of star forming gas can be affected by many physical processes, such as turbulence, gravity, supernova explosions, and magnetic fields. In this paper, we investigate several nearby star forming regions (Orion, Upper Sco, Taurus, and Perseus) for kinematic imprints of these influences on the newly formed stars. Using Gaia DR3 astrometry and APOGEE DR17 radial velocities, we compute first-order velocity structure functions (VSFs) of young stars in galactic Cartesian coordinates in both 6D (3D positions and 3D velocities) and 4D (3D positions and each 1D velocity) to identify signatures of turbulence and anisotropic motion. We also construct 3D and 1D radial velocity profiles to identify coherent expansion trends, and compare stellar proper motions to plane-of-sky magnetic field orientations in Taurus and Perseus. We find that the VSFs are mildly anisotropic, with slightly different amplitudes, slopes, or features in different directions in several groups, but in general, they are all consistent with Larson's Relation at intermediate length scales, especially in less compact groups. In several cases, the VSFs exhibit features suggestive of local energy injection from supernovae. Radial velocity profiles reveal clear anisotropic expansion in multiple groups, with the most extreme cases corresponding to those with the most anisotropic VSFs. In Perseus, we find that the motions of young stars are preferentially perpendicular to the local magnetic field. We find multiple, overlapping causes in each group for the observed kinematics. Our findings support that young stars remember more than just the turbulent state of their natal clouds.

astro-ph.GA↗

arXiv2025

aweSOM: a CPU/GPU-accelerated Self-organizing Map and Statistically Combined Ensemble Framework for Machine-learning Clustering Analysis

We introduce aweSOM, an open-source Python package for machine learning (ML) clustering and classification, using a Self-organizing Maps (SOM) algorithm that incorporates CPU/GPU acceleration to accommodate large ($N > 10^6$, where $N$ is the number of data points), multidimensional datasets. aweSOM consists of two main modules, one that handles the initialization and training of the SOM, and another that stacks the results of multiple SOM realizations to obtain more statistically robust clusters. Existing Python-based SOM implementations (e.g., POPSOM, Yuan (2018); MiniSom, Vettigli (2018); sklearn-som) primarily serve as proof-of-concept demonstrations, optimized for smaller datasets, but lacking scalability for large, multidimensional data. aweSOM provides a solution for this gap in capability, with good performance scaling up to $\sim 10^8$ individual points, and capable of utilizing multiple features per point. We compare the code performance against the legacy implementations it is based on, and find a 10-100x speed up, as well as significantly improved memory efficiency, due to several built-in optimizations.

cs.LG↗

arXiv2024

Machine-Learning Characterization of Intermittency in Relativistic Pair Plasma Turbulence: Single and Double Sheet Structures

The physics of turbulence in magnetized plasmas remains an unresolved problem. The most poorly understood aspect is intermittency -- spatio-temporal fluctuations superimposed on the self-similar turbulent motions. We employ a novel machine-learning analysis technique to segment turbulent flow structures into distinct clusters based on statistical similarities across multiple physical features. We apply this technique to kinetic simulations of decaying (freely evolving) and driven (forced) turbulence in a strongly magnetized pair-plasma environment, and find that the previously identified intermittent fluctuations consist of two distinct clusters: i) current sheets, thin slabs of electric current between merging flux ropes, and; ii) double sheets, pairs of oppositely polarized current slabs, possibly generated by two non-linearly interacting Alfv\'en-wave packets. The distinction is crucial for the construction of realistic turbulence sub-grid models.

astro-ph.HE↗

arXiv2024

Rest-Frame Optical Spectroscopy of Ten z $\sim$ 2 Weak Emission-Line Quasars

We present near-infrared spectroscopy of ten weak emission-line quasars (WLQs) at redshifts of $z\sim2$, obtained with the Palomar 200-inch Hale Telescope. WLQs are an exceptional population of type 1 quasars that exhibit weak or no broad emission lines in the ultraviolet (e.g., the C IV $\lambda 1549$ line), and they display remarkable X-ray properties. We derive H$\beta$-based single-epoch virial black-hole masses (median value $\rm 1.7 \times 10^{9} M_{\odot}$) and Eddington ratios (median value $0.5)$ for our sources. We confirm the previous finding that WLQ H$\beta$ lines, as a major low-ionization line, are not significantly weak compared to typical quasars. The most prominent feature of the WLQ optical spectra is the universally weak/absent [O III] $\lambda 5007$ emission. They also display stronger optical Fe II emission than typical quasars. Our results favor the super-Eddington accretion scenario for WLQs, where the weak lines are a result of a soft ionizing continuum; the geometrically thick inner accretion disk and/or its associated outflow is responsible for obscuring the nuclear high-energy radiation and producing the soft ionizing continuum. We also report candidate extreme [O III] outflows (blueshifts of $\approx 500$ and $\rm 4900 km s^{-1}$) in one object.

