Search

We here present the results of an analysis of the optical spectroscopy of 42 globular cluster (GC) candidates in the nearby spiral galaxy M81 (3.61~Mpc). The spectra were obtained using the long-slit and MOS modes of the OSIRIS instrument at the 10.4~m Gran Telescopio Canarias (GTC) at a spectral resolution of $\sim$1000. We used the classical H$\beta$ vs [MgFe]$'$ index diagram to separate genuine old GCs from clusters younger than 3 Gyr. Of the 30 spectra with continuum signal-to-noise ratio $>10$, we confirm 17 objects to be classical GCs (age $>10$~Gyr, $-1.4<$[Fe/H]$<-$0.4), with the remaining 13 being intermediate-age clusters (1-7.5~Gyr). We combined age and metallicity data of other nearby spiral galaxies ($\lesssim18$~Mpc) obtained using similar methodology like the one we have used here to understand the origin of GCs in spiral galaxies in the cosmological context. We find that the metal-poor ([Fe/H]<$-$1) GCs continued to form up to 6~Gyr after the first GCs were formed, with all younger systems (age $<8$~Gyr) being metal-rich., Comment: 16 pages, 13 figures, 8 tables; Accepted for publication in MNRAS

This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether withcontrollable length. To the best of our knowledge, this is the first method that addresses the trajectory planning of a marsupial UGV-UAV with a non-taut tether. The objective is to determine a synchronized collision-free trajectory for the three marsupial system agents: UAV, UGV, and tether. First, we present a path planning solution based on optimal Rapidly-exploring Random Trees (RRT*) with novel sampling and steering techniques to speed-up the computation. This algorithm is able to obtain collision-free paths for the UAV and the UGV, taking into account the 3D environment and the tether. Then, the paper presents a trajectory planner based on non-linear least squares. The optimizer takes into account aspects not considered in the path planning, like temporal constraints of the motion imposed by limits on the velocities and accelerations of the robots , or raising the tether's clearance. Simulated and field test results demonstrate that the approach generates obstacle-free, smooth, and feasible trajectories for the marsupial system., Comment: This work has duplication, and in its case the article uploaded by my colleague David Alejo (arXiv:2204.01828) should be considered. In this way we only want to publish the article arXiv:2204.01828 for later updating

This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best of our knowledge, this is the first method that addresses the trajectory planning of a marsupial UGV-UAV with a non-taut tether. The objective is to determine a synchronized collision-free trajectory for the three marsupial system agents: UAV, UGV, and tether. First, we present a path planning solution based on optimal Rapidly-exploring Random Trees (RRT*) with novel sampling and steering techniques to speed-up the computation. This algorithm is able to obtain collision-free paths for the UAV and the UGV, taking into account the 3D environment and the tether. Then, the letter presents a trajectory planner based on non-linear least squares. The optimizer takes into account aspects not considered in the path planning, like temporal constraints of the motion imposed by limits on the velocities and accelerations of the robots, or raising the tether's clearance. Simulated and field test results demonstrate that the approach generates obstacle-free, smooth, and feasible trajectories for the marsupial system., Comment: 8 pages, 4 figures, 3 tables. Version accepted in IEEE-Robotics and Automation Letters. "Copyright 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses..."

We here present the luminosity function (LF) of globular clusters (GCs) in five nearby spiral galaxies using the samples of GC candidates selected in Hubble Space Telescope mosaic images in F435W, F555W and F814W filters. Our search, which surpasses the fractional area covered by all previous searches in these galaxies, has resulted in the detection of 158 GC candidates in M81, 1123 in M101, 226 in NGC4258, 293 in M51 and 173 in NGC628. The LFs constructed from this dataset, after correcting for relatively small contamination from reddened young clusters, are log-normal in nature, which was hitherto established only for the Milky Way (MW) and Andromeda among spiral galaxies. The magnitude at the turn-over (TO) corresponds to Mv(TO)=-7.41+/-0.14 in four of the galaxies with Hubble types Sc or earlier, in excellent agreement with Mv(TO)=-7.40+/-0.10 for the MW. The TO magnitude is equivalent to a mass of ~3x10^5 Msun for an old, metal-poor population. Mv(TO) is fainter by ~1.16 magnitude for the fifth galaxy, M101, which is of Hubble type Scd. The TO dependence on Hubble type implies that the GCs in early-type spirals are classical GCs, which have a universal TO, whereas the GC population in late-type galaxies is dominated by old disk clusters, which are in general less massive. The radial density distribution of GCs in our sample galaxies follows the S\'ersic function with exponential power-law indices, and effective radii of 4.0-9.5 kpc. GCs in the sample galaxies have a mean specific frequency of 1.10+/-0.24, after correcting for magnitude and radial incompleteness factors., Comment: 24 pages. Accepted in MNRAS

