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Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfolding a T-shirt. Candidates for a pair of grasping points for a dual-arm manipulator system are extracted using the proposed Seam Feature Extraction Method (SFEM). A pair of grasping points for the robot system is selected by the proposed Decision Matrix Iteration Method (DMIM). The decision matrix is first computed by multiple human demonstrations and updated by the robot execution results to improve the grasping and unfolding performance of the robot. Note that the proposed scheme is trained on real data without relying on simulation. Experimental results demonstrate the effectiveness of the proposed strategy. The project video is available at https://github.com/lancexz/sis., Comment: 8 pages, 8 figures

We present the detailed analysis of the thermal, diffuse emission of the proto-intracluster medium (ICM) detected in the halo of the Spiderweb Galaxy at z=2.16, within a radius of $\sim$ 150 kpc. We combined deep X-ray data from Chandra and millimeter observations of the Sunyaev-Zeldovich (SZ) effect obtained by ALMA. Thanks to independent measurements of the pressure profile from ALMA SZ observation and the electron density profile from the available X-ray data, we derived, for the first time, the temperature profile in the ICM of a z>2 protocluster. It reveals the presence of a strong cool core (comparable to the local ones) that may host a significant mass deposition flow, consistent with measured local star formation values. We also find mild evidence of an asymmetry in the X-ray surface brightness distribution, which may be tentatively associated with a cavity carved into the proto-ICM by the radio jets or, alternatively, may be due to the young dynamical status of the halo. The cooling time of baryons in the core of the Spiderweb Protocluster is estimated to be $\sim$ 0.1 Gyr, implying that the baryon cycle in the first stages of the protocluster formation is characterised by a high-duty cycle and a very active environment. In the case of the Spiderweb protocluster, we are witnessing the presence of a strongly peaked core that is possibily hosting a cooling flow with a mass deposition rate up to 250-1000 $M_{\odot}$/yr, responsible for feeding both the central supermassive black hole and the high star formation rate observed in the Spiderweb Galaxy. This phase is expected to be rapidly followed by active galactic nucleus feedback events, whose onset may have already left an imprint in the radio and X-ray appearance of the Spiderweb protocluster, eventually driving the ICM into a self-regulated, long-term evolution in less than one Gyr.

We present the first spatially resolved, X-ray spectroscopic study of the 4-8 keV diffuse emission found in the central part of the nearby starburst galaxy M82 on a few arcsecond scales. The new details that we see allow a number of important conclusions to be drawn on the nature of the hot gas and its origin as well as feedback on the ISM. We use archival data from Chandra with an exposure time of 570 ks. The Fexxv emission at 6.7 keV, expected from metal-enriched hot gas, is enhanced only in a limited area close to the starburst disc and is weak or almost absent over the rest of the diffuse emission, resulting in spatial variations in EW from <0.1 keV to 1.9 keV. This shows the presence of non-thermal emission due to inverse Compton scattering of the FIR photons by radio emitting cosmic ray electrons. The morphological resemblance between the diffuse X-ray, radio, and FIR emission maps supports this concept. Our decomposition of the diffuse emission spectrum indicates that ~70% of the 4-8 keV luminosity originates from the inverse Compton emission. The metal-rich hot gas with kT~5 keV makes a minor contribution to the 4-8 keV continuum, but it accounts for the majority of the observed Fexxv line. This hot gas appears to emerge from the circumnuclear starburst ring and fill the galactic chimneys identified as mid-infrared and radio emission voids. The energetics argument suggests that much of the supernova energy in the starburst site has gone into creating the chimneys and is transported to the halo. We argue that a hot, rarefied environment produced by strong supernova feedback results in displacing the brightest X-ray and radio supernova remnants which are instead found to reside in GMC. We find a faint X-ray source with a radio counterpart, close to the kinematic centre of the galaxy and we carefully examine the possibility that this source is a low-luminosity AGN in ADAF phase., Comment: 19 pages, accepted for publication in Astronomy & Astrophysics

