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Spiral arms are some of the most spectacular features in disc galaxies, and also present in our own Milky Way. It has been argued that star formation should proceed more efficiently in spiral arms as a result of gas compression. Yet, observational studies have so far yielded contradictory results. Here we examine arm/interarm surface density contrasts at ~100 pc resolution in 28 spiral galaxies from the PHANGS survey. We find that the arm/interarm contrast in stellar mass surface density (Sigma_*) is very modest, typically a few tens of percent. This is much smaller than the contrasts measured for molecular gas (Sigma_mol) or star formation rate (Sigma_SFR) surface density, which typically reach a factor of ~2-3. Yet, Sigma_mol and Sigma_SFR contrasts show a significant correlation with the enhancement in Sigma_*, suggesting that the small stellar contrast largely dictates the stronger accumulation of gas and star formation. All these contrasts increase for grand-design spirals compared to multi-armed and flocculent systems (and for galaxies with high stellar mass). The median star formation efficiency (SFE) of the molecular gas is 16% higher in spiral arms than in interarm regions, with a large scatter, and the contrast increases significantly (median SFE contrast 2.34) for regions of particularly enhanced stellar contrast (Sigma_* contrast >1.97). The molecular-to-atomic gas ratio (Sigma_mol/Sigma_atom) is higher in spiral arms, pointing to a transformation of atomic to molecular gas. In conclusion, the boost in the star formation efficiency of molecular gas in spiral arms is generally modest or absent, except for locations with exceptionally large stellar contrasts. (abridged), Comment: 26 pages, 16 figures. Accepted for publication in A&A

We identify giant molecular clouds (GMCs) associated with HII regions for a sample of 19 nearby galaxies using catalogs of GMCs and H regions released by the PHANGS-ALMA and PHANGS-MUSE surveys, using the overlap of the CO and H{\alpha} emission as the key criterion for physical association. We compare the distributions of GMC and HII region properties for paired and non-paired objects. We investigate correlations between GMC and HII region properties among galaxies and across different galactic environments to determine whether GMCs that are associated with HII regions have significantly distinct physical properties to the parent GMC population. We identify trends between the H{\alpha} luminosity of an HII region and the CO peak brightness and the molecular mass of GMCs that we tentatively attribute to a direct physical connection between the matched objects, and which arise independently of underlying environmental variations of GMC and HII region properties within galaxies. The study of the full sample nevertheless hides a large variability galaxy by galaxy. Our results suggests that at the ~100 pc scales accessed by the PHANGS-ALMA and PHANGS-MUSE data, pre-supernova feedback mechanisms in HII regions have a subtle but measurable impact on the properties of the surrounding molecular gas, as inferred from CO observations.

We measure empirical relationships between the local star formation rate (SFR) and properties of the star-forming molecular gas on 1.5 kpc scales across 80 nearby galaxies. These relationships, commonly referred to as "star formation laws," aim at predicting the local SFR surface density from various combinations of molecular gas surface density, galactic orbital time, molecular cloud free-fall time, and the interstellar medium dynamical equilibrium pressure. Leveraging a multiwavelength database built for the PHANGS survey, we measure these quantities consistently across all galaxies and quantify systematic uncertainties stemming from choices of SFR calibrations and the CO-to-H$_2$ conversion factors. The star formation laws we examine show 0.3-0.4 dex of intrinsic scatter, among which the molecular Kennicutt-Schmidt relation shows a $\sim$10% larger scatter than the other three. The slope of this relation ranges $\beta\approx0.9{-}1.2$, implying that the molecular gas depletion time remains roughly constant across the environments probed in our sample. The other relations have shallower slopes ($\beta\approx0.6{-}1.0$), suggesting that the star formation efficiency (SFE) per orbital time, the SFE per free-fall time, and the pressure-to-SFR surface density ratio (i.e., the feedback yield) may vary systematically with local molecular gas and SFR surface densities. Last but not least, the shapes of the star formation laws depend sensitively on methodological choices. Different choices of SFR calibrations can introduce systematic uncertainties of at least 10-15% in the star formation law slopes and 0.15-0.25 dex in their normalization, while the CO-to-H$_2$ conversion factors can additionally produce uncertainties of 20-25% for the slope and 0.10-0.20 dex for the normalization., Comment: 10 pages main text + 2 appendices. ApJL in press. Data products available at https://www.canfar.net/storage/list/phangs/RELEASES/Sun_etal_2023 . Slides summarizing key results can be found at https://www.dropbox.com/s/5gsegexeo9n0t05/Sun_et_PHANGS_2023.pptx?dl=0

