We have selected 43 southern massive star-forming regions to study the spatial distribution of HNCO 4$_{04}$-3$_{03}$, SiO 2-1 and HC$_{3}$N 10-9 line emission and to investigate their spatial association with the dust emission. The morphology of HNC
O 4$_{04}$-3$_{03}$ and HC$_{3}$N 10-9 agrees well with the dust emission. HC$_{3}$N 10-9 tends to originate from more compact regions than HNCO 4$_{04}$-3$_{03}$ and SiO 2-1. We divided our sources into three groups: those in the Central Molecular Zone (CMZ), those associated with bubbles (Bubble), and the remaining sources, which are termed normal star forming regions (NMSFR). These three groups, subdivided into three different categories with respect to line widths, integrated intensities, and column densities, hint at the presence of different physical and chemical processes. We find that the dust temperature $T_{rm d}$, and the abundance ratios of $N_{rm HNCO}/N_{rm SiO}$ and $N_{rm HNCO}/N_{rm HC3N}$ show a decreasing trend towards the central dense regions of CMZ sources, while $N_{rm HC3N}/N_{rm SiO}$ moves into the opposite direction. Moreover, a better agreement is found between $T_{rm d}$ and $N_{rm HC3N}/N_{rm SiO}$ in Bubble and NMSFR category sources. Both outflow and inflow activities have been found in eight of the sixteen bubble and NMSFR sources. The low outflow detection rate indicates that in these sources the SiO 2-1 line wing emission is either below our sensitivity limit or that the bulk of the SiO emission may be produced by the expansion of an H{sc,ii} region or supernova remnant, which has pushed molecular gas away forming a shock and yielding SiO.
We surveyed the Aquila Rift complex including the Serpens South and W40 region in the NH$_3$(1,1) and (2,2) transitions making use of the Nanshan 26-m telescope. The kinetic temperatures of the dense gas in the Aquila Rift complex range from 8.9 to 3
5.0K with an average of 15.3$pm$6.1K. Low gas temperatures associate with Serpens South ranging from 8.9 to 16.8K with an average 12.3$pm$1.7K, while dense gas in the W40 region shows higher temperatures ranging from 17.7 to 35.0K with an average of 25.1$pm$4.9 K. A comparison of kinetic temperatures against HiGal dust temperatures indicates that the gas and dust temperatures are in agreement in the low mass star formation region of Serpens South. In the high mass star formation region W40, the measured gas kinetic temperatures are higher than those of the dust. The turbulent component of the velocity dispersion of NH$_3$(1,1) is found to be positively correlated with the gas kinetic temperature, which indicates that the dense gas may be heated by dissipation of turbulent energy. For the fractional total-NH3 abundance obtained by a comparison with Herschel infrared continuum data representing dust emission we find values from 0.1 to 21$times 10^{-8}$ with an average of 6.9$(pm 4.5)times 10^{-8}$. Serpens South also shows a fractional total-NH3 abundance ranging from 0.2 to 21$times 10^{-8}$ with an average of 8.6($pm 3.8)times 10^{-8}$. In W40, values are lower, between 0.1 and 4.3$times 10^{-8}$ with an average of 1.6($pm 1.4)times 10^{-8}$. Weak velocity gradients demonstrate that the rotational energy is a negligible fraction of the gravitational energy. In W40, gas and dust temperatures are not strongly dependent on the projected distance to the recently formed massive stars. Overall, the morphology of the mapped region is ring-like, with strong emission at lower and weak emission at higher Galactic longitudes.
We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation. This is a highly relevant problem, for example for industrial
autonomous guided vehicles. The core idea of ODRM is, that a directed roadmap can encode inherent properties of the environment which are useful when agents have to avoid each other in that same environment. Like Probabilistic Roadmaps (PRMs), ODRMs first step is generating samples from C-space. In a second step, ODRM optimizes vertex positions and edge directions by Stochastic Gradient Descent (SGD). This leads to emergent properties like edges parallel to walls and patterns similar to two-lane streets or roundabouts. Agents can then navigate on this graph by searching their path independently and solving occurring agent-agent collisions at run-time. Using the graphs generated by ODRM compared to a non-optimized graph significantly fewer agent-agent collisions happen. We evaluate our roadmap with both, centralized and decentralized planners. Our experiments show that with ODRM even a simple centralized planner can solve problems with high numbers of agents that other multi-agent planners can not solve. Additionally, we use simulated robots with decentralized planners and online collision avoidance to show how agents are a lot faster on our roadmap than on standard grid maps.
