Search

Cluster number counts will be a key cosmological probe in the next decade thanks to the Euclid satellite mission. For this purpose, cluster detection algorithm performance, which are sensitive to the spatial distribution of the cluster galaxy members and their luminosity function, need to be accurately characterized. Using The Three Hundred hydrodynamical and dark matter only simulations we study a complete sample of massive clusters beyond 7 (5) $\times$ 10$^{14}$ M$_{\odot}$ at redshift 0 (1) on a $(1.48 \ \mathrm{Gpc})^3$ volume. We find that the mass resolution of the current hydrodynamical simulations (1.5 $\times$ 10$^9$ M$_{\odot}$) is not enough to characterize the luminosity function of the sample in the perspective of Euclid data. Nevertheless, these simulations are still useful to characterize the spatial distribution of the cluster substructures assuming a common relative mass threshold for the different flavours and resolutions. By comparing with the dark matter only version of these simulations, we demonstrate that baryonic physics preserves significantly low mass subhalos (galaxies) as have also been observed in previous studies with less statistics. Furthermore, by comparing the hydro simulations with higher resolution dark matter only simulations of the same objects and taking the same limit in subhalo mass we find significantly more cuspy galaxy density profiles towards the center of the clusters, where the low mass substructures would tend to concentrate. We conclude that using dark matter only simulation may lead to some biases on the spatial distribution and density of galaxy cluster members. Based on the preliminary analysis of few high resolution hydro simulations we conclude that a mass resolution of 1.8 $\times$ 10$^8$ h$^{-1}$ M$_{\odot}$ will be needed for The Three Hundred simulations to approach the expected magnitude limits for the Euclid survey.

Galaxy clusters are the products of structure formation through myriad physical processes that affect their growth and evolution throughout cosmic history. As a result, the matter distribution within galaxy clusters, or their shape, is influenced by cosmology and astrophysical processes, in particular the accretion of new material due to gravity. We introduce an analysis method to investigate the 3D triaxial shapes of galaxy clusters from the Cluster HEritage project with XMM-Newton -- Mass Assembly and Thermodynamics at the Endpoint of structure formation (CHEX-MATE). In this work, the first paper of a CHEX-MATE triaxial analysis series, we focus on utilizing X-ray data from XMM and Sunyaev-Zel'dovich (SZ) effect maps from Planck and ACT to obtain a three dimensional triaxial description of the intracluster medium (ICM) gas. We present the forward modeling formalism of our technique, which projects a triaxial ellipsoidal model for the gas density and pressure to compare directly with the observed two dimensional distributions in X-rays and the SZ effect. A Markov chain Monte Carlo is used to estimate the posterior distributions of the model parameters. Using mock X-ray and SZ observations of a smooth model, we demonstrate that the method can reliably recover the true parameter values. In addition, we apply the analysis to reconstruct the gas shape from the observed data of one CHEX-MATE galaxy cluster, Abell 1689, to illustrate the technique. The inferred parameters are in agreement with previous analyses for that cluster, and our results indicate that the geometrical properties, including the axial ratios of the ICM distribution, are constrained to within a few percent. With much better precision than previous studies, we thus further establish that Abell 1689 is significantly elongated along the line of sight, resulting in its exceptional gravitational lensing properties., Comment: accepted for publication in A&A

The determination of the mass of galaxy clusters from observations is subject to systematic uncertainties. Beyond the errors due to instrumental and observational systematic effects, in this work we investigate the bias introduced by modelling assumptions. In particular, we consider the reconstruction of the mass of galaxy clusters from convergence maps employing spherical mass density models. We made use of The Three Hundred simulations, selecting clusters in the same redshift and mass range as the NIKA2 Sunyaev-Zel'dovich Large Programme sample: $3 \leq M_{500}/ 10^{14} \mathrm{M}_{\odot} \leq 10$ and $0.5 \leq z \leq 0.9$. We studied different modelling and intrinsic uncertainties that should be accounted for when using the single cluster mass estimates for scaling relations. We confirm that the orientation of clusters and the radial ranges considered for the fit have an important impact on the mass bias. The effect of the projection adds uncertainties to the order of $10\%$ to $16\%$ to the mass estimates. We also find that the scatter from cluster to cluster in the mass bias when using spherical mass models is less than $9\%$ of the true mass of the clusters.

Aims. Deep millimeter surveys are necessary to probe the dust-obscured galaxies at high redshift. We conducted a large observing program at 1.2 and 2 mm with the NIKA2 camera installed on the IRAM 30-meter telescope. This NIKA2 Cosmological Legacy Survey (N2CLS) covers two emblematic fields: GOODS-N and COSMOS. We introduce the N2CLS survey and present new 1.2 and 2 mm number count measurements based on the tiered N2CLS observations from October 2017 to May 2021. Methods. We develop an end-to-end simulation that combines an input sky model with the instrument noise and data reduction pipeline artifacts. This simulation is used to compute the sample purity, flux boosting, pipeline transfer function, completeness, and effective area of the survey. We used the 117 deg$^2$ SIDES simulations as the sky model, which include the galaxy clustering. Our formalism allows us to correct the source number counts to obtain galaxy number counts, the difference between the two being due to resolution effects caused by the blending of several galaxies inside the large beam of single-dish instruments. Results. The N2CLS-May2021 survey reaches an average 1-$\sigma$ noise level of 0.17 and 0.048 mJy on GOODS-N over 159 arcmin$^2$, and 0.46 and 0.14 mJy on COSMOS over 1010 arcmin$^2$, at 1.2 and 2 mm, respectively. For a purity threshold of 80%, we detect 120 and 67 sources in GOODS-N and 195 and 76 sources in COSMOS, at 1.2 and 2 mm, respectively. Our measurement connects the bright single-dish to the deep interferometric number counts. After correcting for resolution effects, our results reconcile the single-dish and interferometric number counts and are further accurately compared with model predictions., Comment: Accepted by A&A. 23 pages, 12 figures

