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Circumgalactic Lyman-alpha (Ly$\alpha$) nebulae are gaseous halos around galaxies exhibiting luminous extended Ly$\alpha$ emission. This work investigates Ly$\alpha$ nebulae from deep imaging of $\sim12~\mathrm{deg}^2$ sky, targeted by the MAMMOTH-Subaru survey. Utilizing the wide-field capability of Hyper Suprime-Cam (HSC), we present one of the largest blind Ly$\alpha$ nebula selections, including QSO nebulae, Ly$\alpha$ blobs, and radio galaxy nebulae down to typical $2\sigma$ Ly$\alpha$ surface brightness of $(5-10)\times10^{-18}\mathrm{~erg~s^{-1}~cm^{-2}~arcsec^{-2}}$. The sample contains 117 nebulae with Ly$\alpha$ sizes of 40 - 400 kpc, and the most gigantic one spans about 365 kpc, referred to as the Ivory Nebula. Combining with multiwavelength data, we investigate diverse nebula populations and associated galaxies. We find a small fraction of Ly$\alpha$ nebulae have QSOs ($\sim7\%$), luminous infrared galaxies ($\sim1\%$), and radio galaxies ($\sim 2\%$). Remarkably, among the 28 enormous Ly$\alpha$ nebulae (ELANe) exceeding 100 kpc, about $80\%$ are associated with UV-faint galaxies ($M_\mathrm{UV} > -22$), categorized as Type II ELANe. We underscore that Type II ELANe constitute the majority but remain largely hidden in current galaxy and QSO surveys. Dusty starburst and obscured AGN activity are proposed to explain the nature of Type II ELANe. The SED of stacking all Ly$\alpha$ nebulae also reveals signs of massive dusty star-forming galaxies with obscured AGNs. We propose a model to explain the dusty nature where the diverse populations of Ly$\alpha$ nebula capture massive galaxies at different evolutionary stages undergoing violent assembling. Ly$\alpha$ nebulae provide critical insights into the formation and evolution of today's massive cluster galaxies at cosmic noon., Comment: 26 pages, 10 figures, 3 tables, submitted to ApJS, comments welcome

We report the first statistical analyses of [CII] and dust continuum observations in six strong OI absorber fields at the end of the reionization epoch obtained by the Atacama Large Millimeter/Submillimeter Array (ALMA). Combined with one [CII] emitter reported in Wu et al. (2021), we detect one OI-associated [CII] emitter in six fields. At redshifts of OI-absorbers in non-detection fields, no emitters are brighter than our detection limit within impact parameters of 50 kpc and velocity offsets between $\pm200\ {\rm km\ s^{-1}}$. The averaged [CII]-detection upper limit is $< 0.06$ Jy ${\rm km\ s^{-1}}$ (3$\sigma$), corresponding to the [CII] luminosity of $L_{\rm [CII]} <5.8\times 10^7\ L_{\odot}$ and the [CII]-based star formation rate of ${\rm SFR_{\rm [CII]}} < 5.5$ $M_\odot$ yr$^{-1}$. Cosmological simulations suggest that only $\sim10^{-2.5}$ [CII] emitters around [OI] absorbers have comparable SFR to our detection limit. Although the detection in one out of six fields is reported, an order of magnitude number excess of emitters obtained from our ALMA observations supports that the contribution of massive galaxies that caused the metal enrichment cannot be ignored. Further, we also found 14 tentative galaxy candidates with S/N of $\approx4.3$ at large impact parameters ($>50$ kpc) and having larger outflow velocities within $\pm 600$ km s$^{-1}$. If these detections are confirmed in the future, then the mechanism of pushing metals at larger distances with higher velocities needs to be further explored from the theoretical side., Comment: Accepted for publication in ApJ. Main text 10 pages, 5 figures

With the wide application of electric energy storage component arrays, such as battery arrays, capacitor arrays, inductor arrays, their potential safety risks have gradually drawn the public attention. However, existing technologies cannot meet the needs of non-contact and real-time diagnosis for faulty components inside these massive arrays. To solve this problem, this paper proposes a new method based on the beamforming spatial filtering algorithm to precisely locate the faulty components within the arrays in real-time. The method uses highly sensitive magnetometers to collect the magnetic signals from energy storage component arrays, without damaging or even contacting any component. The experimental results demonstrate the potential of the proposed method in securing energy storage component arrays. Within an imaging area of 80 mm $\times$ 80 mm, the one faulty component out of nine total components can be localized with an accuracy of 0.72 mm for capacitor arrays and 1.60 mm for battery arrays.