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by means of a tether. The result is a collision-free trajectory for UAV and tether, assuming the UGV position is static. The optimizer takes into account constraints related to the UAV, UGV and tether positions, obstacles and temporal aspects of the motion such as limited robot velocities and accelerations, and finally the tether state, which is not required to be tense. The problem is formulated in a weighted multi-objective optimization framework. Results from simulated scenarios demonstrate that the approach is able to generate obstacle-free and smooth trajectories for the UAV and tether., Comment: 7 pages, 4 figures, 2 tables, accepted ICRA'21

We here report the detection of extended HeII4686 nebular emission in the central region of NGC1569 using the integral field spectrograph MEGARA at the 10.4-m Gran Telescopio Canarias. The observations cover a Field of View (FoV) of 12.5 arcsec x 11.3 arcsec at seeing-limited spatial resolution of ~15 pc and at a spectral resolution of R=6000 in the wavelength range 4330--5200 Angstrom. The emission extends over a semi-circular arc of ~40 pc width and ~150 pc diameter around the super star cluster A (SSC-A). The Av derived using Balmer decrement varies from the Galactic value of 1.6 mag to a maximum of ~4.5 mag, with a mean value of 2.65+/-0.60 mag. We infer 124+/-11 Wolf-Rayet (WR) stars in SSC-A using the HeII4686 broad feature and Av=2.3 mag. The He+ ionizing photon rate from these WR stars is sufficient to explain the luminosity of the HeII4686 nebula. The observationally-determined total He+ and H0 ionizing photon rates, their ratio, and the observed number of WR stars in SSC-A are all consistent with the predictions of simple stellar population models at an age of 4.0+/-0.5 Myr, and mass of (5.5+/-0.5)x10^5 Msun. Our observations reinforce the absence of WR stars in SSC-B, the second most massive cluster in the FoV. None of the other locations in our FoV where HeII4686 emission has been reported from narrow-band imaging observations contain WR stars., Comment: 20 pages. Accepted in MNRAS

We report the detection of 7 new Wolf-Rayet (WR) star locations in M81 using the Multi-Object Spectrograph of the OSIRIS instrument at Gran Telescopio Canarias. These detections are the result of a follow-up of an earlier study using the same instrumental set-up that resulted in the detection of 14 WR locations. We analyse the entire sample of 21 spectra to classify them to one of the known WR sub-types using template spectra of WR stars in the Large Magellanic Cloud (LMC), with similar metallicity to M81. Taking into consideration the dispersion in the strengths of the bumps for a given WR sub-type, we found that 19 of the 21 locations correspond to individual stars, including all the 7 new detections, of sub-types: WNL, WNE, WCE and the transitional WN/C. None of the detections correspond to WCL or WO types. The positions of these stars in the red bump vs blue bump luminosity diagram agrees well with an evolutionary path according to the Conti scenario. Based on this, we propose this diagram as a straightforward tool for spectral classification of extragalactic WR sources. The detection of individual WR stars in M81, which is at a distance of 3.6 Mpc, opens up a new environment for testing the massive star evolutionary models., Comment: 15 pages, 7 figures, 6 tables; accepted to MNRAS

We analyse the photometric, chemical, star formation history and structural properties of the brightest globular cluster (GC) in M81, referred as GC1 in this work, with the intention of establishing its nature and origin. We find that it is a metal-rich ([Fe/H]=-0.60+/-0.10), alpha-enhanced ([Alpha/Fe]=0.20+/0.05), core-collapsed (core radius r_c=1.2 pc, tidal radius r_t = 76r_c), old (>13 Gyr) cluster. It has an ultraviolet excess equivalent of ~2500 blue horizontal branch stars. It is detected in X-rays indicative of the presence of low-mass binaries. With a mass of 10 million solar masses, the cluster is comparable in mass to M31-G1 and is four times more massive than Omega Cen. The values of r_c, absolute magnitude and mean surface brightness of GC1 suggest that it could be, like massive GCs in other giant galaxies, the left-over nucleus of a dissolved dwarf galaxy., Comment: To appear in MNRAS, 12 pages

