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Utilizing James Clark Maxwell Telescope (JCMT) 850 $\mu$m SCUPOL dust polarization data, we investigate the configuration of the magnetic ($B$) field in the circumnuclear disk (CND) of the Galactic Center (GC). The SCUPOL data show a highly improved polarization coverage and resolution compared to earlier 100 $\mu$m observations. The 850 $\mu$m data have a resolution and coverage similar to previous 350 $\mu$m polarimetry data. However, with a proper sampling on a 10$"$ grid, we find the 850 $\mu$m data trace the morphological structures of the CND substantially better. Furthermore, because the 850 $\mu$m trace the field deeper into the material near Sgr A*, they represent the highest resolution submillimeter probe to date of the CND magnetic field. The observed $B$-field morphology is well described by a self-similar axisymmetric disk model where the radial infall velocity is one quarter of the rotational velocity. A detailed comparison with higher-resolution interferometric maps from the Submillimeter Array further reveals that the $B$-field aligns with the neutral gas streamers connecting to the CND. Moreover, the innermost observed $B$-field structure also appears to trace and align with the mini-spiral located inside the CND. This suggests that there is one underlying $B$-field structure that is connecting the CND with its streamers and the inner mini-spiral. An estimate of $\beta_{\rm Plasma} \lesssim 1-$based on the global B-field morphology that constrains the azimuthal-to-vertical field strength ratio of around 40 combined with a measurement of the azimuthal velocity--indicates that the B-field appears dynamically significant towards the CND and also onwards to the inner mini-spiral., Comment: 24 pages, 17 figure, accepted for publication in ApJ

We present the results of dust emission polarization measurements of Ophiuchus-B (Oph-B) carried out using the Submillimetre Common-User Bolometer Array 2 (SCUBA-2) camera with its associated polarimeter (POL-2) on the James Clerk Maxwell Telescope (JCMT) in Hawaii. This work is part of the B-fields In Star-forming Region Observations (BISTRO) survey initiated to understand the role of magnetic fields in star formation for nearby star-forming molecular clouds. We present a first look at the geometry and strength of magnetic fields in Oph-B. The field geometry is traced over $\sim$0.2 pc, with clear detection of both of the sub-clumps of Oph-B. The field pattern appears significantly disordered in sub-clump Oph-B1. The field geometry in Oph-B2 is more ordered, with a tendency to be along the major axis of the clump, parallel to the filamentary structure within which it lies. The degree of polarization decreases systematically towards the dense core material in the two sub-clumps. The field lines in the lower density material along the periphery are smoothly joined to the large scale magnetic fields probed by NIR polarization observations. We estimated a magnetic field strength of 630$\pm$410 $\mu$G in the Oph-B2 sub-clump using a Davis-Chandeasekhar-Fermi analysis. With this magnetic field strength, we find a mass-to-flux ratio $\lambda$= 1.6$\pm$1.1, which suggests that the Oph-B2 clump is slightly magnetically supercritical., Comment: 17 pages, 10 figures, Accepted for publication in ApJ

We present 850 $\mu$m imaging polarimetry data of the $\rho$ Oph-A core taken with the Submillimeter Common-User Bolometer Array-2 (SCUBA-2) and its polarimeter (POL-2), as part of our ongoing survey project, BISTRO (B-fields In STar forming RegiOns). The polarization vectors are used to identify the orientation of the magnetic field projected on the plane of the sky at a resolution of 0.01 pc. We identify 10 subregions with distinct polarization fractions and angles in the 0.2 pc $\rho$ Oph A core; some of them can be part of a coherent magnetic field structure in the $\rho$ Oph region. The results are consistent with previous observations of the brightest regions of $\rho$ Oph-A, where the degrees of polarization are at a level of a few percents, but our data reveal for the first time the magnetic field structures in the fainter regions surrounding the core where the degree of polarization is much higher ($> 5 \%$). A comparison with previous near-infrared polarimetric data shows that there are several magnetic field components which are consistent at near-infrared and submillimeter wavelengths. Using the Davis-Chandrasekhar-Fermi method, we also derive magnetic field strengths in several sub-core regions, which range from approximately 0.2 to 5 mG. We also find a correlation between the magnetic field orientations projected on the sky with the core centroid velocity components., Comment: 22 pages, 11 figures, accepted for publication in ApJ