The recent discovery of enormous Ly$\alpha$ nebulae (ELANe), characterized by physical extents $>200$ kpc and Ly$\alpha$ luminosities $>10^{44}$ erg s$^{-1}$, provide a unique opportunity to study the intergalactic and circumgalactic medium (IGM/CGM) in distant galaxies. Many existing ELANe detections are associated with local overdensities of active galactic nuclei (AGN). We have initiated a search for ELANe around regions containing pairs of quasi-stellar objects (QSOs) using the Palomar Cosmic Web Imager (PCWI). The first study of this search, Cai et al., presented results of ELAN0101+0201 which was associated with a QSO pair at $z=2.45$. In this study, all targets residing in QSO pair environments analyzed have Ly$\alpha$ detections, but only one of the four targets meets the classification criteria of an ELANe associated with a QSO pair region (z$\sim2.87$). The other three sample detections of Ly$\alpha$ nebulae do not meet the size and luminosity criteria to be classified as ELANe. We find kinematic evidence that the ELANe J1613, is possibly powered {mostly by AGN outflows.} The analysis of circularly-averaged surface brightness profiles of emission from the Ly$\alpha$ regions show that the {Ly$\alpha$ emission around $z\sim2$ QSO pairs is consistent with emission around individual QSOs at $z\sim2$, which is fainter than that around $z\sim3$ QSOs. A larger sample of Ly$\alpha$ at z$\sim$2 will be needed to determine if there is evidence of redshift evolution when compared to nebular emissions at z$\sim$3 from other studies.

How galaxies acquire material from the circumgalactic medium (CGM) is a key question in galaxy evolution. Recent observations and simulations show that gas recycling could be an important avenue for star formation. This paper presents Keck Cosmic Web Imager (KCWI) integral field unit spectroscopic observations on a type-II quasar, Q1517+0055 at z = 2.65, a pilot study of our Ly${\alpha}$ nebulae sample at $z\approx 2$. We revealed diffuse emission of the Ly$\alpha$ 1216, HeII 1640, and CIV 1549 on the projected physical scale of 122 kpc, 45 kpc, and 79 kpc, respectively. The total Ly$\alpha$ luminosity is L$_{\rm Ly\alpha}$ = $3.04\pm 0.02 \times 10^{44}$ erg s$^{-1}$. The line ratio diagnostics shows that HeII/Ly$\alpha$ $\approx$0.08 and CIV/Ly$\alpha$ $\approx$0.28, consistent with the photoionization including recombination and photon pumping. We also identify the associated HI and CIV absorption from the spectra. By fitting the spectra, we derive both the column density and the velocity. We find that the velocity profile from both the absorption and the HeII emission exhibit increasing trends. Moreover, both the line ratio diagnostic from the emission and the column density ratio from the absorption confirm that the cool gas metallicity is $\geq Z_{\odot}$. From detailed modeling and estimation, gas recycling might be a more plausible interpretation compared with the scenario of a powerful outflow., Comment: Published in ApJ, 21 July 2023 (accepted version), 18 pages, 10 figures, and seven tables in the main text

