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The Gemini Infrared Multi-Object Spectrograph (GIRMOS) will be a near-infrared, multi-object, medium spectral resolution, integral field spectrograph (IFS) for Gemini North Telescope, designed to operate behind the future Gemini North Adaptive Optics system (GNAO). In addition to a first ground layer Adaptive Optics (AO) correction in closed loop carried out by GNAO, each of the four GIRMOS IFSs will independently perform additional multi-object AO correction in open loop, resulting in an improved image quality that is critical to achieve top level science requirements. We present the baseline parameters and simulated performance of GIRMOS obtained by modeling both the GNAO and GIRMOS AO systems. The image quality requirement for GIRMOS is that 57% of the energy of an unresolved point-spread function ensquared within a 0.1 x 0.1 arcsecond at 2.0 {\mu} m. It was established that GIRMOS will be an order 16 x 16 adaptive optics (AO) system after examining the tradeoffs between performance, risks and costs. The ensquared energy requirement will be met in median atmospheric conditions at Maunakea at 30{\deg} from zenith., Comment: 13 pages, 10 figures, Publications of the Astronomical Society of the Pacific

The MMTO Adaptive optics exoPlanet characterization System (MAPS) is an ongoing upgrade to the 6.5-meter MMT Observatory on Mount Hopkins in Arizona. MAPS includes an upgraded adaptive secondary mirror (ASM), upgrades to the ARIES spectrograph, and a new AO system containing both an optical and near-infrared (NIR; 0.9-1.8 um) pyramid wavefront sensor (PyWFS). The NIR PyWFS will utilize an IR-optimized double pyramid coupled with a SAPHIRA detector: a low-read noise electron Avalanche Photodiode (eAPD) array. This NIR PyWFS will improve MAPS's sky coverage by an order of magnitude by allowing redder guide stars (e.g. K & M-dwarfs or highly obscured stars in the Galactic plane) to be used. To date, the custom designed cryogenic SAPHIRA camera has been fully characterized and can reach sub-electron read noise at high avalanche gain. In order to test the performance of the camera in a closed-loop environment prior to delivery to the observatory, an AO testbed was designed and constructed. In addition to testing the SAPHIRA's performance, the testbed will be used to test and further develop the proposed on-sky calibration procedure for MMTO's ASM. We will report on the anticipated performance improvements from our NIR PyWFS, the SAPHIRA's closed-loop performance on our testbed, and the status of our ASM calibration procedure., Comment: SPIE Proceedings, Astronomical Telescopes and Instrumentation, July 2022, 10 pages, 8 figures

The Gemini North Adaptive Optics (GNAO) facility is the upcoming AO facility for Gemini North providing a state-of-the-art AO system for surveys and time domain science in the era of JWST and Rubin operations. GNAO will be optimized to feed the Gemini infrared Multi Object Spectrograph (GIRMOS). While GIRMOS is the primary science driver for defining the capabilities of GNAO, any instrument operating with an f/32 beam can be deployed using GNAO. The GNAO project includes the development of a new laser guide star facility which will consist of four side-launched laser beams supporting the two primary AO modes of GNAO: a wide-field mode providing an improved image quality over natural seeing for a 2-arcminute circular field-of-view and a narrow-field mode providing near diffraction-limited performance over a 20x20 arcsecond square field-of-view. The GNAO wide field mode will enable GIRMOS's multi-IFU configuration in which the science beam to each individual IFU will be additionally corrected using multi-object AO within GIRMOS. The GNAO narrow field mode will feed the GIRMOS tiled IFU configuration in which all IFUs are combined into a "super"-IFU in the center of the field. GNAO also includes the development of a new Real Time Controller, a new GNAO Facility System Controller and finally the development of a new AO Bench. We present in this paper an overview of the GNAO facility and provide a status update of each product., Comment: SPIE conference 2022 Montreal