We investigate the statistical properties and the origin of the scatter within the spatially resolved surface brightness profiles of the CHEX-MATE sample, formed by 118 galaxy clusters selected via the SZ effect. These objects have been drawn from the Planck SZ catalogue and cover a wide range of masses, M$_{500}=[2-15] \times 10^{14} $M$_{\odot}$, and redshift, z=[0.05,0.6]. We derived the surface brightness and emission measure profiles and determined the statistical properties of the full sample. We found that there is a critical scale, R$\sim 0.4 R_{500}$, within which morphologically relaxed and disturbed object profiles diverge. The median of each sub-sample differs by a factor of $\sim 10$ at $0.05\,R_{500}$. There are no significant differences between mass- and redshift-selected sub-samples once proper scaling is applied. We compare CHEX-MATE with a sample of 115 clusters drawn from the The Three Hundred suite of cosmological simulations. We found that simulated emission measure profiles are systematically steeper than those of observations. For the first time, the simulations were used to break down the components causing the scatter between the profiles. We investigated the behaviour of the scatter due to object-by-object variation. We found that the high scatter, approximately 110%, at $R<0.4R_{500}$ is due to a genuine difference between the distribution of the gas in the core. The intermediate scale, $R_{500} =[0.4-0.8]$, is characterised by the minimum value of the scatter on the order of 0.56, indicating a region where cluster profiles are the closest to the self-similar regime. Larger scales are characterised by increasing scatter due to the complex spatial distribution of the gas. Also for the first time, we verify that the scatter due to projection effects is smaller than the scatter due to genuine object-by-object variation in all the considered scales. [abridged], Comment: Accepted for publication in A&A

Using the data set of The Three Hundred project, i.e. 324 hydrodynamical resimulations of cluster-sized haloes and the regions of radius 15 $h^{-1}$Mpc around them, we study galaxy pairs in high-density environments. By projecting the galaxies' 3D coordinates onto a 2D plane, we apply observational techniques to find galaxy pairs. Based on a previous theoretical study on galaxy groups in the same simulations, we are able to classify the observed pairs into "true" or "false", depending on whether they are gravitationally bound or not. We find that the fraction of true pairs (purity) crucially depends on the specific thresholds used to find the pairs, ranging from around 30 to more than 80 per cent in the most restrictive case. Nevertheless, in these very restrictive cases, we see that the completeness of the sample is low, failing to find a significant number of true pairs. Therefore, we train a machine learning algorithm to help us to identify these true pairs based on the properties of the galaxies that constitute them. With the aid of the machine learning model trained with a set of properties of all the objects, we show that purity and completeness can be boosted significantly using the default observational thresholds. Furthermore, this machine learning model also reveals the properties that are most important when distinguishing true pairs, mainly the size and mass of the galaxies, their spin parameter, gas content and shape of their stellar components., Comment: 20 pages, 8 figures. Published in MNRAS

LiteBIRD is a planned JAXA-led CMB B-mode satellite experiment aiming for launch in the late 2020s, with a primary goal of detecting the imprint of primordial inflationary gravitational waves. Its current baseline focal-plane configuration includes 15 frequency bands between 40 and 402 GHz, fulfilling the mission requirements to detect the amplitude of gravitational waves with the total uncertainty on the tensor-to-scalar ratio, $\delta r$, down to $\delta r<0.001$. A key aspect of this performance is accurate astrophysical component separation, and the ability to remove polarized thermal dust emission is particularly important. In this paper we note that the CMB frequency spectrum falls off nearly exponentially above 300 GHz relative to the thermal dust SED, and a relatively minor high frequency extension can therefore result in even lower uncertainties and better model reconstructions. Specifically, we compare the baseline design with five extended configurations, while varying the underlying dust modeling, in each of which the HFT (High-Frequency Telescope) frequency range is shifted logarithmically towards higher frequencies, with an upper cutoff ranging between 400 and 600 GHz. In each case, we measure the tensor-to-scalar ratio $r$ uncertainty and bias using both parametric and minimum-variance component-separation algorithms. When the thermal dust sky model includes a spatially varying spectral index and temperature, we find that the statistical uncertainty on $r$ after foreground cleaning may be reduced by as much as 30--50 % by extending the upper limit of the frequency range from 400 to 600 GHz, with most of the improvement already gained at 500 GHz. We also note that a broader frequency range leads to better ability to discriminate between models through higher $\chi^2$ sensitivity. (abridged), Comment: 18 pages, 13 figures. Published in A&A