Stars form in galaxies, from gas that has been accreted from the intergalactic medium. Simulations have shown that recycling of gas-the reaccretion of gas that was previously ejected from a galaxy-could sustain star formation in the early Universe. We observe the gas surrounding a massive galaxy at redshift 2.3 and detect emission lines from neutral hydrogen, helium, and ionized carbon that extend 100 kiloparsecs from the galaxy. The kinematics of this circumgalactic gas is consistent with an inspiraling stream. The carbon abundance indicates that the gas had already been enriched with elements heavier than helium, previously ejected from a galaxy. We interpret the results as evidence of gas recycling during high-redshift galaxy assembly., Comment: Published in Science, 5 May 2023 (accepted version), Main text 20 pages, four figures in the main text, and 13 figures and 4 tables in the supplementary materials

We present a deep optical imaging campaign on the starburst galaxy NGC 4631 with CFHT/MegaCam. By supplementing the HST/ACS and Chandra/ACIS archival data, we search for the optical counterpart candidates of the five brightest X-ray sources in this galaxy, four of which are identified as ultraluminous X-ray sources (ULXs). The stellar environments of the X-ray sources are analyzed using the extinction-corrected color-magnitude diagrams and the isochrone models. We discover a highly asymmetric bubble nebula around X4 which exhibits different morphology in the H$\alpha$ and [O III] images. The [O III]/H$\alpha$ ratio map shows that the H$\alpha$-bright bubble may be formed mainly via the shock ionization by the one-sided jet/outflow, while the more compact [O III] structure is photoionized by the ULX. We constrain the bubble expansion velocity and interstellar medium density with the MAPPINGS V code, and hence estimate the mechanical power injected to the bubble as $P_w \sim 5\times10^{40}$ erg s$^{-1}$ and the corresponding bubble age of $\sim7\times 10^{5}$ yr. Relativistic jets are needed to provide such level of mechanical power with a mass-loss rate of $\sim10^{-7}\ M_{\odot}\ \rm yr^{-1}$. Besides the accretion, the black hole spin is likely an additional energy source for the super-Eddington jet power., Comment: 17 pages, 10 figures, accepted by ApJ

Cosmic hydrogen reionization and cosmic production of first metals are major phase transitions of the universe occurring during the first billion years after the Big Bang, however these are still underexplored observationally. Using the JWST NIRSpec prism spectroscopy, we report the discovery of a sub-$L_\ast$ galaxy at $z_{\rm spec}=8.1623\pm0.0007$, dubbed RXJ2129-z8HeII, via the detection of a series of strong rest-frame UV/optical nebular emission lines and the clear Lyman break. RXJ2129-z8HeII shows a pronounced UV continuum with an extremely steep (i.e. blue) spectral slope of $\beta=-2.53_{-0.07}^{+0.06}$, the steepest amongst all spectroscopically confirmed galaxies at $z_{\rm spec}\gtrsim7$, in support of its very hard ionizing spectrum that could lead to a significant leakage of its ionizing flux. Therefore, RXJ2129-z8HeII is representative of the key galaxy population driving the cosmic reionization. More importantly, we detect a strong He II $\lambda$1640 emission line in its spectrum, one of the highest redshifts at which such a line is robustly detected. Its high rest-frame equivalent width (${\rm EW}=21\pm4$ Angstrom) and extreme flux ratios with respect to UV metal and Balmer lines raise the possibility that part of RXJ2129-z8HeII's stellar populations could be Pop III-like. Through careful photoionization modeling, we show that the physically calibrated phenomenological models of the ionizing spectra of Pop III stars with strong mass loss can successfully reproduce the emission line flux ratios observed in RXJ2129-z8HeII. Assuming the Eddington limit, the total mass of the Pop III stars within this system is estimated to be $7.8\pm1.4\times10^5 M_\odot$. To date, this galaxy presents the most compelling case in the early universe where trace Pop III stars might coexist with metal-enriched populations., Comment: Accepted to ApJL. 24 pages, 12 figures, and 5 tables

