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Buckling is normally associated with a compressive load applied to a slender structure; from railway tracks in extreme heat [1] to microtubules in cytoplasm [2], axial compression is relieved by out-of-plane buckling. However, recent studies have demonstrated that tension applied to structured thin sheets leads to transverse motion that may be harnessed for novel applications. For instance, tension in one direction can actuate motion in an orthogonal direction, enabling the creation of kirigami grippers [3], `groovy metasheets' for multi-stable morphing [4], and lateral bending of ribbed sheets [5]. Qualitatively similar behaviour has also been observed in simulations of thermalized graphene sheets [6,7], where clamping along one edge leads to tilting in the transverse direction. Here, we show that this counter-intuitive behaviour is, in fact, generic for thin sheets that have a relatively low stretching modulus compared to the bending modulus, which allows `giant actuation' with moderate strain. Indeed, transverse buckling can be induced by uni-axial tension even in unstructured elastic sheets, provided that the axial loading is sufficiently close to localized. We therefore refer to this as `Tension indUced Giant actuation' (TUG actuation) and study its properties. We show that TUG actuation occurs because of an efficient transfer of applied tensile load into compression and determine scaling results for the transverse angle as a function of applied strain; our scaling results compare favorably with both experiments and simulations. Our findings suggest that controlled buckling in tension can be utilized in a broader range of materials and structures to give TUG actuation, potentially expanding the scope of its application in material science and engineering., Comment: 7 pages, 4 figures

High-precision control for nonlinear systems is impeded by the low-fidelity dynamical model and external disturbance. Especially, the intricate coupling between internal uncertainty and external disturbance is usually difficult to be modeled explicitly. Here we show an effective and convergent algorithm enabling accurate estimation of the coupled disturbance via combining control and learning philosophies. Specifically, by resorting to Chebyshev series expansion, the coupled disturbance is firstly decomposed into an unknown parameter matrix and two known structures depending on system state and external disturbance respectively. A Regularized Least Squares (RLS) algorithm is subsequently formalized to learn the parameter matrix by using historical time-series data. Finally, a higher-order disturbance observer (HODO) is developed to achieve a high-precision estimation of the coupled disturbance by utilizing the learned portion. The efficiency of the proposed algorithm is evaluated through extensive simulations. We believe this work can offer a new option to merge learning schemes into the control framework for addressing existing intractable control problems., Comment: 8 pages, 3 figures

This paper presents an excitation operator based fault separation architecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss of effectiveness (LoE) faults, actuator aging, and load uncertainty. The actuator fault dynamics is deeply excavated, containing the deep coupling information among the actuator faults, the system states, and control inputs. By explicitly considering the physical constraints and tracking performance, an excitation operator and corresponding integrated state observer are designed to estimate separately actuator fault and load uncertainty. Moreover, a fault separation maneuver and a safety controller are proposed to ensure the tracking performance when the excitation operator is injected. Both comparative simulation and flight experiments have demonstrated the effectiveness of the proposed scheme while maintaining high levels of tracking performance.

The phenomenological study of evolving galaxy populations has shown that star forming galaxies can be quenched by two distinct processes: mass quenching and environment quenching (Peng et al. 2010). To explore the mass quenching process in local galaxies, we study the massive central disk galaxies with stellar mass above the Schechter characteristic mass. In Zhang et al. (2019), we showed that during the quenching of the massive central disk galaxies as their star formation rate (SFR) decreases, their molecular gas mass and star formation efficiency drop rapidly, but their HI gas mass remains surprisingly constant. To identify the underlying physical mechanisms, in this work we analyze the change during quenching of various structure parameters, bar frequency, and active galactic nucleus (AGN) activity. We find three closely related facts. On average, as SFR decreases in these galaxies: (1) they become progressively more compact, indicated by their significantly increasing concentration index, bulge-to-total mass ratio, and central velocity dispersion, which are mainly driven by the growth and compaction of their bulge component; (2) the frequency of barred galaxies increases dramatically, and at a given concentration index the barred galaxies have a significantly higher quiescent fraction than unbarred galaxies, implying that the galactic bar may play an important role in mass quenching; and (3) the "AGN" frequency increases dramatically from 10% on the main sequence to almost 100% for the most quiescent galaxies, which is mainly driven by the sharp increase of LINERs. These observational results lead to a self-consistent picture of how mass quenching operates., Comment: 20 pages, 11 figures. Published in ApJ