We investigate the focal plane wavefront sensing technique, known as Phase Diversity, at the scientific focal plane of a segmented mirror telescope with an adaptive optics (AO) system. We specifically consider an optical system imaging a point source in the context of (i) an artificial source within the telescope structure and (ii) from AO-corrected images of a bright star. From our simulations, we reliably disentangle segmented telescope phasing errors from non-common path aberrations (NCPA) for both a theoretical source and on-sky, AO-corrected images where we have simulated the Keck/NIRC2 system. This quantification from on-sky images is appealing, as it's sensitive to the cumulative wavefront perturbations of the entire optical train; disentanglement of phasing errors and NCPA is therefore critical, where any potential correction to the primary mirror from an estimate must contain minimal NCPA contributions. Our estimates require a one-minute sequence of short-exposure, AO-corrected images; by exploiting a slight modification to the AO-loop, we find that 75 defocused images produces reliable estimates. We demonstrate a correction from our estimates to the primary and deformable mirror results in a wavefront error reduction of up to 67% and 65% for phasing errors and NCPA, respectively. If the segment phasing errors on the Keck primary are on the order of ~130 nm RMS, we show we can improve the H-band Strehl ratio by up to 10% by using our algorithm. We conclude our technique works well to estimate NCPA alone from on-sky images, suggesting it is a promising method for any AO-system., Comment: 14 pages, 17 figures, Accepted to MNRAS

We investigate the focal plane wavefront sensing technique, known as Phase Diversity, at the scientific focal plane of a segmented mirror telescope with an adaptive optics (AO) system. We specifically consider an optical system imaging a point source in the context of (i) an artificial source within the telescope structure and (ii) from AO-corrected images of a bright star. From our simulations, we reliably disentangle segmented telescope phasing errors from non-common path aberrations (NCPA) for both a theoretical source and on-sky, AO-corrected images where we have simulated the Keck/NIRC2 system. This quantification from on-sky images is appealing, as it's sensitive to the cumulative wavefront perturbations of the entire optical train; disentanglement of phasing errors and NCPA is therefore critical, where any potential correction to the primary mirror from an estimate must contain minimal NCPA contributions. Our estimates require a one-minute sequence of short-exposure, AO-corrected images; by exploiting a slight modification to the AO-loop, we find that 75 defocused images produces reliable estimates. We demonstrate a correction from our estimates to the primary and deformable mirror results in a wavefront error reduction of up to 67% and 65% for phasing errors and NCPA, respectively. If the segment phasing errors on the Keck primary are on the order of ~130 nm RMS, we show we can improve the H-band Strehl ratio by up to 10% by using our algorithm. We conclude our technique works well to estimate NCPA alone from on-sky images, suggesting it is a promising method for any AO-system., Comment: 14 pages, 17 figures, Accepted to MNRAS

Predictive wavefront control is an important and rapidly developing field of adaptive optics (AO). Through the prediction of future wavefront effects, the inherent AO system servo-lag caused by the measurement, computation, and application of the wavefront correction can be significantly mitigated. This lag can impact the final delivered science image, including reduced strehl and contrast, and inhibits our ability to reliably use faint guidestars. We summarize here a novel method for training deep neural networks for predictive control based on an adversarial prior. Unlike previous methods in the literature, which have shown results based on previously generated data or for open-loop systems, we demonstrate our network's performance simulated in closed loop. Our models are able to both reduce effects induced by servo-lag and push the faint end of reliable control with natural guidestars, improving K-band Strehl performance compared to classical methods by over 55% for 16th magnitude guide stars on an 8-meter telescope. We further show that LSTM based approaches may be better suited in high-contrast scenarios where servo-lag error is most pronounced, while traditional feed forward models are better suited for high noise scenarios. Finally, we discuss future strategies for implementing our system in real-time and on astronomical telescope systems., Comment: 11 pages, 14 figures, Accepted to MNRAS

Focal plane wavefront sensing is an elegant solution for wavefront sensing since near-focal images of any source taken by a detector show distortions in the presence of aberrations. Non-Common Path Aberrations and the Low Wind Effect both have the ability to limit the achievable contrast of the finest coronagraphs coupled with the best extreme adaptive optics systems. To correct for these aberrations, the Subaru Coronagraphic Extreme Adaptive Optics instrument hosts many focal plane wavefront sensors using detectors as close to the science detector as possible. We present seven of them and compare their implementation and efficiency on SCExAO. This work will be critical for wavefront sensing on next generation of extremely large telescopes that might present similar limitations., Comment: SPIE proceeding : Astronomical Telescopes + Instrumentation 2020. arXiv admin note: text overlap with arXiv:1912.10179