We present the first ALMA dust polarization observations towards the high-mass star-forming regions W51 e2, e8, and W51 North in Band 6 (230 GHz) with a resolution around 0.26" ($\sim5$mpc). Polarized emission in all three sources is clearly detected and resolved. Measured relative polarization levels are between 0.1\% and 10\%. While the absolute polarization shows complicated structures, the relative polarization displays the typical anti-correlation with Stokes $I$, though with a large scatter. Inferred magnetic (B) field morphologies are organized and connected. Detailed substructures are resolved, revealing new features such as cometary-shaped B-field morphologies in satellite cores, symmetrically converging B-field zones, and possibly streamlined morphologies. The local B-field dispersion shows some anti-correlation with the relative polarization. Moreover, lowest polarization percentages together with largest dispersions coincide with B-field convergence zones. We put forward $\sin\omega$, where $\omega$ is the measurable angle between a local B-field orientation and local gravity, as a measure of how effectively the B-field can oppose gravity. Maps of $\sin\omega$ for all three sources show organized structures that suggest a locally varying role of the B-field, with some regions where gravity can largely act unaffectedly, possibly in a network of narrow magnetic channels, and other regions where the B-field can work maximally against gravity., Comment: 13 figures, 1 table; accepted for publication in ApJ

How important is the magnetic (B-) field when compared to gravity and turbulence in the star-formation process? Does its importance depend on scale and location? We summarize submm dust polarization observations towards the large filamentary infrared dark cloud G34 and towards a dense core in the high-mass star-forming region W51. We detect B-field orientations that are either perpendicular or parallel to the G34 filament axis. These B-field orientations further correlate with local velocity gradients. Towards three cores in G34 we find a varying importance between B-field, gravity, and turbulence that seems to dictate varying types of fragmentation. At highest resolution towards the gravity-dominated collapsing core W51 e2 we resolve new B-field features, such as converging B-field lines and possibly magnetic channels., Comment: Talk given at the Conference "Francesco's Legacy: Star Formation in Space and Time", in memory of Francesco Palla (1954-2016), held in Florence, Italy, June 5-9, 2017; To be published in "Memorie della Societ\`a Astronomica Italiana"

We present Atacama Large Millimeter Array (ALMA) observations at an angular resolution of 0.1-0.2" of the disk surrounding the young Herbig Ae star MWC 758. The data consist of images of the dust continuum emission recorded at 0.88 millimeter, as well as images of the 13CO and C18O J = 3-2 emission lines. The dust continuum emission is characterized by a large cavity of roughly 40 au in radius which might contain a mildly inner warped disk. The outer disk features two bright emission clumps at radii of about 47 and 82 au that present azimuthal extensions and form a double-ring structure. The comparison with radiative transfer models indicates that these two maxima of emission correspond to local increases in the dust surface density of about a factor 2.5 and 6.5 for the south and north clumps, respectively. The optically thick 13CO peak emission, which traces the temperature, and the dust continuum emission, which probes the disk midplane, additionally reveal two spirals previously detected in near-IR at the disk surface. The spirals seen in the dust continuum emission present, however, a slight shift of a few au towards larger radii and one of the spirals crosses the south dust clump. Finally, we present different scenarios in order to explain the complex structure of the disk., Comment: 15 pages, 11 figures. The paper has been published in ApJ. References added and typos corrected