As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current state-of-the-art within the niche field of collision-tolerant micro aerial vehicles and present different design approaches identified in the literature, as well as methods that have focused on autonomy functionalities that exploit collision resilience. Subsequently, we discuss the relevance to biological systems and provide our view on key directions of future fruitful research., Comment: 12 pages, 1 figure

We use a set of about 300 simulated clusters from The Three Hundred Project to calculate their hydrostatic masses and evaluate the associated bias by comparing them with the true cluster mass. Over a redshift range from 0.07 to 1.3, we study the dependence of the hydrostatic bias on redshift, concentration, mass growth, dynamical state, mass, and halo shapes. We find almost no correlation between the bias and any of these parameters. However, there is a clear evidence that the scatter of the mass-bias distribution is larger for low-concentrated objects, high mass growth, and more generically for disturbed systems. Moreover, we carefully study the evolution of the bias of twelve clusters throughout a major-merger event. We find that the hydrostatic-mass bias follows a particular evolution track along the merger process: to an initial significant increase of the bias recorded at the begin of merger, a constant plateaus follows until the end of merge, when there is a dramatic decrease in the bias before the cluster finally become relaxed again. This large variation of the bias is in agreement with the large scatter of the hydrostatic bias for dynamical disturbed clusters. These objects should be avoided in cosmological studies because their exact relaxation phase is difficult to predict, hence their mass bias cannot be trivially accounted for., Comment: 11 pages, 8 figures. Accepted for publication in MNRAS

The Q&U Bolometric Interferometer for Cosmology (QUBIC) is a novel kind of polarimeter optimized for the measurement of the B-mode polarization of the Cosmic Microwave Back-ground (CMB), which is one of the major challenges of observational cosmology. The signal is expected to be of the order of a few tens of nK, prone to instrumental systematic effects and polluted by various astrophysical foregrounds which can only be controlled through multichroic observations. QUBIC is designed to address these observational issues with a novel approach that combines the advantages of interferometry in terms of control of instrumental systematics with those of bolometric detectors in terms of wide-band, background-limited sensitivity., Comment: Contribution to the 2022 Cosmology session of the 33rd Rencontres de Blois. arXiv admin note: substantial text overlap with arXiv:2203.08947

Distinctive large-scale structures have been identified in the spatial distribution of optical galaxies up to redshift z ~ 1. In the more distant universe, the relationship between the dust-obscured population of star-forming galaxies observed at millimetre wavelengths and the network of cosmic filaments of dark matter apparent in all cosmological hydrodynamical simulations is still under study. Using the NIKA2 dual-band millimetre camera, we mapped a field of ~ 90 arcminutes^2 in the direction of the star GJ526 simultaneously in its 1.15-mm and 2.0-mm continuum wavebands to investigate the nature of the quasi-alignment of five sources found ten years earlier with the MAMBO camera at 1.2 mm. We find that these sources are not clumps of a circumstellar debris disc around this star as initially hypothesized. Rather, they must be dust-obscured star-forming galaxies, or sub-millimetre galaxies (SMGs), in the distant background. The new NIKA2 map at 1.15 mm reveals a total of seven SMGs distributed in projection on the sky along a filament-like structure crossing the whole observed field. Furthermore, we show that the NIKA2 and supplemental Herschel photometric data are compatible with a model of the spectral energy distributions (SEDs) of these sources when a common redshift of 2.5 and typical values of the dust parameters for SMGs are adopted. Hence, we speculate that these SMGs might be located in a filament of the distant `cosmic web'. The length of this candidate cosmic filament crossing the whole map is at least 4 cMpc (comoving), and the separations between sources are between 0.25 cMpc and 1.25 cMpc at this redshift, in line with expectations from cosmological simulations. Nonetheless, further observations to determine the precise spectroscopic redshifts of these sources are required to definitively support this hypothesis of SMGs embedded in a cosmic filament of dark matter., Comment: Article accepted in Astronomy and Astrophysics ; 9 pages, 6 figures

Galaxy clusters are useful laboratories to investigate the evolution of the Universe, and accurately measuring their total masses allows us to constrain important cosmological parameters. However, estimating mass from observations that use different methods and spectral bands introduces various systematic errors. This paper evaluates the use of a Convolutional Neural Network (CNN) to reliably and accurately infer the masses of galaxy clusters from the Compton-y parameter maps provided by the Planck satellite. The CNN is trained with mock images generated from hydrodynamic simulations of galaxy clusters, with Planck's observational limitations taken into account. We observe that the CNN approach is not subject to the usual observational assumptions, and so is not affected by the same biases. By applying the trained CNNs to the real Planck maps, we find cluster masses compatible with Planck measurements within a 15% bias. Finally, we show that this mass bias can be explained by the well known hydrostatic equilibrium assumption in Planck masses, and the different parameters in the Y500-M500 scaling laws. This work highlights that CNNs, supported by hydrodynamic simulations, are a promising and independent tool for estimating cluster masses with high accuracy, which can be extended to other surveys as well as to observations in other bands., Comment: 17 pages, 3 Figures and Supplementary material (+11 figures). Published in Nature Astronomy