MAPS, MMT Adaptive optics exoPlanet characterization System, is the upgrade of legacy 6.5m MMT adaptive optics system. It is an NSF MSIP-funded project that includes (i) refurbishing of the MMT Adaptive Secondary Mirror (ASM), (ii) new high sensitive and high spatial order visible and near-infrared pyramid wavefront sensors, and (iii) the upgrade of Arizona Infrared Imager and Echelle Spectrograph (ARIES) and MMT high Precision Imaging Polarimeter (MMTPol) science cameras. This paper will present the design and development of the visible pyramid wavefront sensor. This system consists of an acquisition camera, a fast-steering tip-tilt modulation mirror, a double pyramid, a pupil imaging triplet lens, and a low noise and high-speed frame rate based CCID75 camera. We will report on hardware and software and present the laboratory characterization results of the individual subsystems, and outline the on-sky commissioning plan., Comment: Fixed an author typo. SPIE, Adaptive Optics Systems VII, Proceedings Volume 11448, 114485J, Dec 14, 2020, See, https://doi.org/10.1117/12.2576353

As part of the National Science Foundation funded "Gemini in the Era of MultiMessenger Astronomy" (GEMMA) program, Gemini Observatory is developing GNAO, a widefield adaptive optics (AO) facility for Gemini-North on Maunakea, the only 8m-class open-access telescope available to the US astronomers in the northern hemisphere. GNAO will provide the user community with a queue-operated Multi-Conjugate AO (MCAO) system, enabling a wide range of innovative solar system, Galactic, and extragalactic science with a particular focus on synergies with JWST in the area of time-domain astronomy. The GNAO effort builds on institutional investment and experience with the more limited block-scheduled Gemini Multi-Conjugate System (GeMS), commissioned at Gemini South in 2013. The project involves close partnerships with the community through the recently established Gemini AO Working Group and the GNAO Science Team, as well as external instrument teams. The modular design of GNAO will enable a planned upgrade to a Ground Layer AO (GLAO) mode when combined with an Adaptive Secondary Mirror (ASM). By enhancing the natural seeing by an expected factor of two, GLAO will vastly improve Gemini North's observing efficiency for seeing-limited instruments and strengthen its survey capabilities for multi-messenger astronomy., Comment: 12 pages, 6 figures, ASTRO 2020 Decadal Survey

As part of the National Science Foundation funded "Gemini in the Era of MultiMessenger Astronomy" (GEMMA) program, Gemini Observatory is developing GNAO, a widefield adaptive optics (AO) facility for Gemini-North on Maunakea, the only 8m-class open-access telescope available to the US astronomers in the northern hemisphere. GNAO will provide the user community with a queue-operated Multi-Conjugate AO (MCAO) system, enabling a wide range of innovative solar system, Galactic, and extragalactic science with a particular focus on synergies with JWST in the area of time-domain astronomy. The GNAO effort builds on institutional investment and experience with the more limited block-scheduled Gemini Multi-Conjugate System (GeMS), commissioned at Gemini South in 2013. The project involves close partnerships with the community through the recently established Gemini AO Working Group and the GNAO Science Team, as well as external instrument teams. The modular design of GNAO will enable a planned upgrade to a Ground Layer AO (GLAO) mode when combined with an Adaptive Secondary Mirror (ASM). By enhancing the natural seeing by an expected factor of two, GLAO will vastly improve Gemini North's observing efficiency for seeing-limited instruments and strengthen its survey capabilities for multi-messenger astronomy., Comment: 12 pages, 6 figures, ASTRO 2020 Decadal Survey

The Gemini Infrared Multi-Object Spectrograph (GIRMOS) is a powerful new instrument being built to facility-class standards for the Gemini telescope. It takes advantage of the latest developments in adaptive optics and integral field spectrographs. GIRMOS will carry out simultaneous high-angular-resolution, spatially-resolved infrared ($1-2.4$ $\mu$m) spectroscopy of four objects within a two-arcminute field-of-regard by taking advantage of multi-object adaptive optics. This capability does not currently exist anywhere in the world and therefore offers significant scientific gains over a very broad range of topics in astronomical research. For example, current programs for high redshift galaxies are pushing the limits of what is possible with infrared spectroscopy at $8-10$-meter class facilities by requiring up to several nights of observing time per target. Therefore, the observation of multiple objects simultaneously with adaptive optics is absolutely necessary to make effective use of telescope time and obtain statistically significant samples for high redshift science. With an expected commissioning date of 2023, GIRMOS's capabilities will also make it a key followup instrument for the James Webb Space Telescope when it is launched in 2021, as well as a true scientific and technical pathfinder for future Thirty Meter Telescope (TMT) multi-object spectroscopic instrumentation. In this paper, we will present an overview of this instrument's capabilities and overall architecture. We also highlight how this instrument lays the ground work for a future TMT early-light instrument., Comment: Corrected typos