Most protostars have luminosities that are fainter than expected from steady accretion over the protostellar lifetime. The solution to this problem may lie in episodic mass accretion -- prolonged periods of very low accretion punctuated by short bursts of rapid accretion. However, the timescale and amplitude for variability at the protostellar phase is almost entirely unconstrained. In "A JCMT/SCUBA-2 Transient Survey of Protostars in Nearby Star Forming Regions", we are monitoring monthly with SCUBA-2 the sub-mm emission in eight fields within nearby (<500 pc) star forming regions to measure the accretion variability of protostars. The total survey area of ~1.6 sq.deg. includes ~105 peaks with peaks brighter than 0.5 Jy/beam (43 associated with embedded protostars or disks) and 237 peaks of 0.125-0.5 Jy/beam (50 with embedded protostars or disks). Each field has enough bright peaks for flux calibration relative to other peaks in the same field, which improves upon the nominal flux calibration uncertainties of sub-mm observations to reach a precision of ~2-3% rms, and also provides quantified confidence in any measured variability. The timescales and amplitudes of any sub-mm variation will then be converted into variations in accretion rate and subsequently used to infer the physical causes of the variability. This survey is the first dedicated survey for sub-mm variability and complements other transient surveys at optical and near-IR wavelengths, which are not sensitive to accretion variability of deeply embedded protostars., Comment: ApJ, accepted

The interaction between a supermassive black hole (SMBH) and the surrounding material is of primary importance in modern astrophysics. The detection of the molecular 2-pc circumnuclear disk (CND) immediately around the Milky Way SMBH, SgrA*, provides an unique opportunity to study SMBH accretion at sub-parsec scales. Our new wide-field CS(2-1) map toward the Galactic center (GC) reveals multiple dense molecular streamers originated from the ambient clouds 20-pc further out, and connecting to the central 2 parsecs of the CND. These dense gas streamers appear to carry gas directly toward the nuclear region and might be captured by the central potential. Our phase-plot analysis indicates that these streamers show a signature of rotation and inward radial motion with progressively higher velocities as the gas approaches the CND and finally ends up co-rotating with the CND. Our results might suggest a possible mechanism of gas feeding the CND from 20 pc around 2 pc in the GC. In this paper, we discuss the morphology and the kinematics of these streamers. As the nearest observable Galactic nucleus, this feeding process may have implications for understanding the processes in extragalactic nuclei., Comment: 32 pages, 13 figures. Accepted for publication in ApJ

The protoplanetary disk around HL Tau is so far the youngest candidate of planet formation, and it is still embedded in a protostellar envelope with a size of thousands of au. In this work, we study the gas kinematics in the envelope and its possible influence on the embedded disk. We present our new ALMA cycle 3 observational results of HL Tau in the 13CO (2-1) and C18O (2-1) emission at resolutions of 0.8" (110 au), and we compare the observed velocity pattern with models of different kinds of gas motions. Both the 13CO and C18O emission lines show a central compact component with a size of 2" (280 au), which traces the protoplanetary disk. The disk is clearly resolved and shows a Keplerian motion, from which the protostellar mass of HL Tau is estimated to be 1.8+/-0.3 M$_\odot$, assuming the inclination angle of the disk to be 47 deg from the plane of the sky. The 13CO emission shows two arc structures with sizes of 1000-2000 au and masses of 3E-3 M$_\odot$ connected to the central disk. One is blueshifted and stretches from the northeast to the northwest, and the other is redshifted and stretches from the southwest to the southeast. We find that simple kinematical models of infalling and (counter-)rotating flattened envelopes cannot fully explain the observed velocity patterns in the arc structures. The gas kinematics of the arc structures can be better explained with three-dimensional infalling or outflowing motions. Nevertheless, the observed velocity in the northwestern part of the blueshifted arc structure is ~60-70% higher than the expected free-fall velocity. We discuss two possible origins of the arc structures: (1) infalling flows externally compressed by an expanding shell driven by XZ Tau and (2) outflowing gas clumps caused by gravitational instabilities in the protoplanetary disk around HL Tau., Comment: Accepted by A&A