astro-ph.GA↗

arXiv2024

Gemini Near Infrared Spectrograph -- Distant Quasar Survey: Rest-Frame Ultraviolet-Optical Spectral Properties of Broad Absorption Line Quasars

We present the rest-frame ultraviolet-optical spectral properties of 65 broad absorption line (BAL) quasars from the Gemini Near Infrared Spectrograph-Distant Quasar Survey (GNIRS-DQS). These properties are compared with those of 195 non-BAL quasars from GNIRS-DQS in order to identify the drivers for the appearance of BALs in quasar spectra. In particular, we compare equivalent widths and velocity widths, as well as velocity offsets from systemic redshifts, of principal emission lines. In spite of the differences between their rest-frame ultraviolet spectra, we find that luminous BAL quasars are generally indistinguishable from their non-BAL counterparts in the rest-frame optical band at redshifts $1.55 \lesssim z \lesssim 3.50$. We do not find any correlation between BAL trough properties and the H$\beta$-based supermassive black hole masses and normalized accretion rates in our sample. Considering the Sloan Digital Sky Survey quasar sample, which includes the GNIRS-DQS sample, we find that a monochromatic luminosity at rest-frame 2500 A of $\gtrsim 10^{45}$ erg s$^{-1}$ is a necessary condition for launching BAL outflows in quasars. We compare our findings with other BAL quasar samples and discuss the roles that accretion rate and orientation play in the appearance of BAL troughs in quasar spectra.

astro-ph.GA↗

arXiv2023

The Nature of the Motions of Multiphase Filaments in the Centers of Galaxy Clusters

The intracluster medium (ICM) in the centers of galaxy clusters is heavily influenced by the ``feedback'' from supermassive black holes (SMBHs). Feedback can drive turbulence in the ICM and turbulent dissipation can potentially be an important source of heating. Due to the limited spatial and spectral resolutions of X-ray telescopes, direct observations of turbulence in the hot ICM have been challenging. Recently, we developed a new method to measure turbulence in the ICM using multiphase filaments as tracers. These filaments are ubiquitous in cluster centers and can be observed at very high resolution using optical and radio telescopes. We study the kinematics of the filaments by measuring their velocity structure functions (VSFs) over a wide range of scales in the centers of $\sim 10$ galaxy clusters. We find features of the VSFs that correlate with the SMBHs activities, suggesting that SMBHs are the main driver of gas motions in the centers of galaxy clusters. In all systems, the VSF is steeper than the classical Kolmogorov expectation and the slopes vary from system to system. One theoretical explanation is that the VSFs we have measured so far mostly reflect the motion of the driver (jets and bubbles) rather than the cascade of turbulence. We show that in Abell 1795, the VSF of the outer filaments far from the SMBH flattens on small scales to a Kolmogorov slope, suggesting that the cascade is only detectable farther out with the current telescope resolution. The level of turbulent heating computed at small scales is typically an order of magnitude lower than that estimated at the driving scale. Even though SMBH feedback heavily influences the kinematics of the ICM in cluster centers, the level of turbulence it drives is rather low, and turbulent heating can only offset $\lesssim10\%$ of the cooling loss, consistent with the findings of numerical simulations.

astro-ph.GA↗

arXiv2023

Shedding New Light on Weak Emission-Line Quasars in the C$_{\rm IV}$-H$\beta$ Parameter Space

Weak emission-line quasars (WLQs) are a subset of Type 1 quasars that exhibit extremely weak Ly$\alpha +$N V $\lambda$1240 and/or C IV $\lambda$1549 emission lines. We investigate the relationship between emission-line properties and accretion rate for a sample of 230 `ordinary' Type 1 quasars and 18 WLQs at $z < 0.5$ and $1.5 < z < 3.5$ that have rest-frame ultraviolet and optical spectral measurements. We apply a correction to the H$\beta$-based black-hole mass ($M_{\rm BH}$) estimates of these quasars using the strength of the optical Fe II emission. We confirm previous findings that WLQs' $M_{\rm BH}$ values are overestimated by up to an order of magnitude using the traditional broad emission-line region size-luminosity relation. With this $M_{\rm BH}$ correction, we find a significant correlation between H$\beta$-based Eddington luminosity ratios and a combination of the rest-frame C IV equivalent width and C IV blueshift with respect to the systemic redshift. This correlation holds for both ordinary quasars and WLQs, which suggests that the two-dimensional C IV parameter space can serve as an indicator of accretion rate in all Type 1 quasars across a wide range of spectral properties.