The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the {swing} of robot view direction on rough terrains, the accuracy and robustness of vSLAM are still to be enhanced. The study develops a novel view planning approach of actively perceiving areas with maximal information to address the mentioned problem; a gimbal camera is used as the main sensor. Firstly, a map representation based on feature distribution-weighted Fisher information is proposed to completely and effectively represent environmental information richness. With the map representation, a continuous environmental information model is further established to convert the discrete information space into a continuous one for numerical optimization in real-time. Subsequently, the receding horizon optimization is utilized to obtain the optimal informative viewpoints with simultaneously considering the robotic perception, exploration and motion cost based on the continuous environmental model. Finally, several simulations and outdoor experiments are performed to verify the improvement of localization robustness and accuracy by the proposed approach., Comment: 11 pages, 14 figures, in IEEE/ASME Transactions on Mechatronics

We present a study of the mass-metallicity relation (MZR) of 51 dwarf galaxies ($M_\star\approx 10^{6.5} - 10^{9.5}~M_\odot$) at $z = 2-3$ from the Abell 2744 and SMACS J0723-3732 galaxy cluster fields. These dwarf galaxies are identified and confirmed by deep JWST/NIRISS imaging and slitless grism spectroscopic observations. By taking advantage of the superior performance of JWST and the gravitational lensing effect, we extend the previous MZR relation at $z=2-3$ to a much lower mass regime down by $\approx$ 2.5 orders of magnitude as compared with previous studies. We find that the MZR has a shallower slope at the low-mass end ($M_\star<10^{9}~M_\odot$), with a slope turnover point of $\approx$ $10^9~M_\odot$. This implies that the dominating feedback processes in dwarf galaxies may be different from that in massive galaxies. From $z=3$ to $z=2$, the metallicity of the dwarf galaxies is enhanced by $\approx0.09$ dex for a given stellar mass, consistent with the mild evolution found in galaxies with higher mass. Furthermore, we confirm the existence of a fundamental metallicity relation (FMR) between the gas-phase metallicity, stellar mass, and star formation rate in dwarf galaxies at $z=2-3$. Our derived FMR, which has no significant redshift evolution, can be used as a benchmark to understand the origin of the anti-correlation between the SFR and metallicity of dwarf galaxies in the high-$z$ Universe., Comment: 19 pages, 4 figures, 3 tables, Accepted for publication in the Astrophysical Journal Letters

State estimation in complex illumination environments based on conventional visual-inertial odometry is a challenging task due to the severe visual degradation of the visual camera. The thermal infrared camera is capable of all-day time and is less affected by illumination variation. However, most existing visual data association algorithms are incompatible because the thermal infrared data contains large noise and low contrast. Motivated by the phenomenon that thermal radiation varies most significantly at the edges of objects, the study proposes an ETIO, which is the first edge-based monocular thermal-inertial odometry for robust localization in visually degraded environments. Instead of the raw image, we utilize the binarized image from edge extraction for pose estimation to overcome the poor thermal infrared image quality. Then, an adaptive feature tracking strategy ADT-KLT is developed for robust data association based on limited edge information and its distance distribution. Finally, a pose graph optimization performs real-time estimation over a sliding window of recent states by combining IMU pre-integration with reprojection error of all edge feature observations. We evaluated the performance of the proposed system on public datasets and real-world experiments and compared it against state-of-the-art methods. The proposed ETIO was verified with the ability to enable accurate and robust localization all-day time., Comment: 8 pages, 10 figures