The Gemini Infrared Multi-Object Spectrograph (GIRMOS) is a powerful new instrument being built to facility-class standards for the Gemini telescope. It takes advantage of the latest developments in adaptive optics and integral field spectrographs. GIRMOS will carry out simultaneous high-angular-resolution, spatially-resolved infrared ($1-2.4$ $\mu$m) spectroscopy of four objects within a two-arcminute field-of-regard by taking advantage of multi-object adaptive optics. This capability does not currently exist anywhere in the world and therefore offers significant scientific gains over a very broad range of topics in astronomical research. For example, current programs for high redshift galaxies are pushing the limits of what is possible with infrared spectroscopy at $8-10$-meter class facilities by requiring up to several nights of observing time per target. Therefore, the observation of multiple objects simultaneously with adaptive optics is absolutely necessary to make effective use of telescope time and obtain statistically significant samples for high redshift science. With an expected commissioning date of 2023, GIRMOS's capabilities will also make it a key followup instrument for the James Webb Space Telescope when it is launched in 2021, as well as a true scientific and technical pathfinder for future Thirty Meter Telescope (TMT) multi-object spectroscopic instrumentation. In this paper, we will present an overview of this instrument's capabilities and overall architecture. We also highlight how this instrument lays the ground work for a future TMT early-light instrument., Comment: Corrected typos

Contemporary AO systems, such as the Multi-Object Adaptive Optics system (MOAO) RAVEN currently associated with the Subaru Telescope, can suer from signicant Non-Common Path Aberrations (NCPA). These errors ultimately aect image quality and arise from optical path dierences between the wavefront sensor (WFS) path and the science path. A typical correction of NCPA involves estimating the aberration phase and correcting the system with an oset on the deformable mirror (DM). We summarize two methods used to correct for NCPA on an experimental bench. We also successfully calibrate the NCPA on RAVEN using one of these methods. Finally, we report on some rst science results with RAVEN, obtained after NCPA correction.

Contemporary AO systems, such as the Multi-Object Adaptive Optics system (MOAO) RAVEN currently associated with the Subaru Telescope, can suer from signicant Non-Common Path Aberrations (NCPA). These errors ultimately aect image quality and arise from optical path dierences between the wavefront sensor (WFS) path and the science path. A typical correction of NCPA involves estimating the aberration phase and correcting the system with an oset on the deformable mirror (DM). We summarize two methods used to correct for NCPA on an experimental bench. We also successfully calibrate the NCPA on RAVEN using one of these methods. Finally, we report on some rst science results with RAVEN, obtained after NCPA correction.

We propose and apply two methods to estimate pupil plane phase discontinuities for two realistic scenarios on VLT and Keck. The methods use both Phase Diversity and a form of image sharpening. For the case of VLT, we simulate the `low wind effect' (LWE) which is responsible for focal plane errors in the SPHERE system in low wind and good seeing conditions. We successfully estimate the simulated LWE using both methods, and show that they are complimentary to one another. We also demonstrate that single image Phase Diversity (also known as Phase Retrieval with diversity) is also capable of estimating the simulated LWE when using the natural de-focus on the SPHERE/DTTS imager. We demonstrate that Phase Diversity can estimate the LWE to within 30 nm RMS WFE, which is within the allowable tolerances to achieve a target SPHERE contrast of 10$^{-6}$. Finally, we simulate 153 nm RMS of piston errors on the mirror segments of Keck and produce NIRC2 images subject to these effects. We show that a single, diverse image with 1.5 waves (PV) of focus can be used to estimate this error to within 29 nm RMS WFE, and a perfect correction of our estimation would increase the Strehl ratio of a NIRC2 image by 12\%, Comment: 16 pages, 8 figures, Accepted for publication in JATIS