We investigate the utility of the Tunable Filters (TFs) for obtaining flux calibrated emission line maps of extended objects such as galactic nebulae and nearby galaxies, using the OSIRIS instrument at the 10.4-m GTC. Despite a relatively large field of view of OSIRIS (8'x8'), the change in the wavelength across the field (~80 Ang) and the long-tail of Tunable Filter (TF) spectral response function, are hindrances for obtaining accurate flux calibrated emission-line maps of extended sources. The purpose of this article is to demonstrate that emission-line maps useful for diagnostics of nebula can be generated over the entire field of view of OSIRIS, if we make use of theoretically well-understood characteristics of TFs. We have successfully generated the flux-calibrated images of the nearby, large late-type spiral galaxy M101 in the emission lines of Halpha, [NII]6583, [SII]6716 and [SII]6731. We find that the present uncertainty in setting the central wavelength of TFs (~1 Ang), is the biggest source of error in the emission-line fluxes. By comparing the Halpha fluxes of HII regions in our images with the fluxes derived from Halpha images obtained using narrow-band filters, we estimate an error of ~11% in our fluxes. The flux calibration of the images was carried out by fitting the SDSS griz magnitudes of in-frame stars with the stellar spectra from the SDSS spectral database. This method resulted in an accuracy of 3% in flux calibration of any narrow-band image, which is as good as, if not better, to that is feasible using the observations of spectrophotometric standard stars. Thus time-consuming calibration images need not be taken. A user-friendly script under the IRAF environment was developed and is available on request., Comment: To appear in PASP (August 2012). Accepted version with a new figure comparing TF line ratios of 6 HII regions with those from SDSS spectra, Appendix removed with its content incorporated into the main text in Sec.5

OSIRIS (Optical System for Imaging and low Resolution Integrated Spectroscopy) is the first light instrument of the Gran Telescopio Canarias (GTC). It provides a flexible and competitive tunable filter (TF). Since it is based on a Fabry-Perot interferometer working in collimated beam, the TF transmission wavelength depends on the position of the target with respect to the optical axis. This effect is non-negligible and must be accounted for in the data reduction. Our paper establishes a wavelength calibration for OSIRIS TF with the accuracy required for spectrophotometric measurements using the full field of view (FOV) of the instrument. The variation of the transmission wavelength $\lambda(R)$ across the FOV is well described by $\lambda(R)=\lambda(0)/\sqrt{1+(R/f_2)^2}$, where $\lambda(0)$ is the central wavelength, $R$ represents the physical distance from the optical axis, and $f_2=185.70\pm0.17\,$mm is the effective focal length of the camera lens. This new empirical calibration yields an accuracy better than 1\,\AA\ across the entire OSIRIS FOV ($\sim$8\arcmin$\times$8\arcmin), provided that the position of the optical axis is known within 45 $\mu$m ($\equiv$ 1.5 binned pixels). We suggest a calibration protocol to grant such precision over long periods, upon re-alignment of OSIRIS optics, and in different wavelength ranges. This calibration differs from the calibration in OSIRIS manual which, nonetheless, provides an accuracy $\lesssim1$\AA\, for $R\lesssim 2\arcmin$., Comment: 22 pages, 7 figures, accepted for publication in PASP

