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The goal of this project is to construct an estimator for the masses of supermassive black holes in active galactic nuclei (AGNs) based on the broad Halpha emission line. We make use of published reverberation mapping data. We remeasure all Halpha time lags from the original data as we find that often the reverberation measurements are improved by detrending the light curves. We produce mass estimators that require only the Halpha luminosity and the width of the Halpha emission line as characterized by either the FWHM or the line dispersion. It is possible, on the basis of a single spectrum covering the Halpha emission line, to estimate the mass of the central supermassive black hole in AGNs, taking into account all three parameters believed to affect mass measurement: luminosity, line width, and Eddington ratio. The typical formal accuracy in such estimates is of order 0.2-0.3 dex., Comment: 15 pages, 9 figures, submitted to A&A

This paper presents a novel accelerated distributed algorithm for unconstrained consensus optimization over static undirected networks. The proposed algorithm combines the benefits of acceleration from momentum, the robustness of the alternating direction method of multipliers, and the computational efficiency of gradient tracking to surpass existing state-of-the-art methods in convergence speed, while preserving their computational and communication cost. First, we prove that, by applying momentum on the average dynamic consensus protocol over the estimates and gradient, we can study the algorithm as an interconnection of two singularly perturbed systems: the outer system connects the consensus variables and the optimization variables, and the inner system connects the estimates of the optimum and the auxiliary optimization variables. Next, we prove that, by adding momentum to the auxiliary dynamics, our algorithm always achieves faster convergence than the achievable linear convergence rate for the non-accelerated alternating direction method of multipliers gradient tracking algorithm case. Through simulations, we numerically show that our accelerated algorithm surpasses the existing accelerated and non-accelerated distributed consensus first-order optimization protocols in convergence speed., Comment: This paper has been accepted for publication at IEEE Control Systems Letters

Visual planning methods are promising to handle complex settings where extracting the system state is challenging. However, none of the existing works tackles the case of multiple heterogeneous agents which are characterized by different capabilities and/or embodiment. In this work, we propose a method to realize visual action planning in multi-agent settings by exploiting a roadmap built in a low-dimensional structured latent space and used for planning. To enable multi-agent settings, we infer possible parallel actions from a dataset composed of tuples associated with individual actions. Next, we evaluate feasibility and cost of them based on the capabilities of the multi-agent system and endow the roadmap with this information, building a capability latent space roadmap (C-LSR). Additionally, a capability suggestion strategy is designed to inform the human operator about possible missing capabilities when no paths are found. The approach is validated in a simulated burger cooking task and a real-world box packing task.

Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However, many tasks still need human intervention/guidance. For this reason, we present a teleoperation framework designed to provide haptic feedback to human operators based on the data from camera-based tactile sensors mounted on the robot gripper. Partial autonomy is introduced to prevent slippage of grasped objects during task execution. Notably, we rely exclusively on low-cost off-the-shelf hardware to realize an affordable solution. We demonstrate the versatility of the framework on nine different objects ranging from rigid to soft and fragile ones, using three different operators on real hardware., Comment: https://vision-tactile-manip.github.io/teleop/

Dwarf barred galaxies are the perfect candidates for hosting slowly-rotating bars. They are common in dense environments and they have a relatively shallow potential well, making them prone to heating by interactions. When an interaction induces bar formation, the bar should rotate slowly. They reside in massive and centrally-concentrated dark matter halos, which slow down the bar rotation through dynamical friction. While predictions suggest that slow bars should be common, measurements of bar pattern speed, using the Tremaine-Weinberg method, show that bars are mostly fast in the local Universe. We present a photometric and kinematic characterisation of bars hosted by two dwarf galaxies in the Virgo Cluster, NGC 4483 and NGC 4516. We derive the bar length and strength using the Next Generation Virgo Survey imaging and the circular velocity, bar pattern speed, and rotation rate using spectroscopy from the Multi Unit Spectroscopic Explorer. Including the previously studied galaxy IC 3167, we compare the bar properties of the three dwarf galaxies with those of their massive counterparts from literature. Bars in the dwarf galaxies are shorter and weaker, and rotate slightly slower with respect to those in massive galaxies. This could be due to a different bar formation mechanism and/or to a large dark matter fraction in the centre of dwarf galaxies. We show that it is possible to push the application of the Tremaine-Weinberg method to the galaxy low mass regime., Comment: Accepted for publication in MNRAS