astro-ph.GA↗

arXiv2022

Turbulence in Milky Way Star-Forming Regions Traced by Young Stars and Gas

The interstellar medium (ISM) is turbulent on all scales and in all phases. In this paper, we study turbulence with different tracers in four nearby star-forming regions: Orion, Ophiuchus, Perseus, and Taurus. We combine the APOGEE-2 and Gaia surveys to obtain the full 6-dimensional measurements of positions and velocities of young stars in these regions. The velocity structure functions (VSFs) of the stars show a universal scaling of turbulence. We also obtain H{\alpha} gas kinematics in these four regions from the Wisconsin H-Alpha Mapper. The VSFs of the H{\alpha} are more diverse compared to the stars. In regions with recent supernova activities, they show characteristics of local energy injections and higher amplitudes compared to the VSFs of stars and of CO from the literature. Such difference in amplitude of the VSFs can be explained by the different energy and momentum transport from supernovae into different phases of the ISM, thus resulting in higher levels of turbulence in the warm ionized phase traced by H{\alpha}. In regions without recent supernova activities, the VSFs of young stars, H{\alpha}, and CO are generally consistent, indicating well-coupled turbulence between different phases. Within individual regions, the brighter parts of the H{\alpha} gas tend to have a higher level of turbulence than the low-emission parts. Our findings support a complex picture of the Milky Way ISM, where turbulence can be driven at different scales and inject energy unevenly into different phases.

astro-ph.GA↗

arXiv2021

Handing off the outcome of binary neutron star mergers for accurate and long-term post-merger simulations

We perform binary neutron star (BNS) merger simulations in full dynamical general relativity with IllinoisGRMHD, on a Cartesian grid with adaptive-mesh refinement. After the remnant black hole has become nearly stationary, the evolution of the surrounding accretion disk on Cartesian grids over long timescales (1s) is suboptimal, as Cartesian coordinates over-resolve the angular coordinates at large distances, and the accreting plasma flows obliquely across coordinate lines dissipating angular momentum artificially from the disk. To address this, we present the Handoff, a set of computational tools that enables the transfer of general relativistic magnetohydrodynamic (GRMHD) and spacetime data from IllinoisGRMHD to HARM3D, a GRMHD code that specializes in modeling black hole accretion disks in static spacetimes over long timescales, making use of general coordinate systems with spherical topology. We demonstrate that the Handoff allows for a smooth and reliable transition of GRMHD fields and spacetime data, enabling us to efficiently and reliably evolve BNS dynamics well beyond merger. We also discuss future plans, which involve incorporating advanced equations of state and neutrino physics into BNS simulations using the \handoff approach.

astro-ph.HE↗

arXiv2021

HARM3D+NUC: A new method for simulating the post-merger phase of binary neutron star mergers with GRMHD, tabulated EOS and neutrino leakage

The first binary neutron star merger has already been detected in gravitational waves. The signal was accompanied by an electromagnetic counterpart including a kilonova component powered by the decay of radioactive nuclei, as well as a short $\gamma$-ray burst. In order to understand the radioactively-powered signal, it is necessary to simulate the outflows and their nucleosynthesis from the post-merger disk. Simulating the disk and predicting the composition of the outflows requires general relativistic magnetohydrodynamical (GRMHD) simulations that include a realistic, finite-temperature equation of state (EOS) and self-consistently calculating the impact of neutrinos. In this work, we detail the implementation of a finite-temperature EOS and the treatment of neutrinos in the GRMHD code HARM3D+NUC, based on HARM3D. We include formal tests of both the finite-temperature EOS and the neutrino leakage scheme. We further test the code by showing that, given conditions similar to those of published remnant disks following neutron star mergers, it reproduces both recombination of free nucleons to a neutron-rich composition and excitation of a thermal wind.

astro-ph.HE↗

arXiv2021

Measuring Turbulence with Young Stars in the Orion Complex

Stars form in molecular clouds in the interstellar medium (ISM) with a turbulent kinematic state. Newborn stars therefore should retain the turbulent kinematics of their natal clouds. Gaia DR2 and APOGEE-2 surveys in combination provide three-dimensional (3D) positions and 3D velocities of young stars in the Orion Molecular Cloud Complex. Using the full 6D measurements, we compute the velocity structure functions (VSFs) of the stars in six different groups within the Orion Complex. We find that the motions of stars in all diffuse groups exhibit strong characteristics of turbulence. Their first-order VSFs have a power-law exponent ranging from $\sim0.2-0.5$ on scales of a few to a few tens of pc, generally consistent with Larson's relation. On the other hand, dense star clusters, such as the Orion Nebula Cluster (ONC), have experienced rapid dynamical relaxation, and have lost the memory of the initial turbulent kinematics. The VSFs of several individual groups and the whole Complex all show features supporting local energy injection from supernovae. The measured strength of turbulence depends on the location relative to the supernova epicenters and the formation history of the groups. Our detection of turbulence traced by young stars introduces a new method of probing the turbulent kinematics of the ISM. Unlike previous gas-based studies with only projected measurements accessible to observations, we utilize the full 6D information of stars, presenting a more complete picture of the 3D interstellar turbulence.

astro-ph.GA↗