An Earthworm-Inspired Soft Crawling Robot Controlled by Friction

We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented worms composed of repeating units known as metameres. The muscle and setae structure embedded in each individual metamere makes possible its peristaltic locomotion both under and above ground. Here, we propose a pneumatically-driven soft robotic system made of parts analogous to the muscle and setae structure and can replicate the crawling motion of a single earthworm metamere. A model is also introduced to describe the crawling dynamics of the proposed robotic system and proven be controllable. Robust crawling locomotion is then experimentally verified.Comment: 8 pages, 9 figures, 1 tabl

High-precision analysis of binary stars with planets. I. Searching for condensation temperature trends in the HD 106515 system

We explore the probable chemical signature of planet formation in the remarkable binary system HD 106515. The A star hosts a massive long-period planet with 9 MJup detected by radial velocity. We also refine stellar and planetary parameters by using non-solar-scaled opacities when modeling the stars. Methods. We carried out a simultaneous determination of stellar parameters and abundances, by applying for the first time non-solar-scaled opacities in this binary system, in order to reach the highest possible precision. Results. The stars A and B in the binary system HD 106515 do not seem to be depleted in refractory elements, which is different when comparing the Sun with solar-twins. Then, the terrestrial planet formation would have been less efficient in the stars of this binary system. Together with HD 80606/7, this is the second binary system which does not seem to present a (terrestrial) signature of planet formation, and hosting both systems an eccentric giant planet. This is in agreement with numerical simulations, where the early dynamical evolution of eccentric giant planets clear out most of the possible terrestrial planets in the inner zone. We refined the stellar mass, radius and age for both stars and found a notable difference of 78% in R compared to previous works. We also refined the planet mass to mp sini = 9.08 +/- 0.20 MJup, which differs by 6% compared with literature. In addition, we showed that the non-solar-scaled solution is not compatible with the classical solar-scaled method, and some abundance differences are comparable to NLTE or GCE effects specially when using the Sun as reference. Then, we encourage the use of non-solar-scaled opacities in high-precision studies such as the detection of Tc trends.[abridged]Comment: 9 pages, 10 figures, A&A accepted. arXiv admin note: text overlap with arXiv:1507.0812

Chemo-Archaeological Downsizing in a Hierarchical Universe: Impact of a Top Heavy IGIMF

We make use of a semi-analytical model of galaxy formation to investigate the origin of the observed correlation between [a/Fe] abundance ratios and stellar mass in elliptical galaxies. We implement a new galaxy-wide stellar initial mass function (Top Heavy Integrated Galaxy Initial Mass Function, TH-IGIMF) in the semi-analytic model SAG and evaluate its impact on the chemical evolution of galaxies. The SFR-dependence of the slope of the TH-IGIMF is found to be key to reproducing the correct [a/Fe]-stellar mass relation. Massive galaxies reach higher [a/Fe] abundance ratios because they are characterized by more top-heavy IMFs as a result of their higher SFR. As a consequence of our analysis, the value of the minimum embedded star cluster mass and of the slope of the embedded cluster mass function, which are free parameters involved in the TH-IGIMF theory, are found to be as low as 5 solar masses and 2, respectively. A mild downsizing trend is present for galaxies generated assuming either a universal IMF or a variable TH-IGIMF. We find that, regardless of galaxy mass, older galaxies (with formation redshifts > 2) are formed in shorter time-scales (< 2 Gyr), thus achieving larger [a/Fe] values. Hence, the time-scale of galaxy formation alone cannot explain the slope of the [a/Fe]-galaxy mass relation, but is responsible for the big dispersion of [a/Fe] abundance ratios at fixed stellar mass.We further test the hyphothesis of a TH-IGIMF in elliptical galaxies by looking into mass-to-light ratios, and luminosity functions. Models with a TH-IGIMF are also favoured by these constraints. In particular, mass-to-light ratios agree with observed values for massive galaxies while being overpredicted for less massive ones; this overprediction is present regardless of the IMF considered.Comment: 24 pages, 15 figures, 2 tables. (Comments most welcome). Summited to MNRA

The role of climatic and terrain attributes in estimating baseflow recession in tropical catchments

The understanding of low flows in rivers is paramount more than ever as demand for water increases on a global scale. At the same time, limited streamflow data to investigate this phenomenon, particularly in the tropics, makes the provision of accurate estimations in ungauged areas an ongoing research need. This paper analysed the potential of climatic and terrain attributes of 167 tropical and sub-tropical unregulated catchments to predict baseflow recession rates. Daily streamflow data (m&lt;sup&gt;3&lt;/sup&gt; s&lt;sup&gt;&amp;ndash;1&lt;/sup&gt;) from the Global River Discharge Center (GRDC) and a linear reservoir model were used to obtain baseflow recession coefficients (&lt;i&gt;k&lt;/i&gt;&lt;sub&gt;bf&lt;/sub&gt;) for these catchments. Climatic attributes included annual and seasonal indicators of rainfall and potential evapotranspiration. Terrain attributes included indicators of catchment shape, morphology, land cover, soils and geology. Stepwise regression was used to identify the best predictors for baseflow recession coefficients. Mean annual rainfall (MAR) and aridity index (AI) were found to explain 49% of the spatial variation of &lt;i&gt;k&lt;/i&gt;&lt;sub&gt;bf&lt;/sub&gt;. The rest of climatic indices and the terrain indices average catchment slope (SLO) and tree cover were also good predictors, but co-correlated with MAR. Catchment elongation (CE), a measure of catchment shape, was also found to be statistically significant, although weakly correlated. An analysis of clusters of catchments of smaller size, showed that in these areas, presumably with some similarity of soils and geology due to proximity, residuals of the regression could be explained by SLO and CE. The approach used provides a potential alternative for &lt;i&gt;k&lt;/i&gt;&lt;sub&gt;bf&lt;/sub&gt; parameterisation in ungauged catchments