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost vision-based tactile sensors and propose a manipulation algorithm that adapts to both rigid and soft objects without requiring any knowledge of their properties. The algorithm relies on a touch and slip detection method, which considers the variation in the tactile images with respect to reference ones. We validate the approach on seven different objects, with different properties in terms of rigidity and fragility, to perform unplugging and lifting tasks. Furthermore, to enhance applicability, we combine the manipulation algorithm with a grasp sampler for the task of finding and picking a grape from a bunch without damaging~it., Comment: Published in IEEE International Conference on Automation Science and Engineering (CASE2023)

Planning in learned latent spaces helps to decrease the dimensionality of raw observations. In this work, we propose to leverage the ensemble paradigm to enhance the robustness of latent planning systems. We rely on our Latent Space Roadmap (LSR) framework, which builds a graph in a learned structured latent space to perform planning. Given multiple LSR framework instances, that differ either on their latent spaces or on the parameters for constructing the graph, we use the action information as well as the embedded nodes of the produced plans to define similarity measures. These are then utilized to select the most promising plans. We validate the performance of our Ensemble LSR (ENS-LSR) on simulated box stacking and grape harvesting tasks as well as on a real-world robotic T-shirt folding experiment.

We present surface photometry and stellar kinematics of IC 3167, a dwarf galaxy hosting a lopsided weak bar and infalling into the Virgo cluster. We measured the bar radius and strength from broad-band imaging and bar pattern speed by applying the Tremaine-Weinberg method to stellar-absorption integral-field spectroscopy. We derived the ratio of the corotation radius to bar radius (R = 1.7 + 0.5 - 0.3) from stellar kinematics and bar pattern speed. The probability that the bar is rotating slowly is more than twice as likely as that the bar is fast. This allows us to infer that the formation of this bar was triggered by the ongoing interaction rather than to internal processes., Comment: Accepted for pubblication in MNRAS Letters

In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical shortcoming of distributed control frameworks (e.g., potential fields) is that the overall system behavior is highly sensitive to the gain assigned to relative interactions. Second, MRSs with limited FOV sensors can be more susceptible to sensor attacks aimed at their FOVs, and therefore must be resilient to such attacks. Based on these shortcomings, we propose a comprehensive solution that combines efforts in adaptive gain tuning and attack resilience to the problem of topology control for MRSs with limited FOVs. Specifically, we first derive an adaptive gain tuning scheme based on satisfying nominal pairwise interactions, which yields a dynamic balancing of interaction strengths in a robot's neighborhood. We then model additive sensor and actuator attacks (or faults) and derive H infinity control protocols by employing a static output-feedback technique, guaranteeing bounded L2 gains of the error induced by the attack (fault) signals. Finally, simulation results using ROS Gazebo are provided to support our theoretical findings., Comment: 9 pages, 5 figures, submitted to IEEE Robotics and Automation Letters. arXiv admin note: substantial text overlap with arXiv:2011.06179