The precise estimation of the mass of galaxy clusters is a major issue for cosmology. Large galaxy cluster surveys rely on scaling laws that relate cluster observables to their masses. From the high resolution observations of ~ 45 galaxy clusters with NIKA2 and XMM-Newton instruments, the NIKA2 SZ Large Program should provide an accurate scaling relation between the thermal Sunyaev-Zel'dovich effect and the hydrostatic mass. In this paper, we present an exhaustive analysis of the hydrostatic mass of the well known galaxy cluster CL J1226.9+3332, the highest-redshift cluster in the NIKA2 SZ Large Program at z = 0.89. We combine the NIKA2 observations with thermal Sunyaev-Zel'dovich data from NIKA, Bolocam and MUSTANG instruments and XMM-Newton X-ray observations and test the impact of the systematic effects on the mass reconstruction. We conclude that slight differences in the shape of the mass profile can be crucial when defining the integrated mass at R500, which demonstrates the importance of the modeling in the mass determination. We prove the robustness of our hydrostatic mass estimates by showing the agreement with all the results found in the literature. Another key information for cosmology is the bias of the masses estimated assuming hydrostatic equilibrium hypothesis. Based on the lensing convergence maps from the Cluster Lensing And Supernova survey with Hubble (CLASH) data, we obtain the lensing mass estimate for CL J1226.9+3332. From this we are able to measure the hydrostatic-to-lensing mass bias for this cluster, that spans from 1 - bHSE/lens ~ 0.7 to 1, presenting the impact of data-sets and mass reconstruction models on the bias.

Close pairs of galaxies have been broadly studied in the literature as a way to understand galaxy interactions and mergers. In observations they are usually defined by setting a maximum separation in the sky and in velocity along the line of sight, and finding galaxies within these ranges. However, when observing the sky, projection effects can affect the results, by creating spurious pairs that are not close in physical distance. In this work we mimic these observational techniques to find pairs in The Three Hundred simulations of clusters of galaxies. The galaxies' 3D coordinates are projected into 2D, with Hubble flow included for their line-of-sight velocities. The pairs found are classified into "good" or "bad" depending on whether their 3D separations are within the 2D spatial limit or not. We find that the fraction of good pairs can be between 30 and 60 per cent depending on the thresholds used in observations. Studying the ratios of observable properties between the pair member galaxies, we find that the likelihood of a pair being "good" can be increased by around 40, 20 and 30 per cent if the given pair has, respectively, a mass ratio below 0.2, metallicity ratio above 0.8, or colour ratio below 0.8. Moreover, shape and stellar-to-halo mass ratios respectively below 0.4 and 0.2 can increase the likelihood by 50 to 100 per cent. These results suggest that these properties can be used to increase the chance of finding good pairs in observations of galaxy clusters and their environment., Comment: 15 pages, 10 figures. Published in MNRAS; typos corrected

We develop a machine learning algorithm to infer the 3D cumulative radial profiles of total and gas mass in galaxy clusters from thermal Sunyaev-Zel'dovich effect maps. We generate around 73,000 mock images along various lines of sight using 2,522 simulated clusters from the \thethreehundred{} project at redshift $z< 0.12$ and train a model that combines an autoencoder and a random forest. Without making any prior assumptions about the hydrostatic equilibrium of the clusters, the model is capable of reconstructing the total mass profile as well as the gas mass profile, which is responsible for the SZ effect. We show that the recovered profiles are unbiased with a scatter of about $10\%$, slightly increasing towards the core and the outskirts of the cluster. We selected clusters in the mass range of $10^{13.5} \leq M_{200} /(\hMsun) \leq 10^{15.5}$, spanning different dynamical states, from relaxed to disturbed halos. We verify that both the accuracy and precision of this method show a slight dependence on the dynamical state, but not on the cluster mass. To further verify the consistency of our model, we fit the inferred total mass profiles with an NFW model and contrast the concentration values with those of the true profiles. We note that the inferred profiles are unbiased for higher concentration values, reproducing a trustworthy mass-concentration relation. The comparison with a widely used mass estimation technique, such as hydrostatic equilibrium, demonstrates that our method recovers the total mass that is not biased by non-thermal motions of the gas., Comment: Accepted for publication on Monthly Notices of the Royal Astronomical Society, 8 pages, 10 figures

This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary to reliably explore diverse underground environments despite the grueling challenges they present for robotic autonomy. Due to their geometric complexity, degraded perceptual conditions combined with lack of GPS support, austere navigation conditions, and denied communications, subterranean settings render autonomous operations particularly demanding. In response to this challenge, we developed the CERBERUS system which exploits the synergy of legged and flying robots, coupled with robust control especially for overcoming perilous terrain, multi-modal and multi-robot perception for localization and mapping in conditions of sensor degradation, and resilient autonomy through unified exploration path planning and local motion planning that reflects robot-specific limitations. Based on its ability to explore diverse underground environments and its high-level command and control by a single human supervisor, CERBERUS demonstrated efficient exploration, reliable detection of objects of interest, and accurate mapping. In this article, we report results from both the preliminary runs and the final Prize Round of the DARPA Subterranean Challenge, and discuss highlights and challenges faced, alongside lessons learned for the benefit of the community.