Spiral arms serve crucial purposes in star formation and galaxy evolution. In this paper, we report the identification of A2744-DSG-$z3$, a dusty, multiarm spiral galaxy at $z=3.059$ using the James Webb Space Telescope (JWST) NIRISS imaging and grism spectroscopy. A2744-DSG-$z3$ was discovered as a gravitationally lensed sub-millimeter galaxy with ALMA. This is the most distant stellar spiral structure seen thus far, consistent with cosmological simulations which suggest $z\approx3$ as the epoch when spirals emerge. Thanks to the gravitational lensing and excellent spatial resolution of JWST, the spiral arms are resolved with a spatial resolution of $\approx290$\,pc. Based on SED fitting, the spiral galaxy has a de-lensed star formation rate of $85\pm30 \ M_{\odot}$ yr$^{-1}$, and a stellar mass of $\approx10^{10.6}\ M_{\odot}$, indicating that A2744-DSG-$z3$ is a main-sequence galaxy. After fitting the spiral arms, we find a stellar effective radius ($R_{e, \rm{star}}$) of $5.0\pm1.5$ kpc. Combing with ALMA measurements, we find that the effective radii ratio between dust and stars is $\approx0.4$, similar to {those} of massive SFGs at $z\sim2$, indicating a compact dusty core in A2744-DSG-$z3$. Moreover, this galaxy appears to be living in a group environment: including A2744-DSG-$z3$, at least three galaxies at $z=3.05 - 3.06$ {are} spectroscopically confirmed by JWST/NIRISS and ALMA, residing within a lensing-corrected projected scale of $\approx 70$ kpc. This, along with the asymmetric brightness profile, further suggests that the spiral arms may be triggered by minor merger events at $z\gtrsim3$., Comment: Main text 9 pages, four figures in the main text, and three figures in the appendix; accepted for publication by ApJL

The link between the circum-galactic medium (CGM) and the stellar growth of massive galaxies at high-$z$ depends on the properties of the widespread cold molecular gas. As part of the SUPERCOLD-CGM survey (Survey of Protocluster ELANe Revealing CO/\ci\ in the Ly$\alpha$-Detected CGM), we present the radio-loud QSO Q1228+3128 at $z=2.2218$, which is embedded in an enormous Ly$\alpha$ nebula. ALMA+ACA observations of CO(4-3) reveal both a massive molecular outflow, and a more extended molecular gas reservoir across $\sim$100 kpc in the CGM each containing a mass of M$_{\rm H2}$\,$\sim$\,4$-$5\,$\times$\,10$^{10}$ M$_{\odot}$. The outflow and molecular CGM are aligned spatially, along the direction of an inner radio jet. After re-analysis of Ly$\alpha$ data of Q1228+3128 from the Keck Cosmic Web Imager, we found that the velocity of the extended CO agrees with the redshift derived from the Ly$\alpha$ nebula and the bulk velocity of the massive outflow. We propose a scenario where the radio source in Q1228+3128 is driving the molecular outflow and perhaps also enriching or cooling the CGM. In addition, we found that the extended CO emission is nearly perpendicular to the extended Ly$\alpha$ nebula spatially, indicating that the two gas phases are not well mixed, and possibly even represent different phenomena (e.g., outflow vs. infall). Our results provide crucial evidence in support of predicted baryonic recycling processes that drive the early evolution of massive galaxies., Comment: Accepted for publication in ApJ. 10 pages, 6 figures

The physical and chemical properties of the circumgalactic medium (CGM) at $z\gtrsim6$ have been studied successfully through the absorption in the spectra of background Quasi-Stellar Objects (QSOs). One of the most crucial questions is to investigate the nature and location of the source galaxies that give rise to these early metal absorbers. Theoretical models suggest that momentum-driven outflows from typical star-forming galaxies can eject metals into the CGM and the intergalactic medium (IGM) at z=5-6. Deep, dedicated surveys have searched for Ly$\alpha$ emission associated with strong CIV absorbers at $z\approx 6$, but only a few Ly$\alpha$ emitter candidates have been detected. Interpreting these detections is moreover ambiguous because Ly$\alpha$ is a resonant line, raising the need for complementary techniques for detecting absorbers' host galaxies. Here, using Atacama Large Millimeter Array (ALMA), we report a [C II] 158$\mu$m emitter associated with a strong low-ionization absorber, OI, at $z=5.978$. The projected impact parameter between OI and [C II] emitter is 20.0 kpc. The measured [C II] luminosity is $7.0\times 10^7$ solar luminosities. Further analysis indicates that strong OI absorbers may reside in the circumgalactic medium of massive halos one to two orders of magnitude more massive than expected values., Comment: Published in Nature Astronomy on Sep 27, 2021; 45 pages; authors' version. Link to the paper: https://www.nature.com/articles/s41550-021-01471-4