We measured the equivalent width of a large set of near-infrared (NIR, 0.8--2.4$ \ \mu$m) line-strength indices in the XShooter medium-resolution spectra of the central regions of 14 galaxies. We found that two aluminum indices Al at 1.31 $\mu$m and Al1 at 1.67 $\mu$m and the two CO indices CO1 at 1.56 $\mu$m and CO4 at 1.64 $\mu$m are tightly correlated with the velocity dispersion. Moreover, the NIR Al and CO1 indices show strong correlations with the optical Mg2 and Mgb indices, which are usually adopted as $\alpha$/Fe-enhancement diagnostics. The molecular FeH1 index at 1.58 $\mu$m tightly correlates with the optical and [MgFe]' indices, which are used as total metallicity diagnostics. The NIR Pa$\beta$ index at 1.28 $\mu$m has a behaviour similar to the optical H$\beta$ index, which is a diagnostic of mean age. We defined two new composite indices, and [AlFeH], as possible candidates to be used as NIR diagnostics of total metallicity and $\alpha$/Fe enhancement. The NIR index has a strong correlation with the optical Mg2 and Mgb indices, while the [AlFeH] index is tightly correlated with the optical and [MgFe]' indices. The distribution of the data points in the NIR Pa$\beta$- and Pa$\beta$-[AlFeH] diagrams mimic that in the optical [MgFe]'-H$\beta$ and the Mgb- diagrams, which are widely used to constraint the properties of the unresolved stellar populations. We concluded that some NIR line-strength indices could be useful in studying stellar populations as well as in fine-tuning stellar population models., Comment: 15 pages, 9 figures. Accepted for publication in MNRAS

We present the multiple stellar systems observed within the SpHere INfrared survey for Exoplanet (SHINE). SHINE searched for substellar companions to young stars using high contrast imaging. Although stars with known stellar companions within SPHERE field of view (<5.5 arcsec) were removed from the original target list, we detected additional stellar companions to 78 of the 463 SHINE targets observed so far. 27% of the systems have three or more components. Given the heterogeneity of the sample in terms of observing conditions and strategy, tailored routines were used for data reduction and analysis, some of which were specifically designed for these data sets. We then combined SPHERE data with literature and archival ones, TESS light curves and Gaia parallaxes and proper motions, to characterise these systems as completely as possible. Combining all data, we were able to constrain the orbits of 25 systems. We carefully assessed the completeness of our sample for the separation range 50-500 mas (period range a few years - a few tens of years), taking into account the initial selection biases and recovering part of the systems excluded from the original list due to their multiplicity. This allowed us to compare the binary frequency for our sample with previous studies and highlight some interesting trends in the mass ratio and period distribution. We also found that, for the few objects for which such estimate was possible, the values of the masses derived from dynamical arguments were in good agreement with the model predictions. Stellar and orbital spins appear fairly well aligned for the 12 stars having enough data, which favour a disk fragmentation origin. Our results highlight the importance of combining different techniques when tackling complex problems such as the formation of binaries and show how large samples can be useful for more than one purpose., Comment: 59 pages, 11 tables, 18 figures

Sirius-like systems are wide binaries composed of a white dwarf (WD) and a companion of a spectral type earlier than M0. The WD progenitor evolves in isolation, but its wind during the AGB phase pollutes the companion surface and transfers some angular momentum. Within SHINE survey that uses SPHERE at the VLT, we acquired images of HD2133, HD114174, and CD-567708 and combined this data with high resolution spectra of the primaries, TESS, and literature data. We performed accurate abundance analyses for the MS. We found brighter J and K magnitudes for HD114174B than obtained previously and extended the photometry down to 0.95 micron. Our new data indicate a higher temperature and then shorter cooling age (5.57+/-0.02 Gyr) and larger mass (0.75+/-0.03 Mo) for this WD than previously assumed. This solved the discrepancy previously found with the age of the MS star. The two other WDs are less massive, indicating progenitors of ~1.3 Mo and 1.5-1.8 Mo for HD2133B and CD-56 7708B, respectively. We were able to derive constraints on the orbit for HD114174 and CD-56 7708. The composition of the MS stars agrees fairly well with expectations from pollution by the AGB progenitors of the WDs: HD2133A has a small enrichment of n-capture elements, which is as expected for pollution by an AGB star with a mass <1.5 Mo; CD-56 7708A is a previously unrecognized mild Ba-star, which is expected due to pollution by an AGB star with a mass in the range of 1.5-3.0 Mo; and HD114174 has a very moderate excess of n-capture elements, which is in agreement with the expectation for a massive AGB star to have a mass >3.0 Mo. On the other hand, none of these stars show the excesses of C that are expected to go along with those of n-capture elements. This might be related to the fact that these stars are at the edges of the mass range where we expect nucleosynthesis related to thermal pulses., Comment: Accepted on Astronomy and Astrophysics. 19 pages, 15 figures