In this work, we performed an analysis of the X-ray morphology of the 118 CHEX-MATE (Cluster HEritage project with XMM-Newton - Mass Assembly and Thermodynamics at the Endpoint of structure formation) galaxy clusters, with the aim to provide a classification of their dynamical state. To investigate the link between the X-ray appearance and the dynamical state, we considered four morphological parameters: the surface brightness concentration, the centroid shift, and the second- and third-order power ratios. These indicators result to be: strongly correlated with each other, powerful in identifying the disturbed and relaxed population, characterised by a unimodal distribution and not strongly influenced by systematic uncertainties. In order to obtain a continuous classification of the CHEX-MATE objects, we combined these four parameters in a single quantity, M, which represents the grade of relaxation of a system. On the basis of the M value, we identified the most extreme systems of the sample, finding 15 very relaxed and 27 very disturbed galaxy clusters. From a comparison with previous analysis on X-ray selected samples, we confirmed that the Sunyaev-Zeldovich (SZ) clusters tend to be more disturbed. Finally, by applying our analysis on a simulated sample, we found a general agreement between the observed and simulated results, with the only exception of the concentration. This latter behaviour, is partially related to the presence of particles with high smoothed-particle hydrodynamics density in the central regions of the simulated clusters due to the action of the idealised isotropic thermal Active Galactic Nuclei (AGN) feedback., Comment: 24 pages, 16 figures, 10 tables. Accepted for publication in A&A

This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability to selectively deploy the aerial system from the ground robot. Exploiting the dexterous locomotion capabilities and long endurance of quadruped robots, the marsupial combination can explore within large-scale and confined environments involving rough terrain. However, as certain types of terrain or vertical geometries can render any ground system unable to continue its exploration, the marsupial system can - when needed - deploy the flying robot which, by exploiting its 3D navigation capabilities, can undertake a focused exploration task within its endurance limitations. Focusing on autonomy, the two systems can co-localize and map together by sharing LiDAR-based maps and plan exploration paths individually, while a tailored graph search onboard the legged robot allows it to identify where and when the ferried aerial platform should be deployed. The system is verified within multiple experimental studies demonstrating the expanded exploration capabilities of the marsupial system-of-systems and facilitating the exploration of otherwise individually unreachable areas., Comment: 6 pages, 6 figures, Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

PSZ2 G091.83+26.11 is a galaxy cluster with M500 = 7.43 x 10^14 Msun at z = 0.822 1. This object exhibits a complex morphology with a clear bimodality observed in X-rays. However, it was detected and analysed in the Planck sample as a single, spherical cluster following a universal profile 2. This model can lead to miscalculations of thermodynamical quantities, like the pressure profile. As future multiwavelength cluster experiments will detect more and more objects at high redshifts, it is crucial to quantify this systematic effect. In this work, we use high-resolution observations of the NIKA2 camera3,4,5,6 to integrate the morphological characteristics of the cluster in our modelling. This is achieved by fitting a two-halo model to the SZ image and then by reconstruction of the resulting projected pressure profile. We then compare these results with the spherical assumption., Comment: 4 pages, 3 figures Contribution to the 2022 Cosmology session of the 56th Rencontres de Moriond. arXiv admin note: substantial text overlap with arXiv:2111.05082

The MIllimeter Sardinia radio Telescope Receiver based on Array of Lumped elements kids, MISTRAL, is a millimetric ($\simeq 90GHz$) multipixel camera being built for the Sardinia Radio Telescope. It is going to be a facility instrument and will sample the sky with 12 arcsec angular resolution, 4 arcmin field of view, through 408 Kinetic Inductance Detectors (KIDs). The construction and the beginning of commissioning is planned to be in 2022. MISTRAL will allow the scientific community to propose a wide variety of scientific cases including protoplanetary discs study, star forming regions, galaxies radial profiles, and high angular resolution measurements of the Sunyaev Zel'dovich (SZ) effect with the investigation of the morphology of galaxy cluster and the search for the Cosmic Web., Comment: 18 pages, 6 figure, accepted for pubblication in the International Journal of Modern Physics D

We introduce \textsc{Gizmo-Simba}, a new suite of galaxy cluster simulations within \textsc{The Three Hundred} project. \textsc{The Three Hundred} consists of zoom re-simulations of 324 clusters with $M_{200}\gtrsim 10^{14.8}M_\odot$ drawn from the MultiDark-Planck $N$-body simulation, run using several hydrodynamic and semi-analytic codes. The \textsc{Gizmo-Simba} suite adds a state-of-the-art galaxy formation model based on the highly successful {\sc Simba} simulation, mildly re-calibrated to match $z=0$ cluster stellar properties. Comparing to \textsc{The Three Hundred} zooms run with \textsc{Gadget-X}, we find intrinsic differences in the evolution of the stellar and gas mass fractions, BCG ages, and galaxy colour-magnitude diagrams, with \textsc{Gizmo-Simba} generally providing a good match to available data at $z \approx 0$. \textsc{Gizmo-Simba}'s unique black hole growth and feedback model yields agreement with the observed BH scaling relations at the intermediate-mass range and predicts a slightly different slope at high masses where few observations currently lie. \textsc{Gizmo-Simba} provides a new and novel platform to elucidate the co-evolution of galaxies, gas, and black holes within the densest cosmic environments., Comment: 20 pages, 12 figures, matched to published version in MNRAS