The PHANGS collaboration has been building a reference dataset for the multi-scale, multi-phase study of star formation and the interstellar medium in nearby galaxies. With the successful launch and commissioning of JWST, we can now obtain high-resolution infrared imaging to probe the youngest stellar populations and dust emission on the scales of star clusters and molecular clouds ($\sim$5-50 pc). In Cycle 1, PHANGS is conducting an 8-band imaging survey from 2-21$\mu$m of 19 nearby spiral galaxies. CO(2-1) mapping, optical integral field spectroscopy, and UV-optical imaging for all 19 galaxies have been obtained through large programs with ALMA, VLT/MUSE, and Hubble. PHANGS-JWST enables a full inventory of star formation, accurate measurement of the mass and age of star clusters, identification of the youngest embedded stellar populations, and characterization of the physical state of small dust grains. When combined with Hubble catalogs of $\sim$10,000 star clusters, MUSE spectroscopic mapping of $\sim$20,000 HII regions, and $\sim$12,000 ALMA-identified molecular clouds, it becomes possible to measure the timescales and efficiencies of the earliest phases of star formation and feedback, build an empirical model of the dependence of small dust grain properties on local ISM conditions, and test our understanding of how dust-reprocessed starlight traces star formation activity, all across a diversity of galactic environments. Here we describe the PHANGS-JWST Treasury survey, present the remarkable imaging obtained in the first few months of science operations, and provide context for the initial results presented in the first series of PHANGS-JWST publications., Comment: Re-submitted after addressing minor comments from referee. To be published as part of PHANGS-JWST ApJL Focus Issue

The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed for aerial and legged robots. First, robot models that enable the presented whole-body trajectory optimisation framework are presented. The key model is the so-called robot centroidal momentum, the dynamics of which is directly related to the models of the robot actuation for aerial and terrestrial locomotion. Then, the paper presents how these models can be employed in an optimal control problem to generate either terrestrial or aerial locomotion trajectories with a unified approach. The optimisation problem considers robot kinematics, momentum, thrust forces and their bounds. The overall approach is validated using the multimodal robot iRonCub, a flying humanoid robot that expresses a degree of terrestrial and aerial locomotion. To solve the associated optimal trajectory generation problem, we employ ADAM, a custom-made open-source library that implements a collection of algorithms for calculating rigid-body dynamics using CasADi., Comment: Paper accepted in Humanoids 2022

The processes of star formation and feedback, regulating the cycle of matter between gas and stars on the scales of giant molecular clouds (GMCs; $\sim$100pc), play a major role in governing galaxy evolution. Measuring the time-scales of GMC evolution is important to identify and characterise the specific physical mechanisms that drive this transition. By applying a robust statistical method to high-resolution CO and narrow-band H$\alpha$ imaging from the PHANGS survey, we systematically measure the evolutionary timeline from molecular clouds to exposed young stellar regions on GMC scales, across the discs of an unprecedented sample of 54 star-forming main-sequence galaxies (excluding their unresolved centres). We find that clouds live for about $1{-}3$ GMC turbulence crossing times ($5{-}30$Myr) and are efficiently dispersed by stellar feedback within $1{-}5$Myr once the star-forming region becomes partially exposed, resulting in integrated star formation efficiencies of $1{-}8$%. These ranges reflect physical galaxy-to-galaxy variation. In order to evaluate whether galactic environment influences GMC evolution, we correlate our measurements with average properties of the GMCs and their local galactic environment. We find several strong correlations that can be physically understood, revealing a quantitative link between galactic-scale environmental properties and the small-scale GMC evolution. Notably, the measured CO-visible cloud lifetimes become shorter with decreasing galaxy mass, mostly due to the increasing presence of CO-dark molecular gas in such environment. Our results represent a first step towards a comprehensive picture of cloud assembly and dispersal, which requires further extension and refinement with tracers of the atomic gas, dust, and deeply-embedded stars., Comment: 24 pages, 8 figures, 5 tables; accepted for publication in MNRAS (August 16, 2022)