In the nearby universe jets from AGN are observed to have a dramatic impact on their surrounding extragalactic environment. Their effect at the `cosmic noon' (z>1.5), the epoch when star formation and AGN activity peak, is instead much less constrained. Here we present a study of the giant (750 kpc) radio galaxy 103025+052430 located at the centre of a protocluster at redshift z=1.7, with a focus on its interaction with the external medium. We present new LOFAR observations at 144 MHz, which we combine with VLA 1.4 GHz and 0.5-7 keV Chandra archival data. The new map at 144 MHz confirms that the source has a complex morphology, possibly consistent with the `hybrid morphology' classification. The large size of the source gave us the possibility to perform a resolved radio spectral index analysis, a very unique opportunity for a source at such high redshift. This reveals a tentative flattening of the radio spectral index at the edge of the backflow in the Western lobe, which might be indicating plasma compression. The spatial coincidence between this region and the thermal X-ray bubble C suggests a causal connection between the two. Contrary to previous estimates for the bright X-ray component A, we find that inverse Compton scattering between the radio-emitting plasma of the Eastern lobe and the CMB photons can account for a large fraction (~45%-80%) of its total 0.5-7 keV measured flux. Finally, the X-ray bubble C, which is consistent with a thermal origin, is found to be significantly overpressurised with respect to the ambient medium. This suggests that it will tend to expand and release its energy in the surroundings, contributing to the overall intracluster medium heating. Overall, 103025+052430 gives us the chance to investigate the interaction between AGN jets and the surrounding gas in a system that is likely the predecessor of the rich galaxy clusters we all well know at z=0., Comment: 12 pages, 5 figures, 2 tables, accepted for publication in A&A

Star cluster formation in the early universe and their contribution to reionization remains to date largely unconstrained. Here we present JWST/NIRCam imaging of the most highly magnified galaxy known at z ~ 6, the Sunrise arc. We identify six young massive star clusters (YMCs) with measured radii spanning ~ 20 pc down to ~ 1 pc (corrected for lensing magnification), estimated stellar masses of ~ $10^{(6-7)}$ Msun, and with ages 1-30 Myr based on SED fitting to photometry measured in 8 filters extending to rest-frame 7000A. The resulting stellar mass surface densities are higher than 1000 Msun pc$^{-2}$ (up to a few $10^5$ Msun pc$^{-2}$) and their inferred dynamical ages qualify the majority of these systems as gravitationally-bound stellar clusters. The star cluster ages map the progression of star formation along the arc, with to evolved systems (>~ 10 Myr old) followed by very young clusters. The youngest stellar clusters (< 5 Myr) show evidence of prominent Hbeta + [OIII]4959,5007 emission, based on photometry, with equivalent widths larger than 1000 A rest-frame, and are hosted in a 200 pc sized star-forming complex. Such a region dominates the ionizing photon production, with a high efficiency log($\xi_{ion}$ [Hz erg$^{-1}$]) ~ 25.7. A significant fraction of the recently formed stellar mass of the galaxy (> 10-30 %) occurred in these YMCs. We speculate that such sources of ionizing radiation boost the ionizing photon production efficiency which eventually carve ionized channels that might favor the escape of Lyman continuum radiation. The survival of some of the clusters would make them the progenitors of massive and relatively metal-poor globular clusters in the local Universe., Comment: 18 pages, 8 figures, 3 tables. ApJ, Accepted

We present deep L-Band observations of the equatorial field centered on the z=6.3 SDSS QSO, reaching a 1 sigma sensitivity of ~2.5 uJy at the center of the field. We extracted a catalog of 1489 radio sources down to a flux density of ~12.5 uJy (5 sigma) over a field of view of ~ 30' diameter. We derived the source counts accounting for catalog reliability and completeness, and compared them with others available in the literature. Our source counts are among the deepest available so far, and, overall, are consistent with recent counts' determinations and models. We detected for the first time in the radio band the SDSS J1030+0524 QSO (26 +/- 5 uJy). We derived its optical radio loudness R_O = 0.62 +/- 0.12, which makes it the most radio quiet AGN at z >~ 6 discovered so far and detected at radio wavelengths. We unveiled extended diffuse radio emission associated with the lobes of a bright FRII radio galaxy located close to the center of the J1030 field, which is likely to become the future BCG of a protocluster at z=1.7. The lobes' complex morphology, coupled with the presence of X-ray diffuse emission detected around the FRII galaxy lobes, may point toward an interaction between the radio jets and the external medium. We also investigated the relation between radio and X-ray luminosity for a sample of 243 X-ray-selected objects obtained from 500 ks Chandra observations of the same field, and spanning a wide redshift range (0 ~< z ~< 3). Focused on sources with a spectroscopic redshift and classification, we found that sources hosted by ETG and AGN follow Log(L_R)/Log(L_X) linear correlations with slopes of ~0.6 and ~0.8, respectively. This is interpreted as a likely signature of different efficiency in the accretion process. Finally, we found that most of these sources (>~87%) show a radio-to-X-ray radio loudness R_X < -3.5, classifying these objects as radio quiet., Comment: 18 pages, 15 figures, 5 table. Accepted for publication in A&A