We use the complete Sydney-AAO Multi-object Integral field spectrograph (SAMI) Galaxy Survey to determine the contribution of slow rotators, as well as different types of fast rotators, to the stellar mass function of galaxies in the local Universe. We use stellar kinematics not only to discriminate between fast and slow rotators, but also to distinguish between dynamically cold systems (i.e., consistent with intrinsic axis ratios$<0.3$) and systems including a prominent dispersion-supported bulge. We show that fast rotators account for more than $80\%$ of the stellar mass budget of nearby galaxies, confirming that their number density overwhelms that of slow rotators at almost all masses from $10^{9}$ to $10^{11.5}{\rm M_\odot}$. Most importantly, dynamically cold disks contribute to at least $25\%$ of the stellar mass budget of the local Universe, significantly higher than what is estimated from visual morphology alone. For stellar masses up to $10^{10.5}{\rm M_\odot}$, this class makes up $>=30\%$ of the galaxy population in each stellar mass bin. The fact that many galaxies that are visually classified as having two-components have stellar spin consistent with dynamically cold disks suggests that the inner component is either rotationally-dominated (e.g., bar, pseudo-bulge) or has little effect on the global stellar kinematics of galaxies., Comment: 11pages, 6 figures, accepted for publication in MNRAS

The massive galaxy population above the characteristic Schechter mass M*~10^10.6 Msun contributes to about half of the total stellar mass in the local Universe. These massive galaxies usually reside in hot dark matter haloes above the critical shock-heating mass ~10^12 Msun, where the external cold gas supply to these galaxies is expected to be suppressed. When galaxies run out of their cold gas reservoir, they become dead and quiescent. Therefore, massive quiescent galaxies living in hot haloes are commonly believed to be gas-poor. Based on the data from SDSS, ALFALFA, GASS and COLD GASS surveys, here we show that the vast majority of the massive, quiescent, central disk galaxies in the nearby Universe have a remarkably large amount of cold atomic hydrogen gas, surprisingly similar to star-forming galaxies. Both star-forming and quiescent disk galaxies show identical symmetric double-horn HI spectra, indicating similar regularly rotating HI disks. Relative to their star-forming counterparts, massive quiescent central disk galaxies are quenched because of their significantly reduced molecular gas content, lower dust content, and lower star formation efficiency. Our findings reveal a new picture, which clearly demonstrates the detailed star-formation quenching process in massive galaxies and provides a stringent constraint on the physical mechanism of quenching., Comment: 10 pages, 4 figures (+2 figures in the appendix); accepted for publication in The Astrophysical Journal Letters

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles' position information and desired attitude, the translational and rotational control inputs are designed in two stages to solve the trajectory tracking problem. Secondly, the coordination relationships of relative positions and headings are explored thoroughly for a group of non-holonomic vehicles to maintain a mobile formation with rigid body motion constraints. We prove that, except for the cases of parallel formation and translational straight line formation, a mobile formation with strict rigid-body motion can be achieved if and only if the ratios of linear speed to angular speed for each individual vehicle are constants. Motion properties for mobile formation with weak rigid-body motion are also demonstrated. Thereafter, based on the proposed trajectory tracking approach, a distributed mobile formation control law is designed under a directed tree graph. The performance of the proposed controllers is validated by both numerical simulations and experiments.

We study how star formation (SF) is quenched in low-redshift disk galaxies with integral-field spectroscopy. We select 131 face-on spiral galaxies with stellar mass greater than $\rm 3\times10^{10}M_\odot$, and with spatially resolved spectrum from MaNGA DR13. We subdivide the sample into four groups based on the offset of their global specific star formation rate (SFR) from the star-forming main sequence and stack the radial profiles of stellar mass and SFR. By comparing the stacked profiles of quiescent and star-forming disk galaxies, we find that the decrease of the global SFR is caused by the suppression of SF at all radii, but with a more significant drop from the center to the outer regions following an inside-out pattern. As the global specific SFR decreases, the central stellar mass, the fraction of disk galaxies hosting stellar bars, and active galactic nuclei (AGNs; including both LINERs and Seyferts) all increase, indicating dynamical processes and AGN feedback are possible contributors to the inside-out quenching of SF in the local universe. However, if we include only Seyferts, or AGNs with ${\rm EW(H\alpha)>3\AA}$, the increasing trend of AGN fraction with decreasing global sSFR disappears. Therefore, if AGN feedback is contributing to quenching, we suspect that it operates in the low-luminosity AGN mode, as indicated by the increasing large bulge mass of the more passive disk galaxies., Comment: 12 pages, 7 figures, published in ApJ, typos corrected, references updated