We propose and apply two methods to estimate pupil plane phase discontinuities for two realistic scenarios on VLT and Keck. The methods use both Phase Diversity and a form of image sharpening. For the case of VLT, we simulate the `low wind effect' (LWE) which is responsible for focal plane errors in the SPHERE system in low wind and good seeing conditions. We successfully estimate the simulated LWE using both methods, and show that they are complimentary to one another. We also demonstrate that single image Phase Diversity (also known as Phase Retrieval with diversity) is also capable of estimating the simulated LWE when using the natural de-focus on the SPHERE/DTTS imager. We demonstrate that Phase Diversity can estimate the LWE to within 30 nm RMS WFE, which is within the allowable tolerances to achieve a target SPHERE contrast of 10$^{-6}$. Finally, we simulate 153 nm RMS of piston errors on the mirror segments of Keck and produce NIRC2 images subject to these effects. We show that a single, diverse image with 1.5 waves (PV) of focus can be used to estimate this error to within 29 nm RMS WFE, and a perfect correction of our estimation would increase the Strehl ratio of a NIRC2 image by 12\%, Comment: 16 pages, 8 figures, Accepted for publication in JATIS

The chemical abundances for five metal-poor stars in and towards the Galactic bulge have been determined from H-band infrared spectroscopy taken with the RAVEN multi-object adaptive optics science demonstrator and the IRCS spectrograph at the Subaru 8.2-m telescope. Three of these stars are in the Galactic bulge and have metallicities between -2.1 < [Fe/H] < -1.5, and high [alpha/Fe] ~+0.3, typical of Galactic disk and bulge stars in this metallicity range; [Al/Fe] and [N/Fe] are also high, whereas [C/Fe] < +0.3. An examination of their orbits suggests that two of these stars may be confined to the Galactic bulge and one is a halo trespasser, though proper motion values used to calculate orbits are quite uncertain. An additional two stars in the globular cluster M22 show [Fe/H] values consistent to within 1 sigma, although one of these two stars has [Fe/H] = -2.01 +/- 0.09, which is on the low end for this cluster. The [alpha/Fe] and [Ni/Fe] values differ by 2 sigma, with the most metal-poor star showing significantly higher values for these elements. M22 is known to show element abundance variations, consistent with a multi-population scenario (i.e. Marino et al. 2009, 2011; Alves-Brito et al. 2012) though our results cannot discriminate this clearly given our abundance uncertainties. This is the first science demonstration of multi-object adaptive optics with high resolution infrared spectroscopy, and we also discuss the feasibility of this technique for use in the upcoming era of 30-m class telescope facilities., Comment: 23 pages, 11 figures, Accepted to MNRAS

SPHERE is the VLT second generation planet hunter instrument. Installed since May 2014 on UT3, the system has been commissioned and verified for more than one year now and routinely delivers unprecedented images of star surroundings, exoplanets and dust disks. The exceptional performance required for this kind of observation makes the appointment: a repeatable Strehl Ratio of 90% in H band, a rough contrast level of 10-5@0.5 arcsec, and reaches 10-6 at the same separation after differential imaging (SDI, ADI). The instrument also presents high contrast levels in the visible and an unprecedented 17mas diffraction-limited resolution at 0.65 microns wavelength. SAXO is the SPHERE XAO system, allowing the system to reach its final detectivity. Its high performance and therefore highly sensitive capacities turns a new eye on telescope environment. Even if XAO performance are reached as expected, some unexpected limitations are here described and a first work around is proposed and discussed. Spatial limitation: wave-front aberrations have been identified, deviating from kolmogorov statistics, and therefore not easily seen and compensated for by the XAO system. The impact of this limitations results in a degraded performance in some particular low wind conditions. Solutions are developed and tested on sky to propose a new operation procedure reducing this limitation. Temporal limitation: high amplitude vibrations on the low order modes have been issued, due to telescope environment and XAO behaviour. Again, a solution is developed and an assessment of its performance is dressed. The potential application of these solutions to E-ELT is proposed.