The relative distribution of molecular gas and star formation in galaxies gives insight into the physical processes and timescales of the cycle between gas and stars. In this work, we track the relative spatial configuration of CO and H$\alpha$ emission at high resolution in each of our galaxy targets, and use these measurements to quantify the distributions of regions in different evolutionary stages of star formation: from molecular gas without star formation traced by H$\alpha$ to star-forming gas, and to HII regions. The large sample, drawn from the Physics at High Angular resolution in Nearby GalaxieS ALMA and narrowband H$\alpha$ (PHANGS-ALMA and PHANGS-H$\alpha$) surveys, spans a wide range of stellar mass and morphological types, allowing us to investigate the dependencies of the gas-star formation cycle on global galaxy properties. At a resolution of 150 pc, the incidence of regions in different stages shows a dependence on stellar mass and Hubble type of galaxies over the radial range probed. Massive and/or earlier-type galaxies exhibit a significant reservoir of molecular gas without star formation traced by H$\alpha$, while lower-mass galaxies harbor substantial HII regions that may have dispersed their birth clouds or formed from low-mass, more isolated clouds. Galactic structures add a further layer of complexity to relative distribution of CO and H$\alpha$ emission. Trends between galaxy properties and distributions of gas traced by CO and H$\alpha$ are visible only when the observed spatial scale is $\ll$ 500 pc, reflecting the critical resolution requirement to distinguish stages of star formation process., Comment: 60 pages, 22 figures, 9 tables, accepted for publication in The Astrophysical Journal

We present the PHANGS-MUSE survey, a programme using the MUSE IFS at the ESO VLT to map 19 massive $(9.4 < \log(M_{*}/M_\odot) < 11.0)$ nearby (D < 20 Mpc) star-forming disc galaxies. The survey consists of 168 MUSE pointings (1'x1' each), a total of nearly 15 Million spectra, covering ~1.5 Million independent spectra. PHANGS-MUSE provides the first IFS view of star formation across different local environments (including galaxy centres, bars, spiral arms) in external galaxies at a median resolution of 50~pc, better than the mean inter-cloud distance in the ionised interstellar medium. This `cloud-scale' resolution allows detailed demographics and characterisations of HII regions and other ionised nebulae. PHANGS-MUSE further delivers a unique view on the associated gas and stellar kinematics, and provides constraints on the star formation history. The PHANGS-MUSE survey is complemented by dedicated ALMA CO(2-1) and multi-band HST observations, therefore allowing us to probe the key stages of the star formation process from molecular clouds to HII regions and star clusters. This paper describes the scientific motivation, sample selection, observational strategy, data reduction and analysis process of the PHANGS-MUSE survey. We present our bespoke automated data-reduction framework, which is built on the reduction recipes provided by ESO, but additionally allows for mosaicking and homogenisation of the point spread function. We further present a detailed quality assessment and a brief illustration of the potential scientific applications of the large set of PHANGS-MUSE data products generated by our data analysis framework. The data cubes and analysis data products described in this paper represent the basis for the first PHANGS-MUSE public data release and are available in the ESO archive and via the Canadian Astronomy Data Centre., Comment: 48 pages, 28 figures, 4 tables, accepted for pub in A&A, Dec 8, 2021. Data products released publicly at this address https://archive.eso.org/scienceportal/home?data_collection=PHANGS

We identify stellar structures in the PHANGS sample of 74 nearby galaxies and construct morphological masks of sub-galactic environments based on Spitzer 3.6 micron images. At the simplest level, we distinguish centres, bars, spiral arms, interarm and discs without strong spirals. Slightly more sophisticated masks include rings and lenses, publicly released but not explicitly used in this paper. We examine trends using PHANGS-ALMA CO(2-1) intensity maps and tracers of star formation. The interarm regions and discs without strong spirals dominate in area, whereas molecular gas and star formation are quite evenly distributed among the five basic environments. We reproduce the molecular Kennicutt-Schmidt relation with a slope compatible with unity within the uncertainties, without significant slope differences among environments. In contrast to early studies, we find that bars are not always deserts devoid of gas and star formation, but instead they show large diversity. Similarly, spiral arms do not account for most of the gas and star formation in disc galaxies, and they do not have shorter depletion times than the interarm regions. Spiral arms accumulate gas and star formation, without systematically boosting the star formation efficiency. Centres harbour remarkably high surface densities and on average shorter depletion times than other environments. Centres of barred galaxies show higher surface densities and wider distributions compared to the outer disc; yet, depletion times are similar to unbarred galaxies, suggesting highly intermittent periods of star formation when bars episodically drive gas inflow, without enhancing the central star formation efficiency permanently. In conclusion, we provide quantitative evidence that stellar structures in galaxies strongly affect the organisation of molecular gas and star formation, but their impact on star formation efficiency is more subtle., Comment: 28 pages, 11 figures, accepted for publication in A&A