We present structural parameters and morphological properties of faint 450-um selected submillimeter galaxies (SMGs) from the JCMT Large Program, STUDIES, in the COSMOS-CANDELS region. Their properties are compared to an 850um selected and a matched star-forming samples. We investigate stellar structures of 169 faint 450-um sources (S450=2.8-29.6mJy; S/N>4) at z<3 using HST near-infrared observations. Based on our spectral energy distribution fitting, half of such faint SMGs (LIR=10^11.65+-0.98Lsun) lie above the star-formation rate (SFR)/stellar mass plane. The size-mass relation shows that these SMGs are generally similar to less-luminous star-forming galaxies selected by NUV-r vs. r-J colors. Because of the intrinsic luminosity of the sample, their rest-frame optical emission is less extended than the 850um sources (S850>2mJy), and more extended than the star-forming galaxies in the same redshift range. For the stellar mass and SFR matched sample at z~=1 and z~=2, the size differences are marginal between faint SMGs and the matched galaxies. Moreover, faint SMGs have similar Sersic indices and projected axis ratios as star-forming galaxies with the same stellar mass and SFR. Both SMGs and the matched galaxies show high fractions (~70%) of disturbed features at z~=2, and the fractions depend on the SFRs. These suggest that their star formation activity is related to galaxy merging, and the stellar structures of SMGs are similar to those of star-forming galaxies. We show that the depths of submillimeter surveys are approaching the lower luminosity end of star-forming galaxies, allowing us to detect galaxies on the main sequence., Comment: accepted for publication in ApJ

In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing between the quadcopter and target. To achieve robust localization for autonomous flight even with uncertainty in the speed of the target, two main features are developed. First, an estimator based on Extended Kalman Filter (EKF) is developed to fuse UWB ranging measurements with data from onboard sensors including inertial measurement unit (IMU), altimeters and optical flow. Second, to properly handle the coupling of the target's orientation with the range measurements, UWB based communication capability is utilized to transfer the target's orientation to the quadcopter. Experiment results demonstrate the ability of the quadcopter to control its position relative to the target autonomously in both cases when the target is static and moving., Comment: 2018 International Conference on Robotics and Automation (ICRA 2018)

We present a detection of 89 candidates of ultra-diffuse galaxies (UDGs) in a 4.9 degree$^2$ field centered on the Hickson Compact Group 95 (HCG 95) using deep $g$- and $r$-band images taken with the Chinese Near Object Survey Telescope. This field contains one rich galaxy cluster (Abell 2588 at $z$=0.199) and two poor clusters (Pegasus I at $z$=0.013 and Pegasus II at $z$=0.040). The 89 candidates are likely associated with the two poor clusters, giving about 50 $-$ 60 true UDGs with a half-light radius $r_{\rm e} > 1.5$ kpc and a central surface brightness $\mu(g,0) > 24.0$ mag arcsec$^{-2}$. Deep $z$'-band images are available for 84 of the 89 galaxies from the Dark Energy Camera Legacy Survey (DECaLS), confirming that these galaxies have an extremely low central surface brightness. Moreover, our UDG candidates are spread over a wide range in $g-r$ color, and $\sim$26% are as blue as normal star-forming galaxies, which is suggestive of young UDGs that are still in formation. Interestingly, we find that one UDG linked with HCG 95 is a gas-rich galaxy with H I mass $1.1 \times 10^{9} M_{\odot}$ detected by the Very Large Array, and has a stellar mass of $M_\star \sim 1.8 \times 10^{8}$ $M_{\odot}$. This indicates that UDGs at least partially overlap with the population of nearly dark galaxies found in deep H I surveys. Our results show that the high abundance of blue UDGs in the HCG 95 field is favored by the environment of poor galaxy clusters residing in H I-rich large-scale structures., Comment: Published in ApJ

It remains challenging to detect the low surface brightness structures of faint high-z galaxies, which is key to understanding the structural evolution of galaxies. The technique of image stacking allows us to measure the averaged light profile beneath the detection limit and probe the extended structure of a group of galaxies. We carry out simulations to examine the recovery of the averaged surface brightness profile through stacking model HST/ACS images of a set of galaxies as functions of Sersic index (n), effective radius (Re) and axis ratio (AR). The Sersic profile best fitting the radial profile of the stacked image is taken as the recovered profile, in comparison with the intrinsic mean profile of the model galaxies. Our results show that, in general, the structural parameters of the mean profile can be properly determined through stacking, although systematic biases need to be corrected when spreads of Re and AR are counted. We find that Sersic index is slightly overestimated and Re is underestimated at AR < 0.5 as the stacked image appears to be more compact due to the presence of inclined galaxies; the spread of Re biases the stacked profile to have a higher Sersic index. We stress that the measurements of structural parameters through stacking should take these biases into account. We estimate the biases in the recovered structural parameters from stacks of galaxies when the samples have distributions of Re, AR and n seen in local galaxies., Comment: Accepted for publication in AJ