Robots for Exploration, Digital Preservation and Visualization of Archeological Sites

Monitoring and conservation of archaeological sites are important activities necessary to prevent damage or to perform restoration on cultural heritage. Standard techniques, like mapping and digitizing, are typically used to document the status of such sites. While these task are normally accomplished manually by humans, this is not possible when dealing with hard-to-access areas. For example, due to the possibility of structural collapses, underground tunnels like catacombs are considered highly unstable environments. Moreover, they are full of radioactive gas radon that limits the presence of people only for few minutes. The progress recently made in the artificial intelligence and robotics field opened new possibilities for mobile robots to be used in locations where humans are not allowed to enter. The ROVINA project aims at developing autonomous mobile robots to make faster, cheaper and safer the monitoring of archaeological sites. ROVINA will be evaluated on the catacombs of Priscilla (in Rome) and S. Gennaro (in Naples)

Interference coloration as an anti-predator defence

Interference coloration, in which the perceived colour varies predictably with the angle of illumination or observation, is extremely widespread across animal groups. However, despite considerable advances in our understanding of the mechanistic basis of interference coloration in animals, we still have a poor understanding of its function. Here, I show, using avian predators hunting dynamic virtual prey, that the presence of interference coloration can significantly reduce a predator's attack success. Predators required more pecks to successfully catch interference-coloured prey compared with otherwise identical prey items that lacked interference coloration, and attacks against prey with interference colours were less accurate, suggesting that changes in colour or brightness caused by prey movement hindered a predator's ability to pinpoint their exact location. The pronounced antipredator benefits of interference coloration may explain why it has evolved independently so many times. © 2015 The Author(s) Published by the Royal Society. All rights reserved

Ultra-deep catalog of X-ray groups in the Extended Chandra Deep Field South

Ultra-deep observations of ECDF-S with Chandra and XMM-Newton enable a search for extended X-ray emission down to an unprecedented flux of $2\times10^{-16}$ ergs s$^{-1}$ cm$^{-2}$. We present the search for the extended emission on spatial scales of 32$^{\prime\prime}$ in both Chandra and XMM data, covering 0.3 square degrees and model the extended emission on scales of arcminutes. We present a catalog of 46 spectroscopically identified groups, reaching a redshift of 1.6. We show that the statistical properties of ECDF-S, such as logN-logS and X-ray luminosity function are broadly consistent with LCDM, with the exception that dn/dz/d$\Omega$ test reveals that a redshift range of $0.2<z<0.5$ in ECDF-S is sparsely populated. The lack of nearby structure, however, makes studies of high-redshift groups particularly easier both in X-rays and lensing, due to a lower level of clustered foreground. We present one and two point statistics of the galaxy groups as well as weak-lensing analysis to show that the detected low-luminosity systems are indeed low-mass systems. We verify the applicability of the scaling relations between the X-ray luminosity and the total mass of the group, derived for the COSMOS survey to lower masses and higher redshifts probed by ECDF-S by means of stacked weak lensing and clustering analysis, constraining any possible departures to be within 30% in mass. Abridged.Comment: 20 pages, 21 figures, 3 tables, to match the journal versio

Satellite content and quenching of star formation in galaxy groups at z ~ 1.8

We study the properties of satellites in the environment of massive star-forming galaxies at z ~ 1.8 in the COSMOS field, using a sample of 215 galaxies on the main sequence of star formation with an average mass of ~1011M⊙. At z> 1.5, these galaxies typically trace halos of mass ≳1013M⊙. We use optical-near-infrared photometry to estimate stellar masses and star formation rates (SFR) of centrals and satellites down to ~ 6 × 109M⊙. We stack data around 215 central galaxies to statistically detect their satellite halos, finding an average of ~3 galaxies in excess of the background density. We fit the radial profiles of satellites with simple β-models, and compare their integrated properties to model predictions. We find that the total stellar mass of satellites amounts to ~68% of the central galaxy, while spectral energy distribution modeling and far-infrared photometry consistently show their total SFR to be 25-35% of the central's rate. We also see significant variation in the specific SFR of satellites within the halo with, in particular, a sharp decrease at <100 kpc. After considering different potential explanations, we conclude that this is likely an environmental signature of the hot inner halo. This effect can be explained in the first order by a simple free-fall scenario, suggesting that these low-mass environments can shut down star formation in satellites on relatively short timescales of ~0.3 Gyr

First simultaneous optical/near-infrared imaging of an X-ray selected, high-redshift cluster of galaxies with GROND: the galaxy population of XMMU J0338.7+0030 at z=1.1