This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom built for underground exploration with focus on collision tolerance, resilient autonomy with robust localization and mapping, alongside high-performance exploration path planning in confined, obstacle-filled and topologically complex underground environments. Moreover, RMF-Owl offers the ability to search, detect and locate objects of interest which can be particularly useful in search and rescue missions. A series of results from field experiments are presented in order to demonstrate the system's ability to autonomously explore challenging unknown underground environments., Comment: 8 pages, 9 figures. Submitted to the International Conference on Unmanned Aircraft Systems, 2022

LiteBIRD, the Lite (Light) satellite for the study of B-mode polarization and Inflation from cosmic background Radiation Detection, is a space mission for primordial cosmology and fundamental physics. The Japan Aerospace Exploration Agency (JAXA) selected LiteBIRD in May 2019 as a strategic large-class (L-class) mission, with an expected launch in the late 2020s using JAXA's H3 rocket. LiteBIRD is planned to orbit the Sun-Earth Lagrangian point L2, where it will map the cosmic microwave background (CMB) polarization over the entire sky for three years, with three telescopes in 15 frequency bands between 34 and 448 GHz, to achieve an unprecedented total sensitivity of 2.2$\mu$K-arcmin, with a typical angular resolution of 0.5$^\circ$ at 100 GHz. The primary scientific objective of LiteBIRD is to search for the signal from cosmic inflation, either making a discovery or ruling out well-motivated inflationary models. The measurements of LiteBIRD will also provide us with insight into the quantum nature of gravity and other new physics beyond the standard models of particle physics and cosmology. We provide an overview of the LiteBIRD project, including scientific objectives, mission and system requirements, operation concept, spacecraft and payload module design, expected scientific outcomes, potential design extensions and synergies with other projects., Comment: 155 pages, accepted for publication in PTEP

A methodology to provide the polarization angle requirements for different sets of detectors, at a given frequency of a CMB polarization experiment, is presented. The uncertainties in the polarization angle of each detector set are related to a given bias on the tensor-to-scalar ratio $r$ parameter. The approach is grounded in using a linear combination of the detector sets to obtain the CMB polarization signal. In addition, assuming that the uncertainties on the polarization angle are in the small angle limit (lower than a few degrees), it is possible to derive analytic expressions to establish the requirements. The methodology also accounts for possible correlations among detectors, that may originate from the optics, wafers, etc. The approach is applied to the LiteBIRD space mission. We show that, for the most restrictive case (i.e., full correlation of the polarization angle systematics among detector sets), the requirements on the polarization angle uncertainties are of around 1 arcmin at the most sensitive frequency bands (i.e., $\approx 150$ GHz) and of few tens of arcmin at the lowest (i.e., $\approx 40$ GHz) and highest (i.e., $\approx 400$ GHz) observational bands. Conversely, for the least restrictive case (i.e., no correlation of the polarization angle systematics among detector sets), the requirements are $\approx 5$ times less restrictive than for the previous scenario. At the global and the telescope levels, polarization angle knowledge of a few arcmins is sufficient for correlated global systematic errors and can be relaxed by a factor of two for fully uncorrelated errors in detector polarization angle. The reported uncertainty levels are needed in order to have the bias on $r$ due to systematics below the limit established by the LiteBIRD collaboration., Comment: 26 pages, 6 figures. Minor changes to match the final version in JCAP

Using the data set of The Three Hundred project, i.e. a suite of 324 hydrodynamical resimulations of cluster-sized haloes, we study galaxy cluster mergers and their effect on colour and luminosity changes of their brightest cluster galaxies (BCG). We track the main progenitor of each halo at z=0 and search for merger situations based on its mass accretion history, defining mergers as very rapid increases in the halo mass. Based upon the evolution of the dynamical state of the cluster we define a pre- and post-merger phase. We create a list of all these events and statistically study their mass ratio and timescales, with the former verifying that all instances are in fact major mergers. By comparing to a control sample of clusters without mergers, we study the effect mergers have on the stellar component of the BCG. Analysing the mass, age and metallicity of the BCG stellar particles, we find that the stellar content of BCGs grows significantly during mergers and, even though the main growth mechanism is the accretion of older stars, there is even a burst in star formation induced by the merger. In our simulations, BCGs in mergers form in median around 70 per cent more stars than those normally growing, although this depends on the radius considered for defining the BCG. Regarding observable properties, we see an increase in SDSS-u luminosity of 20 per cent during mergers, accompanied by a slightly slower increase of the galaxy g-r colour as compared to the control sample., Comment: 18 pages, 12 figures. Accepted for publication in MNRAS

Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication between the robots and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station, alongside breadcrumbing of wireless nodes by our legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits, along with the current limitations and the lessons learned for the benefit of the community., Comment: 50 pages, 25 figures. Accepted at Field Robotics, 2021

This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion primitives library in the robot's velocity-steering angle space, given only the current depth image and the estimated linear and angular velocities of the robot. Furthermore, we account for the uncertainty of the robot's partial state by utilizing the Unscented Transform and the uncertainty of the neural network model by using Monte Carlo dropout. The uncertainty-aware collision cost is then combined with the goal direction given by a global planner in order to determine the best action sequence to execute in a receding horizon manner. To demonstrate the method, we develop a resilient small flying robot integrating lightweight sensing and computing resources. A set of simulation and experimental studies, including a field deployment, in both cluttered and perceptually-challenging environments is conducted to evaluate the quality of the prediction network and the performance of the proposed planner., Comment: 8 pages, 7 figures. Accepted at the IEEE International Conference on Robotics and Automation (ICRA), 2022