We present the results on the star formation history and extinction in the disk of M82 over spatial scales of 10" (~180 pc). Multi-band photometric data covering from the far ultraviolet to the near infrared bands were fitted to a grid of synthetic spectral energy distributions. We obtained distribution functions of age and extinction for each of the 117 apertures analyzed, taking into account observational errors through Monte-Carlo simulations. These distribution functions were fitted with gaussian functions to obtain the mean ages and extinctions along with errors on them. The analyzed zones include the high surface brightness complexes defined by O'Connell & Mangano (1978). We found that these complexes share the same star formation history and extinction as the field stellar populations in the disk. There is an indication that the stellar populations are marginally older at the outer disk (450 Myr at ~3 kpc) as compared to the inner disk (100 Myr at 0.5 kpc). For the nuclear regions (radius less than 500 pc), we obtained an age of less than 10 Myr. The results obtained in this work are consistent with the idea that the 0.5-3 kpc part of the disk of M82 formed around 90% of the stellar mass in a star-forming episode that started around 450 Myr ago lasting for about 350 Myr. We found that field stars are the major contributors to the flux over the spatial scales analyzed in this study, with stellar cluster contribution being 7% in the nucleus and 0.7% in the disk., Comment: 19 pages, 14 figures. Accepted for publication in The Astrophysical Journal

The M82 galaxy has been the subject of several studies basically because it is relatively close to to the Milky Way and it displays a strong star formation activity. Using multi-band images of M82 we have determined the age and extinction of the stellar population located in regions with strong UV emission, these region are in the nucleus and the disk of M82. We also have employed the UV images of M82 and the physical properties of its stellar clusters to measure the contribution of the clusters to the detected UV flux. We found that clusters located in the nuclear regions are emitting all the observed UV flux, whereas clusters of the disk emit less than ~10%. Based on the results obtained from this work we can infer that the field stars located in the disk of M82 could have been part of a stellar cluster when they were born., Comment: 6 pages, To appear in the proceedings of "A Long Walk Through Astronomy: A Celebration of Luis Carrasco's 60th Birthday", Huatulco, Mexico, October 2008, ed. E. Recillas, L. Aguilar, A. Luna, and J.R. Valdes; RevMexAA (Serie de Conferencias)

We present the results obtained from an objective search for stellar clusters, both in the currently active nuclear starburst region, and in the post-starburst disk of M82. Images obtained with the HST/ACS in F435W(B), F555W(V), and F814W(I) filters were used in the search for the clusters. We detected 653 clusters of which 393 are located outside the central 450 pc in the post-starburst disk of M82. The luminosity function of the detected clusters show an apparent turnover at B=22 mag (M_B=-5.8), which we interpret from Monte Carlo simulations as due to incompleteness in the detection of faint clusters, rather than an intrinsic log-normal distribution. We derived a photometric mass of every detected cluster from models of simple stellar populations assuming a mean age of either an 8 (nuclear clusters) or 100 (disk clusters) million years old. The mass functions of the disk (older) and the nuclear (younger) clusters follow power-laws, the former being marginally flatter (alpha=1.5+/-0.1) than the latter (alpha=1.8+/-0.1). The distribution of sizes (Full Width at Half Maximum) of clusters brighter than the apparent turn-over magnitude (mass>2E+4 Mo) can be described by a log-normal function. This function peaks at 10 pc for clusters more massive than 1E+5 Mo, whereas for lower masses, the peak is marginally shifted to larger values for the younger, and smaller values for the older clusters. The observed trend towards flattening of the mass function with age, together with an over-abundance of older compact clusters, imply that cluster disruption in M82 is both dependent on the mass and size of the clusters., Comment: Accepted for publication in Astrophysical Journal

We present preliminary results on the calculation of synthetic spectra obtained with the stellar model atmospheres developed by Cardona, Crivellari, and Simonneau. These new models have been used as input within the SYNTHE series of codes developed by Kurucz. As a first step we have tested if SYNTHE is able to handle these models which go down to log tau(Ross)= -13. We have successfully calculated a synthetic solar spectrum in the wavelength region 2000--4500 A at high resolution (R=522,000). Within this initial test we have found that layers at optical depths with log tau(Ross) < -7 significantly affect the mid-UV properties of a synthetic spectrum computed from a solar model. We anticipate that these new extended models will be a valuable tool for the analysis of UV stellar light arising from the outermost layers of the atmospheres., Comment: 6 pages, 4 figures. Conference: "New Quests in Stellar Astrophysics II: Ultraviolet Properties of Evolved Stellar Populations"