Lyman-$alpha$ blobs (LABs) are spatially extended nebulae of emission in the Ly$alpha$ line of hydrogen, seen at high redshifts$^{1,2}$, and most commonly found in the dense environment of star-forming galaxies$^{3,4}$. The origin of Ly$alpha$ emissi
on in the LABs is still unclear and under debate$^{5}$. Proposed powering sources generally fall into two categories: (1) photoionization, galactic super-winds/outflows, resonant scattering of Ly$alpha$ photons from starbursts or active galactic nuclei (AGNs)$^{6,7,8,9,10}$ and (2) cooling radiation from cold streams of gas accreting onto galaxies$^{12}$. Here we analyze the gas kinematics within a LAB providing rare observational evidence for infalling gas. This is consistent with the release of gravitational accretion energy as cold streams radiate Ly$alpha$ photons. It also provides direct evidence for possible cold streams feeding the central galaxies. The infalling gas is not important by mass but hints at more than one mechanism to explain the origin of the extended Ly$alpha$ emission around young galaxies. It is also possible that the infalling gas may represent material falling back to the galaxy from where it originated, forming a galactic fountain.
We consider multi-agent transport task problems where, e.g. in a factory setting, items have to be delivered from a given start to a goal pose while the delivering robots need to avoid collisions with each other on the floor. We introduce a Task Conf
lict-Based Search (TCBS) Algorithm to solve the combined delivery task allocation and multi-agent path planning problem optimally. The problem is known to be NP-hard and the optimal solver cannot scale. However, we introduce it as a baseline to evaluate the sub-optimality of other approaches. We show experimental results that compare our solver with different sub-optimal ones in terms of regret.
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Igor Zinchenko Institute of Appliedn Physics of the Russian Academy of Sciences
, Nizhny Novgorod
2017
We present the results of a survey of several tens of dense high mass star forming (HMSF) cores in three transitions of the SO molecule at 30 and 100 GHz with the 100-m Effelsberg and 20-m Onsala radio telescopes. The physical parameters of the cores
are estimated from the line ratios and column densities. Relative abundances are derived as well.
We have discovered a new H$_2$CO (formaldehyde) $1_{1,0}-1_{1,1}$ 4.82966 GHz maser in Galactic Center Cloud C, G0.38+0.04. At the time of acceptance, this is the eighth region containing an H$_2$CO maser detected in the Galaxy. Cloud C is one of onl
y two sites of confirmed high-mass star formation along the Galactic Center Ridge, affirming that H$_2$CO masers are exclusively associated with high-mass star formation. This discovery led us to search for other masers, among which we found new SiO vibrationally excited masers, making this the fourth star-forming region in the Galaxy to exhibit SiO maser emission. Cloud C is also a known source of CH$_3$OH Class-II and OH maser emission. There are now two known SiO and H$_2$CO maser containing regions in the CMZ, compared to two and six respectively in the Galactic disk, while there is a relative dearth of H$_2$O and CH$_3$OH Class-II masers in the CMZ. SiO and H$_2$CO masers may be preferentially excited in the CMZ, perhaps due to higher gas-phase abundances from grain destruction and heating, or alternatively H$_2$O and CH$_3$OH maser formation may be suppressed in the CMZ. In any case, Cloud C is a new testing ground for understanding maser excitation conditions.