The XMM-Newton Distant Cluster Project is a serendipitous survey for clusters of galaxies at redshifts z>=0.8 based on deep archival XMM-Newton observations. ... Low-significance candidate high-z clusters are followed up with the seven-channel imager GROND (Gamma-Ray Burst Optical and Near-Infrared Detector) that is mounted at a 2m-class telescope. ... The test case is XMMU J0338.7+0030, suggested to be at z~1.45+/-0.15 from the analysis of the z-H vs H colour-magnitude diagram obtained from the follow-up imaging. Later VLT-FORS2 spectroscopy enabled us to identify four members, which set this cluster at z=1.097+/-0.002. To reach a better knowledge of its galaxy population, we observed XMMU J0338.7+0030 with GROND for about 6 hr. The publicly available photo-z code le Phare was used. The Ks-band number counts of the non-stellar sources out of the 832 detected down to z'~26 AB-mag in the 3.9x4.3 square arcmin region of XMMU J0338.7+0030 imaged at all GROND bands clearly exceed those computed in deep fields/survey areas at ~20.5 - 22.5 AB-mag. The photo-z's of the three imaged spectroscopic members yield z=1.12+/-0.09. The spatial distribution and the properties of the GROND sources with a photo-z in the range 1.01 - 1.23 confirm the correspondence of the X-ray source with a galaxy over-density at a significance of at least 4.3 sigma. Candidate members that are spectro-photometrically classified as elliptical galaxies define a red locus in the i'-z' vs z' colour-magnitude diagram that is consistent with the red sequence of the cluster RDCS J0910+5422 at z=1.106. XMMU J0338.7+0030 hosts also a population of bluer late-type spirals and irregulars. The starbursts among the photometric members populate both loci, consistently with previous results. The analysis of the available data set indicates that XMMU J0338.7+0030 is a low-mass cluster (M_200 ~ 1E14 M_sun) at z=1.1. (Abridged)Comment: accepted for publication in Astronomy & Astrophysics Main Journal, 27 pages, 24 figures, 1 tabl

Gemini Observations of Galaxies in Rich Early Environments (GOGREEN) I : survey description.

We describe a new Large Program in progress on the Gemini North and South telescopes: Gemini Observations of Galaxies in Rich Early Environments (GOGREEN). This is an imaging and deep spectroscopic survey of 21 galaxy systems at 1 10 in halo mass. The scientific objectives include measuring the role of environment in the evolution of low-mass galaxies, and measuring the dynamics and stellar contents of their host haloes. The targets are selected from the SpARCS, SPT, COSMOS, and SXDS surveys, to be the evolutionary counterparts of today's clusters and groups. The new red-sensitive Hamamatsu detectors on GMOS, coupled with the nod-and-shuffle sky subtraction, allow simultaneous wavelength coverage over λ ∼ 0.6–1.05 μm, and this enables a homogeneous and statistically complete redshift survey of galaxies of all types. The spectroscopic sample targets galaxies with AB magnitudes z΄ < 24.25 and [3.6] μm < 22.5, and is therefore statistically complete for stellar masses M* ≳ 1010.3 M⊙, for all galaxy types and over the entire redshift range. Deep, multiwavelength imaging has been acquired over larger fields for most systems, spanning u through K, in addition to deep IRAC imaging at 3.6 μm. The spectroscopy is ∼50 per cent complete as of semester 17A, and we anticipate a final sample of ∼500 new cluster members. Combined with existing spectroscopy on the brighter galaxies from GCLASS, SPT, and other sources, GOGREEN will be a large legacy cluster and field galaxy sample at this redshift that spectroscopically covers a wide range in stellar mass, halo mass, and clustercentric radius

Petri Net Plans A framework for collaboration and coordination in multi-robot systems

Programming the behavior of multi-robot systems is a challenging task which has a key role in developing effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a language based on Petri Nets (PNs), which allows for intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and support a rich set of features that are critical to develop robotic applications, including sensing, interrupts and concurrency. As a central feature, PNPs allow for a formal analysis of plans based on standard PN tools. Moreover, PNPs are suitable for modeling multi-robot systems and the developed behaviors can be executed in a distributed setting, while preserving the properties of the modeled system. PNPs have been deployed in several robotic platforms in different application domains. In this paper, we report three case studies, which address complex single robot plans, coordination and collaboration

The XXL Survey: I. Scientific motivations - XMM-Newton observing plan - Follow-up observations and simulation programme

We present the XXL Survey, the largest XMM programme totaling some 6.9 Ms to date and involving an international consortium of roughly 100 members. The XXL Survey covers two extragalactic areas of 25 deg2 each at a point-source sensitivity of ~ 5E-15 erg/sec/cm2 in the [0.5-2] keV band (completeness limit). The survey's main goals are to provide constraints on the dark energy equation of state from the space-time distribution of clusters of galaxies and to serve as a pathfinder for future, wide-area X-ray missions. We review science objectives, including cluster studies, AGN evolution, and large-scale structure, that are being conducted with the support of approximately 30 follow-up programmes. We describe the 542 XMM observations along with the associated multi-lambda and numerical simulation programmes. We give a detailed account of the X-ray processing steps and describe innovative tools being developed for the cosmological analysis. The paper provides a thorough evaluation of the X-ray data, including quality controls, photon statistics, exposure and background maps, and sky coverage. Source catalogue construction and multi-lambda associations are briefly described. This material will be the basis for the calculation of the cluster and AGN selection functions, critical elements of the cosmological and science analyses. The XXL multi-lambda data set will have a unique lasting legacy value for cosmological and extragalactic studies and will serve as a calibration resource for future dark energy studies with clusters and other X-ray selected sources. With the present article, we release the XMM XXL photon and smoothed images along with the corresponding exposure maps. The XMM XXL observation list (Table B.1) is available in electronic form at the CDS. The present paper is the first in a series reporting results of the XXL-XMM survey