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(abridged) We study the relation between the density profiles of dark matter halos and their mass assembly histories, using a statistical sample of halos in a high-resolution N-body simulation of the LCDM cosmology. For each halo at z=0, we identify its merger-history tree, and determine concentration parameters c_vir for all progenitors, thus providing a structural merger tree for each halo. We fit the mass accretion histories by a universal function with one parameter, the formation epoch a_c, defined when the log mass accretion rate dlogM/dloga falls below a critical value S. We find that late forming galaxies tend to be less concentrated, such that c_vir ``observed at any epoch a_o is strongly correlated with a_c via c_vir=c_1*a_o/a_c. Scatter about this relation is mostly due to measurement errors in c_v and a_c, implying that the actual spread in c_vir for halos of a given mass can be mostly attributed to scatter in a_c. We demonstrate that this relation can also be used to predict the mass and redshift dependence of c_v, and the scatter about the median c_vir(M,z), using accretion histories derived from the Extended Press-Schechter (EPS) formalism, after adjusting for a constant offset between the formation times as predicted by EPS and as measured in the simulations;this new ingredient can thus be easily incorporated into semi-analytic models of galaxy formation. The correlation found between halo concentration and mass accretion rate suggests a physical interpretation: for high mass infall rates the central density is related to the background density; when the mass infall rate slows, the central density stays approximately constant and the halo concentration just grows as R_vir. The tight correlation demonstrated here provides an essential new ingredient for galaxy formation modeling.
We study the relation between the density profiles of dark matter halos and their mass assembly histories, using a statistical sample of halos in a high-resolution N-body simulation of the LCDM cosmology. For each halo at z=0, we identify its merger-
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