The Galactic center is the closest region in which we can study star formation under extreme physical conditions like those in high-redshift galaxies. We measure the temperature of the dense gas in the central molecular zone (CMZ) and examine what dr
ives it. We mapped the inner 300 pc of the CMZ in the temperature-sensitive J = 3-2 para-formaldehyde (p-H$_2$CO) transitions. We used the $3_{2,1} - 2_{2,0} / 3_{0,3} - 2_{0,2}$ line ratio to determine the gas temperature in $n sim 10^4 - 10^5 $cm$^{-3}$ gas. We have produced temperature maps and cubes with 30 and 1 km/s resolution and published all data in FITS form. Dense gas temperatures in the Galactic center range from ~60 K to > 100 K in selected regions. The highest gas temperatures T_G > 100 K are observed around the Sgr B2 cores, in the extended Sgr B2 cloud, the 20 km/s and 50 km/s clouds, and in The Brick (G0.253+0.016). We infer an upper limit on the cosmic ray ionization rate ${zeta}_{CR} < 10^{-14}$ 1/s. The dense molecular gas temperature of the region around our Galactic center is similar to values found in the central regions of other galaxies, in particular starburst systems. The gas temperature is uniformly higher than the dust temperature, confirming that dust is a coolant in the dense gas. Turbulent heating can readily explain the observed temperatures given the observed line widths. Cosmic rays cannot explain the observed variation in gas temperatures, so CMZ dense gas temperatures are not dominated by cosmic ray heating. The gas temperatures previously observed to be high in the inner ~75 pc are confirmed to be high in the entire CMZ.
We have used the JVLA at the 1 cm band to map five highly-excited metastable inversion transitions of ammonia, (J,K)=(6,6), (7,7), (9,9), (10,10), and (13,13), in W51 IRS2 with ~0.2 angular resolution. We present detections of both thermal (extended)
ammonia emission in the five inversion lines, with rotational states ranging in energy from about 400 to 1700 K, and point-like ammonia maser emission in the (6,6), (7,7), and (9,9) lines. The thermal ammonia emits around a velocity of 60 km/s, near the clouds systemic velocity, is elongated in the east-west direction across 4 and is confined by the HII regions W51d, W51d1, and W51d2. The ammonia masers are observed in the eastern tip of the dense clump traced by thermal ammonia, offset by 0.65 to the East from its emission peak, and have a peak velocity at ~47.5 km/s. No maser components are detected near the systemic velocity. The ammonia masers are separated by 0.65 (3500 AU) from the (rare) vibrationally-excited SiO masers, excited by the deeply-embedded YSO W51-North. This excludes that the two maser species are excited by the same object. Interestingly, the ammonia masers originate at the same sky position as a peak in a submm line of SO2 imaged with the SMA, tracing a face-on circumstellar disk/ring around W51-North. In addition, the thermal emission from the most highly excited ammonia lines, (10,10) and (13,13), shows two main condensations, the dominant one towards W51-North with the SiO/H2O masers, and a weaker peak at the ammonia maser position. We propose a scenario where the ring seen in SO2 emission is a circumbinary disk surrounding (at least) two high-mass YSOs, W51-North (exciting the SiO masers) and a nearby companion (exciting the ammonia masers), separated by 3500 AU. This finding indicates a physical connection (in a binary) between the two rare SiO and ammonia maser species.
With a goal toward deriving the physical conditions in external galaxies, we present a study of the ammonia (NH$_3$) emission and absorption in a sample of star forming systems. Using the unique sensitivities to kinetic temperature afforded by the ex
citation characteristics of several inversion transitions of NH$_3$, we have continued our characterization of the dense gas in star forming galaxies by measuring the kinetic temperature in a sample of 23 galaxies and one galaxy offset position selected for their high infrared luminosity. We derive kinetic temperatures toward 13 galaxies, 9 of which possess multiple kinetic temperature and/or velocity components. Eight of these galaxies exhibit kinetic temperatures $>100$ K, which are in many cases at least a factor of two larger than kinetic temperatures derived previously. Furthermore, the derived kinetic temperatures in our galaxy sample, which are in many cases at least a factor of two larger than derived dust temperatures, point to a problem with the common assumption that dust and gas kinetic temperatures are equivalent. As previously suggested, the use of dust emission at wavelengths greater than 160 $mu$m to derive dust temperatures, or dust heating from older stellar populations, may be skewing derived dust temperatures in these galaxies to lower values. We confirm the detection of high-excitation OH $^2Pi_{3/2}$ J=9/2 absorption toward Arp220 (Ott et. al. 2011). We also report the first detections of non-metastable NH$_3$ inversion transitions toward external galaxies in the (2,1) (NGC253, NGC660, IC342, and IC860), (3,1), (3,2), (4,3), (5,4) (all in NGC660) and (10,9) (Arp220) transitions.