The detailed characterization of scaling laws relating the observables of cluster of galaxies to their mass is crucial for obtaining accurate cosmological constraints with clusters. In this paper, we present a comparison between the hydrostatic and lensing mass profiles of the cluster \psz\ at $z=0.59$. The hydrostatic mass profile is obtained from the combination of high resolution NIKA2 thermal Sunyaev-Zel'dovich (tSZ) and \xmm\ X-ray observations of the cluster. Instead, the lensing mass profile is obtained from an analysis of the CLASH lensing data based on the lensing convergence map. We find significant variation on the cluster mass estimate depending on the observable, the modelling of the data and the knowledge of the cluster dynamical state. This {\bf might} lead to significant systematic effects on cluster cosmological analyses for which only a single observable is generally used. From this pilot study, we conclude that the combination of high resolution SZ, X-ray and lensing data could allow us to identify and correct for these systematic effects. This would constitute a very interesting extension of the NIKA2 SZ Large Program., Comment: Final version for A&A

Using the galaxy clusters from The Three Hundred Project, we define a new parameter: $\lambda_{DS}$ to describe the dynamical state of clusters, which assumes a double-Gaussian distribution in logarithm scale for our mass-complete cluster sample at $z=0$ from the dark-matter-only (DMO) run. Therefore, the threshold for distinguishing relaxed and unrelaxed clusters is naturally determined by the crossing point of the double-Gaussian fitting which has a value of $\lambda_{DS} = 3.424$. By applying $\lambda_{DS}$ with the same parameters from the DMO run to the hydro-dynamically simulated clusters (Gadget-X run and GIZMO-SIMBA run), we investigate the effect of baryons on the cluster dynamical state. We find a weak baryon-model dependence for the $\lambda_{DS}$ parameter. Finally, we study the evolution of $\lambda_{DS}$ along with clusters mass accretion history. We notice an upper limit of halo mass change $\frac{\Delta M_{200}}{M_{200}} \sim 0.12$ that don't alter the cluster dynamical state, i.e. from relaxed to unrelaxed. We define relaxation period (from the most relaxed state to disturb and relaxed again) which reflects how long the dynamical state of a cluster restores its relaxation state, and propose a correlation between this relaxation period and the strength of halo mass change $\frac{\Delta M_{200}}{M_{200}}$. With the proposed fitting to such correlation, we verify the relaxation period can be estimated from $\frac{\Delta M_{200}}{M_{200}}$ (including multi mass change peaks) with considerably small error., Comment: 13 pages, 12 figures, comments are welcome

Dust polarization observations are a powerful, practical tool to probe the geometry (and to some extent, the strength) of magnetic fields in star-forming regions. In particular, Planck polarization data have revealed the importance of magnetic fields on large scales in molecular clouds. However, due to insufficient resolution, Planck observations are unable to constrain the B-field geometry on prestellar and protostellar scales. The high angular resolution of 11.7 arcsec provided by NIKA2-Pol 1.15 mm polarimetric imaging, corresponding to $\sim$ 0.02 pc at the distance of the Orion molecular cloud (OMC), makes it possible to advance our understanding of the B-field morphology in star-forming filaments and dense cores (IRAM 30m large program B-FUN). The commissioning of the NIKA2-Pol instrument has led to several challenging issues, in particular, the instrumental polarization or intensity-to-polarization (leakage) effect. In the present paper, we illustrate how this effect can be corrected for, leading to reliable exploitable data in a structured, extended source such as OMC-1. We present a statistical comparison between NIKA2-Pol and SCUBA2-Pol2 results in the OMC-1 region. We also present tentative evidence of local pinching of the B-field lines near Orion-KL, in the form of a new small-scale hourglass pattern, in addition to the larger-scale hourglass already seen by other instruments such as Pol2., Comment: 6 pages, 3 figures, conference proceeding

This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve complex, large-scale and multi-branched topologies, while wireless communication within them can be particularly challenging, this work is structured around the synergy of an onboard exploration path planner that allows for resilient long-term autonomy, and a multi-robot coordination framework. The onboard path planner is unified across legged and flying robots and enables navigation in environments with steep slopes, and diverse geometries. When a communication link is available, each robot of the team shares submaps to a centralized location where a multi-robot coordination framework identifies global frontiers of the exploration space to inform each system about where it should re-position to best continue its mission. The strategy is verified through a field deployment inside an underground mine in Switzerland using a legged and a flying robot collectively exploring for 45 min, as well as a longer simulation study with three systems., Comment: 8 pages, 5 figures. Accepted for the IEEE International Conference on Robotics and Automation, 2022. Code available at https://github.com/ntnu-arl/gbplanner_ros

PSZ2 G091.83+26.11 is a massive galaxy cluster with M500 = 7.43 x 10^14 Msun at z = 0.822. This object exhibits a complex morphology with a clear bimodality observed in X-rays. However, it was detected and analysed in the Planck sample as a single, spherical cluster following a universal profile [1]. This model can lead to miscalculations of thermodynamical quantities, like the pressure profile. As future multiwavelength cluster experiments will detect more and more objects at higher redshifts (where we expect the fraction of merging objects to be higher), it is crucial to quantify this systematic effect. In this work, we use high-resolution observations of PSZ2 G091.83+26.11 by the NIKA2 camera to integrate the morphological characteristics of the cluster in our modelling. This is achieved by fitting a two-halo model to the SZ image and then by reconstruction of the resulting projected pressure profile. We then compare these results with the spherical assumption., Comment: "To appear in the Proceedings of the International Conference entitled "mm Universe @ NIKA2", Rome (Italy), June 2021, EPJ Web of conferences."

