Quasars at z=6: the survival of the fittest

The Sloan Digital Sky survey detected luminous quasars at very high redshift, z>6. Follow-up observations indicated that at least some of these quasars are powered by supermassive black holes (SMBHs) with masses in excess of billion solar masses. SMBHs, therefore, seem to have already existed when the Universe was less than 1 Gyr old, and the bulk of galaxy formation still has to take place. We investigate in this paper to which extent accretion and dynamical processes influence the early growth of SMBHs. We assess the impact of (i) black hole mergers, (ii) the influence of the merging efficiency and (iii) the negative contribution due to dynamical effects which can kick black holes out of their host halos (gravitational recoil). We find that if accretion is always limited by the Eddington rate via a thin disc, the maximum radiative efficiency allowed to reproduce the LF at z=6 is of order 12%, when the adverse effect of the gravitational recoil is taken into consideration. Dynamical effects cannot be neglected in studies of high-redshift SMBHs. If black holes can accrete at super-critical rate during an early phase, reproducing the observed SMBH mass values is not an issue, even in the case that the recoil velocity is in the upper limits range, as the mass ratios of merging binaries are skewed towards low values, where the gravitational recoil effect is very mild. We propose that SMBH growth at early times is very selective, and efficient only for black holes hosted in high density peak halos.Comment: Accepted for publication in the ApJ. 9 pages, 6 b/w figure

Iron abundance distribution in the hot gas of merging galaxy clusters

We present XMM-Newton/EPIC observations of six merging galaxy clusters and study the distributions of their temperature, iron (Fe) abundance and pseudo-entropy along the merging axis. For the first time, we focus simultaneously, and in a comprehensive way, on the chemical and thermodynamic properties of the freshly collided intracluster medium (ICM). The Fe distribution of these clusters along the merging axis is found to be in good agreement with the azimuthally-averaged Fe abundance profile in typical non-cool-core clusters out to $r_{500}$. In addition to showing a moderate central abundance peak, though less pronounced than in relaxed systems, the Fe abundance flattens at large radii towards $\sim$0.2-0.3 $Z_\odot$. Although this shallow metal distribution is in line with the idea that disturbed, non-cool-core clusters originate from the merging of relaxed, cool-core clusters, we find that in some cases, remnants of metal-rich and low entropy cool cores can persist after major mergers. While we obtain a mild anti-correlation between the Fe abundance and the pseudo-entropy in the (lower entropy, $K$ = 200-500 keV cm$^2$) inner regions, no clear correlation is found at (higher entropy, $K$ = 500-2300 keV cm$^2$) outer radii. The apparent spatial abundance uniformity that we find at large radii is difficult to explain through an efficient mixing of freshly injected metals, particularly in systems for which the time since the merger is short. Instead, our results provide important additional evidence in favour of the early enrichment scenario - in which the bulk of the metals are released outside galaxies at $z$ > 2-3 - and extend it from cool-core and (moderate) non-cool-core clusters to a few of the most disturbed merging clusters as well. These results constitute a first step towards a deeper understanding of the chemical history of merging clusters.Comment: Accepted for publication in A&A, 21 pages with 17 figures and 19 table

The impact of cluster mergers on arc statistics

We study the impact of merger events on the strong lensing properties of galaxy clusters. Previous lensing simulations were not able to resolve dynamical time scales of cluster lenses, which arise on time scales which are of order a Gyr. In this case study, we first describe qualitatively with an analytic model how some of the lensing properties of clusters are expected to change during merging events. We then analyse a numerically simulated lens model for the variation in its efficiency for producing both tangential and radial arcs while a massive substructure falls onto the main cluster body. We find that: (1) during the merger, the shape of the critical lines and caustics changes substantially; (2) the lensing cross sections for long and thin arcs can grow by one order of magnitude and reach their maxima when the extent of the critical curves is largest; (3) the cross section for radial arcs also grows, but the cluster can efficiently produce this kind of arcs only while the merging substructure crosses the main cluster centre; (4) while the arc cross sections pass through their maxima as the merger proceeds, the cluster's X-ray emission increases by a factor of $\sim5$. Thus, we conclude that accounting for these dynamical processes is very important for arc statistics studies. In particular, they may provide a possible explanation for the arc statistics problem.Comment: 16 pages, submitted to MNRAS, revised version after referee' Comments. Gzipped file including full resolution images can be downloaded at http://dipastro.pd.astro.it/~cosmo/massimo/high-res-images.tar.g

Efficient Constellation-Based Map-Merging for Semantic SLAM

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable `duplicate' landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loop-closure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of `best' hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA) 201

Metal enrichment of the intra-cluster medium over a Hubble time for merging and relaxed galaxy clusters

We investigate the efficiency of galactic mass loss, triggered by ram-pressure stripping and galactic winds of cluster galaxies, on the chemical enrichment of the intra-cluster medium (ICM). We combine N-body and hydrodynamic simulations with a semi-numerical galaxy formation model. By including simultaneously different enrichment processes, namely ram-pressure stripping and galactic winds, in galaxy-cluster simulations, we are able to reproduce the observed metal distribution in the ICM. We find that the mass loss by galactic winds in the redshift regime z>2 is ~10% to 20% of the total galactic wind mass loss, whereas the mass loss by ram-pressure stripping in the same epoch is up to 5% of the total ram-pressure stripping mass loss over the whole simulation time. In the cluster formation epochs z<2 ram-pressure stripping becomes more dominant than galactic winds. We discuss the non-correlation between the evolution of the mean metallicity of galaxy clusters and the galactic mass losses. For comparison with observations we present two dimensional maps of the ICM quantities and radial metallicity profiles. The shape of the observed profiles is well reproduced by the simulations in the case of merging systems. In the case of cool-core clusters the slope of the observed profiles are reproduced by the simulation at radii below ~300 kpc, whereas at larger radii the observed profiles are shallower. We confirm the inhomogeneous metal distribution in the ICM found in observations. To study the robustness of our results, we investigate two different descriptions for the enrichment process interaction.Comment: 11 pages, 13 figures, accepted for publication in A&A, high resolution version can be found at <http://astro.uibk.ac.at/~wolfgang/kapferer.pdf