ODAS: Open embeddeD Audition System

Artificial audition aims at providing hearing capabilities to machines, computers and robots. Existing frameworks in robot audition offer interesting sound source localization, tracking and separation performance, but involve a significant amount of computations that limit their use on robots with embedded computing capabilities. This paper presents ODAS, the Open embeddeD Audition System framework, which includes strategies to reduce the computational load and perform robot audition tasks on low-cost embedded computing systems. It presents key features of ODAS, along with cases illustrating its uses in different robots and artificial audition applications

A profile in FIRE: resolving the radial distributions of satellite galaxies in the Local Group with simulations

While many tensions between Local Group (LG) satellite galaxies and LCDM cosmology have been alleviated through recent cosmological simulations, the spatial distribution of satellites remains an important test of physical models and physical versus numerical disruption in simulations. Using the FIRE-2 cosmological zoom-in baryonic simulations, we examine the radial distributions of satellites with Mstar > 10^5 Msun around 8 isolated Milky Way- (MW) mass host galaxies and 4 hosts in LG-like pairs. We demonstrate that these simulations resolve the survival and physical destruction of satellites with Mstar >~ 10^5 Msun. The simulations broadly agree with LG observations, spanning the radial profiles around the MW and M31. This agreement does not depend strongly on satellite mass, even at distances <~ 100 kpc. Host-to-host variation dominates the scatter in satellite counts within 300 kpc of the hosts, while time variation dominates scatter within 50 kpc. More massive host galaxies within our sample have fewer satellites at small distances, likely because of enhanced tidal destruction of satellites via the baryonic disks of host galaxies. Furthermore, we quantify and provide fits to the tidal depletion of subhalos in baryonic relative to dark matter-only simulations as a function of distance. Our simulated profiles imply observational incompleteness in the LG even at Mstar >~ 10^5 Msun: we predict 2-10 such satellites to be discovered around the MW and possibly 6-9 around M31. To provide cosmological context, we compare our results with the radial profiles of satellites around MW analogs in the SAGA survey, finding that our simulations are broadly consistent with most SAGA systems.Comment: 18 pages, 10 figures, plus appendices. Main results in figures 2, 3, and 4. Accepted versio

Planes of satellites around Milky Way/M31-mass galaxies in the FIRE simulations and comparisons with the Local Group

We examine the prevalence, longevity, and causes of planes of satellite dwarf galaxies, as observed in the Local Group. We use 14 Milky Way/Andromeda-(MW/M31) mass host galaxies from the FIRE-2 simulations. We select the 14 most massive satellites by stellar mass within 300 kpc of each host and correct for incompleteness from the foreground galactic disc when comparing to the MW. We find that MW-like planes as spatially thin and/or kinematically coherent as observed are uncommon, but they do exist in our simulations. Spatially thin planes occur in 1-2 per cent of snapshots during $z=0-0.2$, and kinematically coherent planes occur in 5 per cent of snapshots. These planes are generally transient, surviving for less than 500 Myr. However, if we select hosts with an LMC-like satellite near first pericentre, the fraction of snapshots with MW-like planes increases dramatically to 7-16 per cent, with lifetimes of 0.7-1 Gyr, likely because of group accretion of satellites. We find that M31's satellite distribution is much more common: M31's satellites lie within about 1 sigma of the simulation median for every plane metric we consider. We find no significant difference in average satellite planarity for isolated hosts versus hosts in LG-like pairs. Baryonic and dark matter-only simulations exhibit similar levels of planarity, even though baryonic subhaloes are less centrally concentrated within their host haloes. We conclude that planes of satellites are not a strong challenge to LCDM cosmology.Comment: 15 pages, 8 figures. Main results in Figures 2 and 7. Accepted by MNRA

Star formation histories of dwarf galaxies in the FIRE simulations: dependence on mass and Local Group environment

We study star formation histories (SFHs) of $\simeq500$ dwarf galaxies (stellar mass $M_\ast = 10^5 - 10^9\,M_\odot$) from FIRE-2 cosmological zoom-in simulations. We compare dwarfs around individual Milky Way (MW)-mass galaxies, dwarfs in Local Group (LG)-like environments, and true field (i.e. isolated) dwarf galaxies. We reproduce observed trends wherein higher-mass dwarfs quench later (if at all), regardless of environment. We also identify differences between the environments, both in terms of "satellite vs. central" and "LG vs. individual MWvs. isolated dwarf central." Around the individual MW-mass hosts, we recover the result expected from environmental quenching: central galaxies in the "near field" have more extended SFHs than their satellite counterparts, with the former more closely resemble isolated ("true field") dwarfs (though near-field centrals are still somewhat earlier forming). However, this difference is muted in the LG-like environments, where both near-field centrals and satellites have similar SFHs, which resemble satellites of single MW-mass hosts. This distinction is strongest for $M_\ast = 10^6 - 10^7\,M_\odot$ but exists at other masses. Our results suggest that the paired halo nature of the LG may regulate star formation in dwarf galaxies even beyond the virial radii of the MW and Andromeda. Caution is needed when comparing zoom-in simulations targeting isolated dwarf galaxies against observed dwarf galaxies in the LG.Comment: Main text: 11 pages, 8 figures; appendices: 4 pages, 4 figures. Submitted to MNRAS; comments welcom

Star formation histories of dwarf galaxies in the FIRE simulations: dependence on mass and Local Group environment

We study star formation histories (SFHs) of 500 dwarf galaxies (stellar mass M∗=10⁵−10⁹M⊙⁠) from FIRE-2 cosmological zoom-in simulations. We compare dwarfs around individual Milky Way (MW)-mass galaxies, dwarfs in Local Group (LG)-like environments, and true field (i.e. isolated) dwarf galaxies. We reproduce observed trends wherein higher mass dwarfs quench later (if at all), regardless of environment. We also identify differences between the environments, both in terms of ‘satellite versus central’ and ‘LG versus individual MW versus isolated dwarf central.’ Around the individual MW-mass hosts, we recover the result expected from environmental quenching: central galaxies in the ‘near field’ have more extended SFHs than their satellite counterparts, with the former more closely resemble isolated (true field) dwarfs (though near-field centrals are still somewhat earlier forming). However, this difference is muted in the LG-like environments, where both near-field centrals and satellites have similar SFHs, which resemble satellites of single MW-mass hosts. This distinction is strongest for M* = 10⁶–10⁷M⊙ but exists at other masses. Our results suggest that the paired halo nature of the LG may regulate star formation in dwarf galaxies even beyond the virial radii of the MW and Andromeda. Caution is needed when comparing zoom-in simulations targeting isolated dwarf galaxies against observed dwarf galaxies in the LG