Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvesting of sweet peppers. Initial field trials in protected cropping environments, with two cultivar, demonstrate the efficacy of this approach achieving a 46% success rate for unmodified crop, and 58% for modified crop. Furthermore, for the more favourable cultivar we were also able to detach 90% of sweet peppers, indicating that improvements in the grasping success rate would result in greatly improved harvesting performance

Reactive Base Control for On-The-Move Mobile Manipulation in Dynamic Environments

We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can significantly decrease the time required to perform multi-step tasks, as well as improve the gracefulness of the robot's motion. Existing approaches to manipulation on-the-move either ignore the obstacle avoidance problem or rely on the execution of planned trajectories, which is not suitable in environments with dynamic objects and obstacles. The presented controller addresses both of these deficiencies and demonstrates robust performance of pick-and-place tasks in dynamic environments. The performance is evaluated on several simulated and real-world tasks. On a real-world task with static obstacles, we outperform an existing method by 48\% in terms of total task time. Further, we present real-world examples of our robot performing manipulation tasks on-the-move while avoiding a second autonomous robot in the workspace. See https://benburgesslimerick.github.io/MotM-BaseControl for supplementary materials

Science with an ngVLA - The Molecular High-z Universe on Large Scales: Low-surface-brightness CO and the strength of the ngVLA Core

The Next-Generation Very Large Array (ngVLA) will revolutionize our understanding of the Early Universe by tracing the coldest phase of molecular gas -the raw ingredient for star formation- in the most distant galaxies and galaxy-clusters. The km-scale core of the ngVLA will be densely packed with antennas, making it a prime instrument for imaging low-surface-brightness emission from large-scale molecular gas in the high-z circum- and inter-galactic medium (CGM/IGM). Recent studies indicate that large amounts of cold molecular gas are hiding in the 10s-100 kpc environments of distant galaxies, but that technical limitations on existing telescope arrays have prevented us from efficiently detecting these large molecular reservoirs. This may have led to a severely biased view of the molecular Universe. We present the science case for low-surface-brightness CO observations of the Early Universe, and how the core of the ngVLA will reveal the cold molecular Universe to limits and at scales not currently detectable by radio telescopes. As such, the ngVLA core will be a powerful instrument for studying the cold baryon cycle that drives the early evolution of galaxies and clusters.Comment: To be published in the ASP Monograph Series, "Science with a Next-Generation VLA", ed. E. J. Murphy (ASP, San Francisco, CA) - 8 pages, 4 figure

CO survey of high-z radio galaxies, revisited with ALMA: Jet-cloud Alignments and Synchrotron Brightening by Molecular Gas in the Circumgalactic Environment

Powerful radio sources associated with super-massive black holes are among the most luminous objects in the Universe, and are frequently recognized both as cosmological probes and active constituents in the evolution of galaxies. We present alignments between radio jets and cold molecular gas in the environment of distant radio galaxies, and show that the brightness of the radio synchrotron source can be enhanced by its interplay with the molecular gas. Our work is based on CO J>1 observations with the Atacama Large Millimeter/submillimeter Array (ALMA) of three radio galaxies with redshifts in the range 1.4 < z < 2.1, namely MRC 0114-211 (z = 1.41), MRC 0156-252 (z = 2.02), and MRC 2048-272 (z = 2.05). These ALMA observations support previous work that found molecular gas out to 50 kpc in the circumgalactic environment, based on a CO(1-0) survey performed with the Australia Telescope Compact Array (ATCA). The CO emission is found along the radio axes but beyond the main radio lobes. When compared to a large sample of high-z radio galaxies from the literature, we find that the presence of this cold molecular medium correlates with an increased flux-density ratio of the main vs. counter lobe. This suggest that the radio lobe brightens when encountering cold molecular gas in the environment. While part of the molecular gas is likely related to the interstellar medium (ISM) from either the host or a companion galaxy, a significant fraction of the molecular gas in these systems shows very low excitation, with r$_{2-1/1-0}$ and r$_{3-2/1-0}$ values $\lesssim$0.2. This could be part of the circumgalactic medium (CGM).Comment: Accepted for publication in ApJ (19 pages, 6 figures

An OSIRIS study of the gas kinematics in a sample of UV-selected galaxies: Evidence of "Hot and Bothered" starbursts in the local Universe

We present data from Integral Field Spectroscopy for 3 supercompact UV-Luminous Galaxies (ScUVLGs). As nearby (z~0.2), compact (R_50~1-2 kpc), bright Paschen-alpha sources, with unusually high star formation rates (SFR=3-100 M_sun/yr), ScUVLGs are an ideal population for studying detailed kinematics and dynamics in actively star-forming galaxies. In addition, ScUVLGs appear to be excellent analogs to high redshift Lyman Break Galaxies (LBGs) and our results may offer additional insight into the dynamics of LBGs. Previous work by our team has shown that the morphologies of these galaxies exhibit tidal features and companions, and in this study we find that the dynamics of ScUVLGs are dominated by disturbed kinematics of the emission line gas-- suggestive that these galaxies have undergone recent feedback, interactions or mergers. While 2 of the 3 galaxies do display rotation, v/sigma < 1 -- suggesting dispersion dominated kinematics rather than smooth rotation. We also simulate how these observations would appear at z~2. Lower resolution and loss of low surface brightness features causes some apparent discrepancies between the low-z (observed) and high-z (simulated) interpretations and quantitatively gives different values for v/sigma, yet simulations of these low-z analogs manage to detect the brightest regions well and resemble actual high-z observations of LBGs.Comment: 4 pages, 4 figures (bitmapped), accepted for publication in ApJ