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  1. Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics terms are linearly parameterizable with known nonlinear features. However, it is often difficult to specify such features a priori, such as for aerodynamic disturbances on rotorcraft or interaction forces between a manipulator arm and various objects. In this paper, we turn to data-driven modeling with neural networks to learn, offline from past data, an adaptive controller with an internal parametric model of these nonlinear features. Our key insightmore »is that we can better prepare the controller for deployment with control-oriented meta-learning of features in closed-loop simulation, rather than regression-oriented meta-learning of features to fit input-output data. Specifically, we meta-learn the adaptive controller with closed-loop tracking simulation as the base-learner and the average tracking error as the meta-objective. With a nonlinear planar rotorcraft subject to wind, we demonstrate that our adaptive controller outperforms other controllers trained with regression-oriented meta-learning when deployed in closed-loop for trajectory tracking control.« less
  2. ABSTRACT We use comparisons between the Sydney-AAO Multi-object Integral Field Spectrograph (SAMI) Galaxy Survey and equilibrium galaxy models to infer the importance of disc fading in the transition of spirals into lenticular (S0) galaxies. The local S0 population has both higher photometric concentration and lower stellar spin than spiral galaxies of comparable mass and we test whether this separation can be accounted for by passive aging alone. We construct a suite of dynamically self-consistent galaxy models, with a bulge, disc, and halo using the galactics code. The dispersion-dominated bulge is given a uniformly old stellar population, while the disc ismore »given a current star formation rate putting it on the main sequence, followed by sudden instantaneous quenching. We then generate mock observables (r-band images, stellar velocity, and dispersion maps) as a function of time since quenching for a range of bulge/total (B/T) mass ratios. The disc fading leads to a decline in measured spin as the bulge contribution becomes more dominant, and also leads to increased concentration. However, the quantitative changes observed after 5 Gyr of disc fading cannot account for all of the observed difference. We see similar results if we instead subdivide our SAMI Galaxy Survey sample by star formation (relative to the main sequence). We use EAGLE simulations to also take into account progenitor bias, using size evolution to infer quenching time. The EAGLE simulations suggest that the progenitors of current passive galaxies typically have slightly higher spin than present day star-forming disc galaxies of the same mass. As a result, progenitor bias moves the data further from the disc fading model scenario, implying that intrinsic dynamical evolution must be important in the transition from star-forming discs to passive discs.« less
  3. ABSTRACT Galaxy internal structure growth has long been accused of inhibiting star formation in disc galaxies. We investigate the potential physical connection between the growth of dispersion-supported stellar structures (e.g. classical bulges) and the position of galaxies on the star-forming main sequence at z ∼ 0. Combining the might of the SAMI and MaNGA galaxy surveys, we measure the λRe spin parameter for 3289 galaxies over $9.5 \lt \log M_{\star } [\rm {M}_{\odot }] \lt 12$. At all stellar masses, galaxies at the locus of the main sequence possess λRe values indicative of intrinsically flattened discs. However, above $\log M_{\starmore »}[\rm {M}_{\odot }]\sim 10.5$ where the main sequence starts bending, we find tantalizing evidence for an increase in the number of galaxies with dispersion-supported structures, perhaps suggesting a connection between bulges and the bending of the main sequence. Moving above the main sequence, we see no evidence of any change in the typical spin parameter in galaxies once gravitationally interacting systems are excluded from the sample. Similarly, up to 1 dex below the main sequence, λRe remains roughly constant and only at very high stellar masses ($\log M_{\star }[\rm {M}_{\odot }]\gt 11$), do we see a rapid decrease in λRe once galaxies decline in star formation activity. If this trend is confirmed, it would be indicative of different quenching mechanisms acting on high- and low-mass galaxies. The results suggest that whilst a population of galaxies possessing some dispersion-supported structure is already present on the star-forming main sequence, further growth would be required after the galaxy has quenched to match the kinematic properties observed in passive galaxies at z ∼ 0.« less

    We present the first detection of mass-dependent galactic spin alignments with local cosmic filaments with >2σ confidence using IFS kinematics. The 3D network of cosmic filaments is reconstructed on Mpc scales across GAlaxy and Mass Assembly fields using the cosmic web extractor DisPerSe. We assign field galaxies from the SAMI survey to their nearest filament segment in 3D and estimate the degree of alignment between SAMI galaxies’ kinematic spin axis and their nearest filament in projection. Low-mass galaxies align their spin with their nearest filament while higher mass counterparts are more likely to display an orthogonal orientation. The stellarmore »transition mass from the first trend to the second is bracketed between $10^{10.4}$ and $10^{10.9}\, \mathrm{ M}_{\odot }$, with hints of an increase with filament scale. Consistent signals are found in the Horizon-AGN cosmological hydrodynamic simulation. This supports a scenario of early angular momentum build-up in vorticity rich quadrants around filaments at low stellar mass followed by progressive flip of spins orthogonal to the cosmic filaments through mergers at high stellar mass. Conversely, we show that dark matter only simulations post-processed with a semi-analytical model treatment of galaxy formation struggles to reproduce this alignment signal. This suggests that gas physics is key in enhancing the galaxy-filament alignment.

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