In this paper, we consider the problem of dynamically tuning gains for multi-robot systems (MRS) under potential based control design framework where the MRS team coordinates to maintain a connected topology while equipped with limited field of view sensors. Applying the potential-based control framework and assuming robot interaction is encoded by a triangular geometry, we derive a distributed control law in order to achieve the topology control objective. A typical shortcoming of potential-based control in distributed networks is that the overall system behavior is highly sensitive to gain-tuning. To overcome this limitation, we propose a distributed and adaptive gain controller that preserves a designed pairwise interaction strength, independent of the network size. Over that, we implement a control scheme that enables the MRS to be resilient against exogenous attacks on on-board sensors or actuator of the robots in MRS. In this regard, we model additive sensor and actuator faults which are induced externally to render the MRS unstable. However, applying $H_{\infty}$ control protocols by employing a static output-feedback design technique guarantees bounded $L_2$ gains of the error induced by the sensor and actuator fault signals. Finally, we apply policy iteration based Q-Learning to solve for adaptive gains for the discrete-time MRS. Simulation results are provided to support the theoretical findings.

Stellar population studies in the infrared (IR) wavelength range have two main advantages with respect to the optical regime: they probe different populations, because most of the light in the IR comes from redder and generally older stars, and they allow us to see through dust because IR light is less affected by extinction. Unfortunately, IR modeling work was halted by the lack of adequate stellar libraries, but this has changed in the recent years. Our project investigates the sensitivity of various spectral features in the 1--5\,$\mu$m wavelength range to the physical properties of stars ($T_{eff}$, [Fe/H], log g and aims to objectively define spectral indices that can characterize the age and metallicity of unresolved stellar populations. We implemented a method that uses derivatives of the indices as functions of $T_{eff}$, [Fe/H] or log g across the entire available wavelength range to reveal the most sensitive indices to these parameters and the ranges in which these indices work. Here, we complement the previous work in the I and K bands, reporting a new system of 14, 12, 22, and 12 indices for Y, J, H, and L atmospheric windows, respectively, and describe their behavior. Our analysis indicates that features sensitive to the effective temperature are present and measurable in all the investigated atmospheric windows at the spectral resolution and in the metallicity range of the IRTF library for a signal-to-noise ratio greater than 20-30. The surface gravity is more challenging and only indices in the H and J windows are best suited for this. The metallicity range of the stars with available spectra is too narrow to search for suitable diagnostics. For the spectra of unresolved galaxies, the defined indices are valuable tools in tracing the properties of the stars in the IR-dominant stellar populations., Comment: A&A in press. 69 pages, 47 figures, 8 Table

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed approach is that, thanks to the spatio-temporal dependencies of the observed phenomenon, one does not need to collect data on the entire area. In fact, unmeasured states can be estimated using an estimator, such as a Kalman filter. In this context the planning problem becomes the one of generating a flight path that maximizes the quality of the state estimation while satisfying the flight constraints (e.g. flight time). The first result of this paper is to formulate this problem as a special Orienteering Problem where the cost function is a measure of the quality of the estimation. This approach provides a Mixed-Integer Semi-Definite formulation to the problem which can be optimally solved for small instances. For larger instances, two heuristics are proposed which provide good sub-optimal results. To conclude, numerical simulations are shown to prove the capabilities and efficiency of the proposed path planning strategy. We believe this approach has the potential to increase dramatically the area that a drone can monitor, thus increasing the number of applications where monitoring with drones can become economically convenient., Comment: Submitted to "IEEE Transactions on Automation Science and Engineering"