We present PHANGS-ALMA, the first survey to map CO J=2-1 line emission at ~1" ~ 100pc spatial resolution from a representative sample of 90 nearby (d<~20 Mpc) galaxies that lie on or near the z=0 "main sequence" of star-forming galaxies. CO line emission traces the bulk distribution of molecular gas, which is the cold, star-forming phase of the interstellar medium. At the resolution achieved by PHANGS-ALMA, each beam reaches the size of a typical individual giant molecular cloud (GMC), so that these data can be used to measure the demographics, life-cycle, and physical state of molecular clouds across the population of galaxies where the majority of stars form at z=0. This paper describes the scientific motivation and background for the survey, sample selection, global properties of the targets, ALMA observations, and characteristics of the delivered ALMA data and derived data products. As the ALMA sample serves as the parent sample for parallel surveys with VLT/MUSE, HST, AstroSat, VLA, and other facilities, we include a detailed discussion of the sample selection. We detail the estimation of galaxy mass, size, star formation rate, CO luminosity, and other properties, compare estimates using different systems and provide best-estimate integrated measurements for each target. We also report the design and execution of the ALMA observations, which combine a Cycle~5 Large Program, a series of smaller programs, and archival observations. Finally, we present the first 1" resolution atlas of CO emission from nearby galaxies and describe the properties and contents of the first PHANGS-ALMA public data release., Comment: 76 pages, 33 figures. Accepted for publication in the Astrophysical Journal Supplement series. Full resolution version and the image atlas to appear as a figure set in the published version can be found https://sites.google.com/view/phangs/publications . Data release coming soon to the ALMA archive and CADC temporarily available at http://phangs.org/data

We describe the processing of the PHANGS-ALMA survey and present the PHANGS-ALMA pipeline, a public software package that processes calibrated interferometric and total power data into science-ready data products. PHANGS-ALMA is a large, high-resolution survey of CO J=2-1 emission from nearby galaxies. The observations combine ALMA's main 12-m array, the 7-m array, and total power observations and use mosaics of dozens to hundreds of individual pointings. We describe the processing of the u-v data, imaging and deconvolution, linear mosaicking, combining interferometer and total power data, noise estimation, masking, data product creation, and quality assurance. Our pipeline has a general design and can also be applied to VLA and ALMA observations of other spectral lines and continuum emission. We highlight our recipe for deconvolution of complex spectral line observations, which combines multiscale clean, single scale clean, and automatic mask generation in a way that appears robust and effective. We also emphasize our two-track approach to masking and data product creation. We construct one set of "broadly masked" data products, which have high completeness but significant contamination by noise, and another set of "strictly masked" data products, which have high confidence but exclude faint, low signal-to-noise emission. Our quality assurance tests, supported by simulations, demonstrate that 12-m+7-m deconvolved data recover a total flux that is significantly closer to the total power flux than the 7-m deconvolved data alone. In the appendices, we measure the stability of the ALMA total power calibration in PHANGS--ALMA and test the performance of popular short-spacing correction algorithms., Comment: Accepted for publication in the Astrophysical Journal Supplement series. 65 pages, 33 figures. Software available at https://github.com/akleroy/phangs_imaging_scripts . For a full resolution version see https://sites.google.com/view/phangs/publications

The PHANGS program is building the first dataset to enable the multi-phase, multi-scale study of star formation across the nearby spiral galaxy population. This effort is enabled by large survey programs with ALMA, VLT/MUSE, and HST, with which we have obtained CO(2-1) imaging, optical spectroscopic mapping, and high resolution UV-optical imaging, respectively. Here, we present PHANGS-HST, which has obtained five band NUV-U-B-V-I imaging of the disks of 38 spiral galaxies at distances of 4-23 Mpc, and parallel V and I band imaging of their halos, to provide a census of tens of thousands of compact star clusters, and multi-scale stellar associations. The combination of HST, ALMA, and VLT/MUSE observations will yield an unprecedented joint catalog of the observed and physical properties of ~100,000 star clusters, associations, HII regions, and molecular clouds. With these basic units of star formation, PHANGS will systematically chart the evolutionary cycling between gas and stars, across a diversity of galactic environments found in nearby galaxies. We discuss the design of the PHANGS-HST survey, and provide an overview of the HST data processing pipeline and first results, highlighting new methods for selecting star cluster candidates, morphological classification of candidates with convolutional neural networks, and identification of stellar associations over a range of physical scales with a watershed algorithm. We describe the cross-observatory imaging, catalogs, and software products to be released. These high-level science products will seed a broad range of investigations, in particular, the study of embedded stellar populations and dust with JWST, for which a PHANGS Cycle 1 Treasury program to obtain eight band 2-21 $\mu$m imaging has been approved., Comment: ApJS in press. Accepted draft includes moderate revision and updates to the originally posted submitted version. 27 pages, 11 figures, 1 table. Data products released at https://archive.stsci.edu/hlsp/phangs-hst/