Calibration of semi-analytic models of galaxy formation using Particle Swarm Optimization

We present a fast and accurate method to select an optimal set of parameters in semi-analytic models of galaxy formation and evolution (SAMs). Our approach compares the results of a model against a set of observables applying a stochastic technique called Particle Swarm Optimization (PSO), a self-learning algorithm for localizing regions of maximum likelihood in multidimensional spaces that outperforms traditional sampling methods in terms of computational cost. We apply the PSO technique to the SAG semi-analytic model combined with merger trees extracted from a standard $\Lambda$CDM N-body simulation. The calibration is performed using a combination of observed galaxy properties as constraints, including the local stellar mass function and the black hole to bulge mass relation. We test the ability of the PSO algorithm to find the best set of free parameters of the model by comparing the results with those obtained using a MCMC exploration. Both methods find the same maximum likelihood region, however the PSO method requires one order of magnitude less evaluations. This new approach allows a fast estimation of the best-fitting parameter set in multidimensional spaces, providing a practical tool to test the consequences of including other astrophysical processes in SAMs.Comment: 11 pages, 4 figures, 1 table. Accepted for publication in ApJ. Comments are welcom

VALES: IV. Exploring the transition of star formation efficiencies between normal and starburst galaxies using APEX/SEPIA Band-5 and ALMA at low redshift

In this work we present new APEX/SEPIA Band-5 observations targeting the CO ($J=2\text{-}1$) emission line of 24 Herschel-detected galaxies at $z=0.1-0.2$. Combining this sample {with} our recent new Valpara\'iso ALMA Line Emission Survey (VALES), we investigate the star formation efficiencies (SFEs = SFR/$M_{\rm H_{2}}$) of galaxies at low redshift. We find the SFE of our sample bridges the gap between normal star-forming galaxies and Ultra-Luminous Infrared Galaxies (ULIRGs), which are thought to be triggered by different star formation modes. Considering the $\rm SFE'$ as the SFR and the $L'_{\rm CO}$ ratio, our data show a continuous and smooth increment as a function of infrared luminosity (or star formation rate) with a scatter about 0.5 dex, instead of a steep jump with a bimodal behaviour. This result is due to the use of a sample with a much larger range of sSFR/sSFR$_{\rm ms}$ using LIRGs, with luminosities covering the range between normal and ULIRGs. We conclude that the main parameters controlling the scatter of the SFE in star-forming galaxies are the systematic uncertainty of the $\alpha_{\rm CO}$ conversion factor, the gas fraction and physical size.Comment: 9pages, 7 figures, 1 table, accepted for publication in MNRA

Musical preferences and technologies: Contemporary material and symbolic distinctions criticised

Today how individuals interact with various cultural items is not perfectly consistent with theoretical frameworks of influential scholars on cultural consumption, such as Bourdieu (1984), Gans (1999), and Peterson and Simkus (1992). One such variation is in the ever increasing variety of technological modes to acquire and listen to music (Pinch and Bijsterveld, 2004). However, as a consequence of digital divides (van Dijk, 2006), technological items may not be distributed equally among social groups. At present, the value of status-making through a preference for different genres of music extends itself to different forms of consumption and ways of experiencing music. We are yet to fully understand the power these practices have on generating status. This article is therefore motivated by the need to integrate within quantitative frameworks of taste and cultural consumption, an analysis of individuals’ technological engagement. These two dimensions, integrated as components of musical practices, enhance our understanding of cultural boundaries across different social groups.The objective is to bridge a gap detected in the literature, addressing the following questions: Are technological modes to listen to music related to musical tastes

The ALMA Frontier Fields Survey - IV. Lensing-corrected 1.1 mm number counts in Abell 2744, MACSJ0416.1-2403 and MACSJ1149.5+2223

[abridged] Characterizing the number counts of faint, dusty star-forming galaxies is currently a challenge even for deep, high-resolution observations in the FIR-to-mm regime. They are predicted to account for approximately half of the total extragalactic background light at those wavelengths. Searching for dusty star-forming galaxies behind massive galaxy clusters benefits from strong lensing, enhancing their measured emission while increasing spatial resolution. Derived number counts depend, however, on mass reconstruction models that properly constrain these clusters. We estimate the 1.1 mm number counts along the line of sight of three galaxy clusters, i.e. Abell 2744, MACSJ0416.1-2403 and MACSJ1149.5+2223, which are part of the ALMA Frontier Fields Survey. We perform detailed simulations to correct these counts for lensing effects. We use several publicly available lensing models for the galaxy clusters to derive the intrinsic flux densities of our sources. We perform Monte Carlo simulations of the number counts for a detailed treatment of the uncertainties in the magnifications and adopted source redshifts. We find an overall agreement among the number counts derived for the different lens models, despite their systematic variations regarding source magnifications and effective areas. Our number counts span ~2.5 dex in demagnified flux density, from several mJy down to tens of uJy. Our number counts are consistent with recent estimates from deep ALMA observations at a 3$\sigma$ level. Below $\approx$ 0.1 mJy, however, our cumulative counts are lower by $\approx$ 1 dex, suggesting a flattening in the number counts. In our deepest ALMA mosaic, we estimate number counts for intrinsic flux densities $\approx$ 4 times fainter than the rms level. This highlights the potential of probing the sub-10 uJy population in larger samples of galaxy cluster fields with deeper ALMA observations.Comment: 19 pages, 14 figures, 3 tables. Accepted for publication in A&