We present the X-ray imaging and spectral analysis of the diffuse emission around the Spiderweb galaxy at z=2.16 and of its nuclear emission, based on a deep (700 ks) Chandra observation. We characterize the nuclear emission and computed the contamination in the surrounding regions due to the wings of the instrument PSF. Then, we quantified the extended emission within 12". We find that the Spiderweb galaxy hosts a mildly absorbed quasar, with modest yet significant variability on a timescale of ~1 year. We find that the emission in the jet regions is well described by a power law with Gamma~2-2.5, and it is consistent with IC upscattering of the CMB photons by the relativistic electrons. We also find a roughly symmetric, diffuse emission within a radius of ~100 kpc. This emission is consistent with thermal bremsstrahlung from a hot ICM with a temperature of kT=2.0_{-0.4}^{+0.7} keV, and a metallicity of Z<1.6Z_sun. The average electron density within 100 kpc is n_e=(1.51+-0.24+-0.14)E-2 cm^{-3}, corresponding to an upper limit for the total ICM mass of <=(1.76+-0.30+-0.17)E+12 M_sun (where error bars are 1 sigma statistical and systematic, respectively). If we apply hydrostatic equilibrium to the ICM, we measure a total gravitational mass M(<100 kpc)=(1.5^{+0.5}_{-0.3})E+13 M_sun and, extrapolating at larger radii, we estimate a total mass M_{500}=(3.2^{+1.1}_{-0.6})E+13 M_sun within a radius of r_{500}=(220+-30) kpc. We conclude that the Spiderweb protocluster shows significant diffuse emission within a radius of 12 arcsec, whose major contribution is provided by IC scattering associated with the radio jets. Outside the jet regions, we also identified thermal emission within a radius of ~100 kpc, revealing the presence of hot, diffuse baryons that may represent the embryonic virialized halo of the forming cluster., Comment: 19 pages, 16 figures, accepted in Astronomy & Astrophysics

We combine results from deep ALMA observations of massive ($M_*>10^{10}\;M_{\odot}$) galaxies at different redshifts to show that the column density of their inter stellar medium (ISM) rapidly increases towards early cosmic epochs. Our analysis includes objects from the ASPECS and ALPINE large programs, as well as individual observations of $z\sim 6$ QSO hosts. When accounting for non-detections and correcting for selection effects, we find that the median surface density of the ISM of the massive galaxy population evolves as $\sim(1+z)^{3.3}$. This means that the ISM column density towards the nucleus of a $z>3$ galaxy is typically $>100$ times larger than locally, and it may reach values as high as Compton-thick at $z\gtrsim6$. Remarkably, the median ISM column density is of the same order of what is measured from X-ray observations of large AGN samples already at $z\gtrsim2$. We develop a simple analytic model for the spatial distribution of ISM clouds within galaxies, and estimate the total covering factor towards active nuclei when obscuration by ISM clouds on the host scale is added to that of pc-scale circumnuclear material (the so-called 'torus'). The model includes clouds with a distribution of sizes, masses, and surface densities, and also allows for an evolution of the characteristic cloud surface density with redshift, $\Sigma_{c,*}\propto(1+z)^\gamma$. We show that, for $\gamma=2$, such a model successfully reproduces the increase of the obscured AGN fraction with redshift that is commonly observed in deep X-ray surveys, both when different absorption thresholds and AGN luminosities are considered. Our results suggest that 80-90\% of supermassive black holes in the early Universe ($z>6-8$) are hidden to our view, primarily by the ISM in their hosts. [abridged], Comment: 22 pages, 15 figures, accepted for publication in A&A

