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Register a new userLarge-Scale Structure of the Molecular Gas in Taurus Revealed by High Linear Dynamic Range Spectral Line Mapping
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We report the results of a 100 square degree survey of the Taurus Molecular Cloud region in the J = 1-0 transition of 12CO and 13CO. The image of the cloud in each velocity channel includes ~ 3 million Nyquist sampled pixels on a 20 grid. The high sensitivity and large linear dynamic range of the maps in both isotopologues reveal a very complex, highly structured cloud morphology. There are large scale correlated structures evident in 13CO emission having very fine dimensions, including filaments, cavities, and rings. The 12CO emission shows a quite different structure, with particularly complex interfaces between regions of greater and smaller column density defining the boundaries of the largest-scale cloud structures. The axes of the striations seen in the 12CO emission from relatively diffuse gas are aligned with the direction of the magnetic field. Using a column density-dependent model for the CO fractional abundance, we derive the mass of the region mapped to be 24,000 solar masses, a factor of three greater than would be obtained with canonical CO abundance restricted to the high column density regions. We determine that half the mass of the cloud is in regions having column density below 2.1x10^{21} per square cm. The distribution of young stars in the region covered is highly nonuniform, with the probability of finding a star in a pixel with a specified column density rising sharply for N(H2) = 6x10^{21} cm^{-2}. We determine a relatively low star formation efficiency (mass of young stars/mass of molecular gas), between 0.3 and 1.2 %, and an average star formation rate during the past 3 Myr of 8x10^{-5} stars yr^{-1}.
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We present observations of redshifted CO(1-0) and CO(2-1) in a field containing an overdensity of Lyman break galaxies (LBGs) at z=5.12. Our Australia Telescope Compact Array observations were centered between two spectroscopically-confirmed z=5.12 galaxies. We place upper limits on the molecular gas masses in these two galaxies of M(H_2) <1.7 x 10^10 M_sun and <2.9 x 10^9 M_sun (2 sigma), comparable to their stellar masses. We detect an optically-faint line emitter situated between the two LBGs which we identify as warm molecular gas at z=5.1245 +/- 0.0001. This source, detected in the CO(2-1) transition but undetected in CO(1-0), has an integrated line flux of 0.106 +/- 0.012 Jy km/s, yielding an inferred gas mass M(H_2)=(1.9 +/- 0.2) x 10^10 M_sun. Molecular line emitters without detectable counterparts at optical and infrared wavelengths may be crucial tracers of structure and mass at high redshift.
We present a preliminary analysis of the small-scale structure found in new 70-520 micron continuum maps of the Rosette molecular cloud (RMC), obtained with the SPIRE and PACS instruments of the Herschel Space Observatory. We find 473 clumps within the RMC using a new structure identification algorithm, with sizes up to ~1.0 pc in diameter. A comparison with recent Spitzer maps reveals that 371 clumps are starless (without an associated young stellar object), while 102 are protostellar. Using the respective values of dust temperature, we determine the clumps have masses (M_C) over the range -0.75 <= log (M_C/M_sun) <= 2.50. Linear fits to the high-mass tails of the resulting clump mass spectra (CMS) have slopes that are consistent with those found for high-mass clumps identified in CO emission by other groups.
We clarify the line-of-sight structure of the Taurus Molecular Cloud 1 (TMC-1) on the basis of the CCS($J_N=4_3-3_2$) and HC$_3$N($J=5-4$) spectral data observed at a very high velocity resolution and sensitivity of $Delta V simeq 0.0004$ km s$^{-1}$ ($=61$ Hz) and $Delta T_{rm mb} simeq 40$ mK. The data were obtained toward the cyanopolyyne peak with $sim$30 hours integration using the Z45 receiver and the PolariS spectrometer installed in the Nobeyama 45m telescope. Analyses of the optically thin $F=4-4$ and $5-5$ hyperfine lines of the HC$_3$N emission show that the spectra consist of four distinct velocity components with a small line width ($lesssim 0.1$ km s$^{-1}$) at $V_{rm LSR}=$5.727, 5.901, 6.064, and 6.160 km s$^{-1}$, which we call A, B, C, and D, respectively, in the order of increasing LSR velocities. Utilizing the velocity information of the four velocity components, we further analyzed the optically thicker CCS spectrum and the other hyperfine lines of the HC$_3$N emission by solving the radiative transfer to investigate how the four velocity components overlap along the line of sight. Results indicate that they are located in the order of A, B, C, and D from far side to near side to the observer, indicating that TMC-1 is shrinking, moving inward as a whole.
We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but currently stationary objects separately, which is desirable for high-level mobile robotic tasks such as path planning in crowded environments. We use both instance-aware semantic segmentation and sparse scene flow to classify objects as either background, moving, or potentially moving, thereby ensuring that the system is able to model objects with the potential to transition from static to dynamic, such as parked cars. Given camera poses estimated from visual odometry, both the background and the (potentially) moving objects are reconstructed separately by fusing the depth maps computed from the stereo input. In addition to visual odometry, sparse scene flow is also used to estimate the 3D motions of the detected moving objects, in order to reconstruct them accurately. A map pruning technique is further developed to improve reconstruction accuracy and reduce memory consumption, leading to increased scalability. We evaluate our system thoroughly on the well-known KITTI dataset. Our system is capable of running on a PC at approximately 2.5Hz, with the primary bottleneck being the instance-aware semantic segmentation, which is a limitation we hope to address in future work. The source code is available from the project website (http://andreibarsan.github.io/dynslam).
We have conducted a mapping spectral line survey toward the Galactic giant molecular cloud W51 in the 3 mm band with the Mopra 22 m telescope in order to study an averaged chemical composition of the gas extended over a molecular cloud scale in our Galaxy. We have observed the area of $25 times 30$, which corresponds to 39 pc $times$ 47 pc. The frequency ranges of the observation are 85.1 - 101.1 GHz and 107.0 - 114.9 GHz. In the spectrum spatially averaged over the observed area, spectral lines of 12 molecular species and 4 additional isotopologues are identified. An intensity pattern of the spatially-averaged spectrum is found to be similar to that of the spiral arm in the external galaxy M51, indicating that these two sources have similar chemical compositions. The observed area has been classified into 5 sub-regions according to the integrated intensity of $^{13}$CO($J=1-0$) ($I_{rm ^{13}CO}$), and contributions of the fluxes of 11 molecular lines from each sub-region to the averaged spectrum have been evaluated. For most of molecular species, 50 % or more of the flux come from the sub-regions with $I_{rm ^{13}CO}$ from 25 K km s$^{-1}$ to 100 K km s$^{-1}$, which does not involve active star forming regions. Therefore, the molecular-cloud-scale spectrum observed in the 3 mm band hardly represents the chemical composition of star forming cores, but mainly represents the chemical composition of an extended quiescent molecular gas. The present result constitutes a sound base for interpreting the spectra of external galaxies at a resolution of a molecular cloud scale ($sim10$ pc) or larger.
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