In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of multiple unmanned aerial vehicles (UAVs) each equipped with several cameras that are used for detecting neighboring UAVs. In this context, our contributions are: i) first, we derive a framework for studying stable motion and distributed topology control for multi-robot systems with limited FOVs; and ii) Then, we provide experimental results in indoor and challenging outdoor environments (e.g., with wind speeds up to 10 mph) with a team of UAVs to demonstrate the performance of the proposed control framework using a portable multi-robot experimental set-up., Comment: Accepted as Extended Abstract at THE 2ND IEEE INTERNATIONAL SYMPOSIUM ON MULTI-ROBOT AND MULTI-AGENT SYSTEMS

This paper presents a multi-agent control architecture and an online optimization method based on dynamic average consensus to coordinate the power consumption of a large population of Thermostatically Controlled Loads (TCLs). Our objective is to penalize peaks of power demand, smooth the load profile and enable Demand Side Management (DSM). The proposed architecture and methods exploit only local measurements of power consumption via Smart Power Sockets (SPSs) with no access to their internal temperature. No centralized aggregator of information is exploited and agents preserve their privacy by cooperating anonymously only through consensus-based distributed estimation, robust to node/link failure. The interactions among devices are designed to occur through an unstructured peer-to-peer (P2P) network over the internet. The architecture includes novel methods for parameter identification, state estimation and mixed logical modelling of TCLs and SPSs. It is designed from a multi-agent and plug-and-play perspective in which existing household appliances can interact with each other in an urban environment. Finally, a novel low cost testbed is proposed along with numerical tests and an experimental validation.

Measures of node centrality that describe the importance of a node within a network are crucial for understanding the behavior of social networks and graphs. In this paper, we address the problems of distributed estimation and control of node centrality in undirected graphs with asymmetric weight values. In particular, we focus our attention on $\alpha$-centrality, which can be seen as a generalization of eigenvector centrality. In this setting, we first consider a distributed protocol where agents compute their $\alpha$-centrality, focusing on the convergence properties of the method; then, we combine the estimation method with a consensus algorithm to achieve a consensus value weighted by the influence of each node in the network. Finally, we formulate an $\alpha$-centrality control problem which is naturally decoupled and, thus, suitable for a distributed setting and we apply this formulation to protect the most valuable nodes in a network against a targeted attack, by making every node in the network equally important in terms of {\alpha}-centrality. Simulations results are provided to corroborate the theoretical findings., Comment: published on IEEE Transactions on Automatic Control https://ieeexplore.ieee.org/abstract/document/9126182

Aims. R Coronae Australis (R CrA) is the brightest star of the Coronet nebula of the Corona Australis (CrA) star forming region. It has very red colors, probably due to dust absorption and it is strongly variable. High contrast instruments allow for an unprecedented direct exploration of the immediate circumstellar environment of this star. Methods. We observed R CrA with the near-IR channels (IFS and IRDIS) of SPHERE at VLT. In this paper, we used four different epochs, three of them from open time observations while one is from the SPHERE guaranteed time. The data were reduced using the DRH pipeline and the SPHERE Data Center. On the reduced data we implemented custom IDL routines with the aim to subtract the speckle halo.We have also obtained pupil-tracking H-band (1.45-1.85 micron) observations with the VLT/SINFONI near-infrared medium-resolution (R~3000) spectrograph. Results. A companion was found at a separation of 0.156" from the star in the first epoch and increasing to 0.18400 in the final one. Furthermore, several extended structures were found around the star, the most noteworthy of which is a very bright jet-like structure North-East from the star. The astrometric measurements of the companion in the four epochs confirm that it is gravitationally bound to the star. The SPHERE photometry and the SINFONI spectrum, once corrected for extinction, point toward an early M spectral type object with a mass between 0.3 and 0.55 M?. The astrometric analyis provides constraints on the orbit paramenters: e~0.4, semi-major axis at 27-28 au, inclination of ~ 70{\deg} and a period larger than 30 years. We were also able to put constraints of few MJup on the mass of possible other companions down to separations of few tens of au., Comment: 11 pages, 13 figures, accepted by A&A