Interstellar dust plays an important role in the formation of molecular gas and the heating and cooling of the interstellar medium. The spatial distribution of the mm-wavelength dust emission from galaxies is largely unexplored. The NIKA2 Guaranteed Time Project IMEGIN (Interpreting the Millimeter Emission of Galaxies with IRAM and NIKA2) has recently mapped the mm emission in the grand design spiral galaxy NGC6946. By subtracting the contributions from the free-free, synchrotron, and CO line emission, we map the distribution of the pure dust emission at 1:15mm and 2mm. Separating the arm/interarm regions, we find a dominant 2mm emission from interarms indicating the significant role of the general interstellar radiation field in heating the cold dust. Finally, we present maps of the dust mass, temperature, and emissivity index using the Bayesian MCMC modeling of the spectral energy distribution in NGC6946., Comment: To appear in the Proceedings of the International Conference entitled "mm Universe @ NIKA2", Rome (Italy), June 2021, EPJ Web of conferences

In the past decade filaments have been recognised as a major structural element of the interstellar medium, the densest of these filaments hosting the formation of most stars. In some star-forming molecular clouds converging networks of filaments, also known as hub filament systems, can be found. These hubs are believed to be preferentially associated to massive star formation. As of today, there are no metrics that allow the systematic quantification of a filament network convergence. Here, we used the IRAM 30m NIKA2 observations of the Galactic plane from the GASTON large programme to systematically identify filaments and produce a filament convergence parameter map. We use such a map to show that: i. hub filaments represent a small fraction of the global filament population; ii. hubs host, in proportion, more massive and more luminous compact sources that non-hubs; iii. hub-hosting clumps are more evolved that non-hubs; iv. no discontinuities are observed in the properties of compact sources as a function of convergence parameter. We propose that the rapid global collapse of clumps is responsible for (re)organising filament networks into hubs and, in parallel, enhancing the mass growth of compact sources., Comment: To appear in the Proceedings of the International Conference entitled "mm Universe @ NIKA2", Rome (Italy), June 2021, EPJ Web of conferences

The quest for primordial gravitational waves enclosed in the Cosmic Microwave Background (CMB) polarization B-modes signal motivates the development of a new generation of high sensitive experiments (e.g. CMB-S4, LiteBIRD) that would allow them to detect its imprint.Neverthless, this will be only possible by ensuring a high control of the instrumental systematic effects and an accurate absolute calibration of the polarization angle. The Crab nebula is known to be a polarization calibrator on the sky for CMB experiments, already used for the Planck satellite it exhibits a high polarized signal at microwave wavelengths. In this work we present Crab polarization observations obtained at the central frequency of 260 GHz with the NIKA2 instrument and discuss the accuracy needed on such a measurement to improve the constraints on the absolute angle calibration for CMB experiments., Comment: To appear in the Proceedings of the International Conference entitled "mm Universe @ NIKA2", Rome (Italy), June 2021, EPJ Web of conferences

We describe the preliminary on-sky results of the KIDs Interferometer Spectrum Survey (KISS), a spectral imager with a 1 deg field of view (FoV). The instrument operates in the range 120-180 GHz from the 2.25 m Q-U-I JOint TEnerife telescope in Teide Observatory (Tenerife, Canary Islands), at 2 395 m altitude above sea level. Spectra at low resolution, up to 1.45 GHz, are obtained using a fast (3.72 Hz mechanical frequency) Fourier transform spectrometer, coupled to a continuous dilution cryostat with a stabilized temperature of 170 mK that hosts two 316-pixel arrays of lumped-element kinetic inductance detectors. KISS generates more than 3 000 spectra per second during observations and represents a pathfinder to demonstrate the potential for spectral mapping with large FoV. We give an overall description of the spectral mapping paradigm and we present recent results from observations, in this paper., Comment: 6 pages, 3 figures, to appear in the Proceedings of the International Conference entitled "mm Universe @ NIKA2", Rome (Italy), June 2021, EPJ Web of conferences

We present preliminary results from an on-going program that aims at mapping the intracluster medium (ICM) temperature of high redshift galaxy clusters from the MaDCoWS sample using a joint analysis of shallow X-ray data obtained by $Chandra$ and high angular resolution Sunyaev-Zel'dovich (SZ) observations realized with the NIKA2 and MUSTANG-2 cameras. We also present preliminary results from an on-going Open Time program within the NIKA2 collaboration that aims at mapping the ICM temperature of a galaxy cluster at $z=0.45$ from the resolved detection of the relativistic corrections to the SZ spectrum. These studies demonstrate how high angular resolution SZ observations will play a major role in the coming decade to push the investigation of ICM dynamics and non-gravitational processes to high redshift before the next generation X-ray observatories come into play., Comment: To appear in the Proceedings of the International Conference entitled "mm Universe @ NIKA2", Rome (Italy), June 2021, EPJ Web of conferences