The chemical abundances for five metal-poor stars in and towards the Galactic bulge have been determined from H-band infrared spectroscopy taken with the RAVEN multi-object adaptive optics science demonstrator and the IRCS spectrograph at the Subaru 8.2-m telescope. Three of these stars are in the Galactic bulge and have metallicities between -2.1 < [Fe/H] < -1.5, and high [alpha/Fe] ~+0.3, typical of Galactic disk and bulge stars in this metallicity range; [Al/Fe] and [N/Fe] are also high, whereas [C/Fe] < +0.3. An examination of their orbits suggests that two of these stars may be confined to the Galactic bulge and one is a halo trespasser, though proper motion values used to calculate orbits are quite uncertain. An additional two stars in the globular cluster M22 show [Fe/H] values consistent to within 1 sigma, although one of these two stars has [Fe/H] = -2.01 +/- 0.09, which is on the low end for this cluster. The [alpha/Fe] and [Ni/Fe] values differ by 2 sigma, with the most metal-poor star showing significantly higher values for these elements. M22 is known to show element abundance variations, consistent with a multi-population scenario (i.e. Marino et al. 2009, 2011; Alves-Brito et al. 2012) though our results cannot discriminate this clearly given our abundance uncertainties. This is the first science demonstration of multi-object adaptive optics with high resolution infrared spectroscopy, and we also discuss the feasibility of this technique for use in the upcoming era of 30-m class telescope facilities., Comment: 23 pages, 11 figures, Accepted to MNRAS

Raven is a Multi-Object Adaptive Optics science demonstrator which has been used on-sky at Subaru telescope from May 2014 to July 2015. Raven has been developed at the University of Victoria AO Lab, in partnership with NRC, NAOJ and Tohoku University. Raven includes three open loop WFSs, a central laser guide star WFS, and two science pick-off arms feeding light to the Subaru IRCS spectrograph. Raven supports different AO modes: SCAO, open-loop GLAO and MOAO. This paper gives an overview of the instrument design, compares the on-sky performance of the different AO modes and presents some of the science results achieved with MOAO.

Raven is a Multi-Object Adaptive Optics science demonstrator which has been used on-sky at Subaru telescope from May 2014 to July 2015. Raven has been developed at the University of Victoria AO Lab, in partnership with NRC, NAOJ and Tohoku University. Raven includes three open loop WFSs, a central laser guide star WFS, and two science pick-off arms feeding light to the Subaru IRCS spectrograph. Raven supports different AO modes: SCAO, open-loop GLAO and MOAO. This paper gives an overview of the instrument design, compares the on-sky performance of the different AO modes and presents some of the science results achieved with MOAO.

Detailed chemical abundances for five stars in two Galactic globular clusters, NGC 5466 and NGC 5024, are presented from high resolution optical (from the Hobby- Eberley Telescope) and infrared spectra (from the SDSS-III APOGEE survey). We find [Fe/H] = -1.97 +/- 0.13 dex for NGC 5466, and [Fe/H] = -2.06 +/- 0.13 dex for NGC 5024, and the typical abundance pattern for globular clusters for the remaining elements, e.g., both show evidence for mixing in their light element abundance ratios (C, N), and AGB contributions in their heavy element abundances (Y, Ba, and Eu). These clusters were selected to examine chemical trends that may correlate them with the Sgr dwarf galaxy remnant, but at these low metallicities no obvious differences from the Galactic abundance pattern are found. Regardless, we compare our results from the optical and infrared analyses to find that oxygen and silicon abundances determined from the infrared spectral lines are in better agreement with the other alpha-element ratios and with smaller random errors., Comment: 19 pages, 19 figures, accepted for publication in Monthly Notices of the Royal Astronomical Society

Detailed chemical abundances for five stars in two Galactic globular clusters, NGC 5466 and NGC 5024, are presented from high resolution optical (from the Hobby- Eberley Telescope) and infrared spectra (from the SDSS-III APOGEE survey). We find [Fe/H] = -1.97 +/- 0.13 dex for NGC 5466, and [Fe/H] = -2.06 +/- 0.13 dex for NGC 5024, and the typical abundance pattern for globular clusters for the remaining elements, e.g., both show evidence for mixing in their light element abundance ratios (C, N), and AGB contributions in their heavy element abundances (Y, Ba, and Eu). These clusters were selected to examine chemical trends that may correlate them with the Sgr dwarf galaxy remnant, but at these low metallicities no obvious differences from the Galactic abundance pattern are found. Regardless, we compare our results from the optical and infrared analyses to find that oxygen and silicon abundances determined from the infrared spectral lines are in better agreement with the other alpha-element ratios and with smaller random errors., Comment: 19 pages, 19 figures, accepted for publication in Monthly Notices of the Royal Astronomical Society