3C186, a radio-loud quasar at $z=1.0685$, was previously reported to have both velocity and spatial offsets from its host galaxy, and has been considered as a promising candidate for a gravitational wave recoiling black hole triggered by a black hole merger. Another possible scenario is that 3C186 is in an on-going galaxy merger, exhibiting a temporary displacement. In this study, we present analyses of new deep HST/WFC3-IR and ACS images, aiming to characterize the host galaxy and test this alternative scenario. We carefully measure the light-weighted center of the host and reveal a significant spatial offset from the quasar core ($11.1\pm0.1$kpc). The direction of the confirmed offset aligns almost perpendicularly to the radio jet. We do not find evidence of a recent merger, such as a young starburst in disturbed outskirts, but only marginal light concentration in F160W at $\sim30$kpc. The host consists of matured ($>200$Myr) stellar populations and one compact star-forming region. We compare with hydro-dynamical simulations and find that those observed features are consistently seen in late-stage merger remnants. Taken together, those pieces of evidence indicate that the system is not an on-going/young merger remnant, suggesting that the recoiling black hole scenario is still a plausible explanation for the puzzling nature of 3C186., Comment: Accepted for publication in ApJ. 14 pages, 8 figures, 2 tables

3C186 is a powerful radio loud quasar (QSO) at the center of a cool-core cluster at z=1.06. Previous studies reported evidence for a projected spatial offset of ~1'' between the isophotal center of the galaxy and the point-source QSO as well as a spectral shift of ~2000 km/s between the narrow and broad line region of the system. In this work we report high-resolution molecular gas CO(4-3) observations of the system taken with NOEMA interferometer. We clearly detect a large reservoir of molecular gas, $M_{H_2}\sim8\times10^{10}~M_\odot$, that is cospatial with the host galaxy and likely associated with a rotating disk-like structure. We firmly confirm both the spatial offset of the galaxy's gas reservoir with respect to the continuum emission of the QSO and the spectral offset with respect to the redshift of the broad line region. Our morphological and kinematical analysis confirms that the most likely scenario to explain the 3C186 system is that the QSO is a kicked super-massive black hole (SMBH), which we believe may have resulted from a strong gravitational wave recoil as two SMBHs coalesced after the merger of their host galaxies., Comment: 9 pages, Astronomy & Astrophysics Letters in press

(Abridged) We present an analysis of the 700 ks Chandra ACIS-S observation of the field around the Spiderweb Galaxy at z=2.156, focusing on the nuclear activity in the associated large-scale environment. We identify unresolved X-ray sources down to flux limits of 1.3X10^{-16} and 3.9X10^{-16} erg/s/cm^2 in the soft and hard band, respectively. We search for counterparts in the optical, NIR and submm bands to identify X-ray sources belonging to the protocluster. We detect 107 X-ray unresolved sources within 5 arcmin (corresponding to 2.5 Mpc) of J1140-2629, among which 13 have optical counterparts with spectroscopic redshift 2.11~1.84+-0.04. The best-fit intrinsic absorption for 5 protocluster X-ray members is N_H>10^{23} cm^{-2}, while other 6 have upper limits of the order of fewX10^{22} cm^{-2}. Two sources can only be fitted with very flat \Gamma<=1, and are therefore considered Compton-thick candidates. Their 0.5-10 keV rest frame luminosities are larger than 2X10^{43} erg/s, significantly greater than X-ray luminosities expected from star formation activity. The X-ray luminosity function of AGN in the volume associated to the Spiderweb protocluster in the range 10^{43}10.5, corresponding to an enhancement of 6.0^{+9.0}_{-3.0} with respect to the COSMOS field at comparable redshifts and stellar mass range. We conclude that the galaxy population in the Spiderweb Protocluster is characterized by enhanced X-ray nuclear activity triggered by environmental effects on Mpc scales., Comment: Astronomy & Astrophysics. Minor changes in this version. Version accepted in A&A