It is a major open question which physical processes stop the accretion of gas onto giant molecular clouds (GMCs) and limit the efficiency at which gas is converted into stars within these GMCs. While feedback from supernova explosions has been the popular feedback mechanism included in simulations of galaxy formation and evolution, `early' feedback mechanisms such as stellar winds, photoionisation and radiation pressure are expected to play an important role in dispersing the gas after the onset of star formation. These feedback processes typically take place on small scales ($\sim 10-100$ pc) and their effects have therefore been difficult to constrain in environments other than the Milky Way. We apply a novel statistical method to $\sim 1$" resolution maps of CO and Ha emission across a sample of nine nearby disc galaxies, in order to measure the time over which GMCs are dispersed by feedback from young, high-mass stars, as a function of the galactic environment. We find that GMCs are typically dispersed within $\sim$ 3 Myr after the emergence of unembedded high-mass stars, showing no significant trend with galactocentric radius. Comparison with analytical predictions demonstrates that, independently of the environment, early feedback mechanisms (particularly photoionisation and stellar winds) play a crucial role in dispersing GMCs and limiting their star formation efficiency in nearby galaxies. Finally, we show that the efficiency at which the energy injected by these early feedback mechanisms couples with the parent GMC is relatively low (a few tens of per cent), such that the vast majority of momentum and energy emitted by the young stellar populations escapes the parent GMC., Comment: 17 pages, 8 figures, 3 tables; submitted to MNRAS (October 23, 2020)

End users positive response is essential for the success of any software. This is true for both commercial and Open Source Software (OSS). OSS is popular not only because of its availability, which is usually free but due to the user support it provides, generally through public platforms. The study model of this research establishes a relationship between OSS user support and available support tools. To conduct this research, we used a dataset of 100 OSS projects in different categories and examined five user support tools provided by different OSS projects. The results show that project trackers, user mailing lists, and updated versions have a significant role in gaining user support. However, we were unable to find a significant association between user support and documentation, as well as between user support and the troubleshooting guidelines provided by OSS projects., Comment: IEEE 15th Internatinal Conference on Control and Automation (ICCA), Edinburgh, Scotland, pp, 964-968, July 2019

It remains a major challenge to derive a theory of cloud-scale ($\lesssim100$ pc) star formation and feedback, describing how galaxies convert gas into stars as a function of the galactic environment. Progress has been hampered by a lack of robust empirical constraints on the giant molecular cloud (GMC) lifecycle. We address this problem by systematically applying a new statistical method for measuring the evolutionary timeline of the GMC lifecycle, star formation, and feedback to a sample of nine nearby disc galaxies, observed as part of the PHANGS-ALMA survey. We measure the spatially-resolved ($\sim100$ pc) CO-to-H$\alpha$ flux ratio and find a universal de-correlation between molecular gas and young stars on GMC scales, allowing us to quantify the underlying evolutionary timeline. GMC lifetimes are short, typically 10-30 Myr, and exhibit environmental variation, between and within galaxies. At kpc-scale molecular gas surface densities $\Sigma_{\rm H_2}\geqslant8$M$_{\odot}$pc$^{-2}$, the GMC lifetime correlates with time-scales for galactic dynamical processes, whereas at $\Sigma_{\rm H_2}\leqslant8$M$_{\odot}$pc$^{-2}$ GMCs decouple from galactic dynamics and live for an internal dynamical time-scale. After a long inert phase without massive star formation traced by H$\alpha$ (75-90% of the cloud lifetime), GMCs disperse within just 1-5 Myr once massive stars emerge. The dispersal is most likely due to early stellar feedback, causing GMCs to achieve integrated star formation efficiencies of 4-10% These results show that galactic star formation is governed by cloud-scale, environmentally-dependent, dynamical processes driving rapid evolutionary cycling. GMCs and HII regions are the fundamental units undergoing these lifecycles, with mean separations of 100-300 pc in star-forming discs. Future work should characterise the multi-scale physics and mass flows driving these lifecycles., Comment: 39 pages, 14 figures; resubmitted to MNRAS after a favourable referee report (November 6, 2019)