Taking advantage of recent important advances in the calculation of high-resolution spectral grids of stellar atmospheres at short wavelengths, and their implementation for population synthesis models, we briefly review here some special properties of ultraviolet emission in SSPs, and discuss their potential applications for identifying and tuning up effective diagnostic tools to probe distinctive evolutionary properties of early-type galaxies and other evolved stellar systems., Comment: Invited contribution to "New quests in stellar astrophysics. II: Ultraviolet properties of evolved stellar populations" (Puerto Vallarta, Mexico, Apr 2007), eds. M. Chavez et al. - More info on the UVBLUE spectral library at http://www.bo.astro.it/~eps/home.html

Using the UVBLUE library of synthetic stellar spectra we have computed a set of mid-UV line and continuum spectroscopic indices. We explore their behavior in terms of the leading stellar parameters [T_eff,log(g)]. The overall result is that synthetic indices follow the general trends depicted by those computed from empirical databases. Separately we also examine the index sensitivity to changes in chemical composition, an analysis only feasible under a theoretical approach. In this respect, lines indices FeI3000, BL3096 and MgI2852 and the continuum index 2828/2921 are the least sensitive features, an important characteristic to be taken into account for the analyses of integrated spectra of stellar systems. We also quantify the effects of instrumental resolution on the indices and find that indices display variations up to 0.1 mag in the resolution interval between 6-10 angstrom of FWHM. We discuss the extent to which synthetic indices are compatible with indices measured in spectra collected by the International Ultraviolet Explorer (IUE). Five line and continuum indices (FeI3000, 2110/2570, 2828/2921, S2850, and S2850L) display a remarkable good correlation with observations. The rest of the indices are either underestimated or overestimated, however, two of them, MgWide and BL3096, display only marginal discrepancies. For 11 indices we give the coefficients to convert synthetic indices to the IUE system. This work represents the first attempt to synthesize mid-UV indices from high resolution theoretical spectra and foresees important applications for the study of the ultraviolet morphology of old stellar aggregates., Comment: 20 pages, 6 figures; accepted for publication in The Astrophysical Journal

We present an extended ultraviolet-blue (850-4700 AA) library of theoretical stellar spectral energy distributions (SEDs) computed at high resolution, R= 50,000. The UVBLUE grid, as we named the library, is based on LTE calculations carried out with ATLAS9 and SYNTHE codes developed by R. L. Kurucz and consists of nearly 1800 entries that cover a large volume of the parameter space. It spans a range in effective temperature from 3000 to 50,000 K, the surface gravity ranges from log g= 0.0 to 5.0 with a step of 0.5 dex, while seven chemical compositions are considered: [Fe/H]= -2.0, -1.5, -1.0, -0.5, +0.0, +0.3 and +0.5 dex. For its coverage across the H-R diagram, this library is the most comprehensive one ever computed at high resolution in the short-wavelength spectral range, and useful application can be foreseen both for the study of single stars and in population synthesis models of galaxies and other stellar systems., Comment: 20 Pages, 11 figures, to appear in ApJ; see also http://www.inaoep.mx/~modelos/uvblue/uvblue.html and http://www.bo.astro.it/~eps/uvblue/uvblue.html for further information and data retrieval

We carried out a critical appraisal of the two theoretical models, Kurucz' ATLAS9 and PHOENIX/NextGen, for stellar atmosphere synthesis. Our tests relied on the theoretical fit of SEDs for a sample of 334 target stars along the whole spectral-type sequence. The best-fitting physical parameters of stars allowed a calibration of the temperature and bolometric scale. The main conclusions of our analysis are: i) the fitting accuracy of both theoretical libraries drastically degrades at low Teff; ii) comparing with empirical calibrations, both ATLAS and NextGen fits tend to predict slightly warmer Teff, but ATLAS provides in general a sensibly better fit; iii) there is a striking tendency of NextGen to label target stars with an effective temperature and surface gravity in excess with respect to ATLAS. This is a consequence of some ``degeneracy'' in the solution space, partly induced by the different input physics and geometry constraints. A different T(\tau) vertical structure of stellar atmosphere seems also required for NextGen synthetic SEDs in order to better account for limb-darkening effects in cool stars, as supported by the recent observations of the EROS BLG2000-5 microlensing event., Comment: 18 pages, 14 figures; accepted for publication in the Astronomical Journal (scheduled for the August issue); see also http://www.bo.astro.it/~eps/home.html and http://www.inaoep.mx/~ebertone/