We present Submillimeter Array (SMA) observations at 345 GHz towards the intermediate/high-mass cluster-forming region NGC 6334 V. From the dust emission we spatially resolve three dense condensations, the brightest one presenting the typical chemistry of a hot core. The magnetic field (derived from the dust polarized emission) shows a bimodal converging pattern towards the hot core. The molecular emission traces two filamentary structures at two different velocities, separated by 2 km/s, converging to the hot core and following the magnetic field distribution. We compare the velocity field and the magnetic field derived from the SMA observations with MHD simulations of star-forming regions dominated by gravity. This comparison allows us to show how the gas falls in from the larger-scale extended dense core (~0.1 pc) of NGC 6334 V towards the higher-density hot core region (~0.02 pc) through two distinctive converging flows dragging the magnetic field, whose strength seems to have been overcome by gravity., Comment: 13 pages, 11 figures, accepted for publication in ApJ

We present the first results from the B-fields In STar-forming Region Observations (BISTRO) survey, using the Sub-millimetre Common-User Bolometer Array 2 (SCUBA-2) camera, with its associated polarimeter (POL-2), on the James Clerk Maxwell Telescope (JCMT) in Hawaii. We discuss the survey's aims and objectives. We describe the rationale behind the survey, and the questions which the survey will aim to answer. The most important of these is the role of magnetic fields in the star formation process on the scale of individual filaments and cores in dense regions. We describe the data acquisition and reduction processes for POL-2, demonstrating both repeatability and consistency with previous data. We present a first-look analysis of the first results from the BISTRO survey in the OMC 1 region. We see that the magnetic field lies approximately perpendicular to the famous 'integral filament' in the densest regions of that filament. Furthermore, we see an 'hour-glass' magnetic field morphology extending beyond the densest region of the integral filament into the less-dense surrounding material, and discuss possible causes for this. We also discuss the more complex morphology seen along the Orion Bar region. We examine the morphology of the field along the lower-density north-eastern filament. We find consistency with previous theoretical models that predict magnetic fields lying parallel to low-density, non-self-gravitating filaments, and perpendicular to higher-density, self-gravitating filaments., Comment: 12 pages, 8 figures, accepted for publication in ApJ

We report the results of ALMA observations of a protoplanetary disk surrounding the Herbig Ae star AB Aurigae. We obtained high-resolution (0.1"; 14 au) images in $^{12}$CO (J=2-1) emission and in dust continuum at the wavelength of 1.3 mm. The continuum emission is detected at the center and at the ring with a radius of $\sim$ 120 au. The CO emission is dominated by two prominent spirals within the dust ring. These spirals are trailing and appear to be about 4 times brighter than their surrounding medium. Their kinematics is consistent with Keplerian rotation at an inclination of 23 degree. The apparent two-arm-spiral pattern is best explained by tidal disturbances created by an unseen companion located at 60--80 au, with dust confined in the pressure bumps created outside this companion orbit. An additional companion at r of 30 au, coinciding with the peak CO brightness and a large pitch angle of the spiral, would help to explain the overall emptiness of the cavity. Alternative mechanisms to excite the spirals are discussed. The origin of the large pitch angle detected here remain puzzling., Comment: 7 pages, 3 figures, accepted for publication in ApJ

We propose a framework for Google Map aided UAV navigation in GPS-denied environment. Geo-referenced navigation provides drift-free localization and does not require loop closures. The UAV position is initialized via correlation, which is simple and efficient. We then use optical flow to predict its position in subsequent frames. During pose tracking, we obtain inter-frame translation either by motion field or homography decomposition, and we use HOG features for registration on Google Map. We employ particle filter to conduct a coarse to fine search to localize the UAV. Offline test using aerial images collected by our quadrotor platform shows promising results as our approach eliminates the drift in dead-reckoning, and the small localization error indicates the superiority of our approach as a supplement to GPS., Comment: Published in ROBIO 2015, Zhuhai, China. Fixed a typo