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Gravitational lensing has emerged as a powerful probe of the matter distribution on subgalactic scales, which itself may contain important clues about the fundamental origins and properties of dark matter. Broadly speaking, two different approaches have been taken in the literature to map the small-scale structure of the Universe using strong lensing, with one focused on measuring the position and mass of a small number of discrete massive subhalos appearing close in projection to lensed images, and the other focused on detecting the collective effect of all the small-scale structures between the lensed source and the observer. In this paper, we follow the latter approach and perform a detailed study of the sensitivity of galaxy-scale gravitational lenses to the ensemble properties of small-scale structure. As in some previous studies, we adopt the language of the substructure power spectrum to characterize the statistical properties of the small-scale density field. We present a comprehensive theory that treats lenses with extended sources as well as those with time-dependent compact sources (such as quasars) in a unified framework for the first time. Our approach uses mode functions to provide both computational advantages and insights about couplings between the lens and source. The goal of this paper is to develop the theory and gain the intuition necessary to understand how the sensitivity to the substructure power spectrum depends on the source and lens properties, with the eventual aim of identifying the most promising targets for such studies. [ABSTRACT FROM AUTHOR]

In the standard structure formation scenario based on the cold dark matter paradigm, galactic halos are predicted to contain a large population of dark matter subhalos. While the most massive members of the subhalo population can appear as luminous satellites and be detected in optical surveys, establishing the existence of the low mass and mostly dark subhalos has proven to be a daunting task. Galaxy-scale strong gravitational lenses have been successfully used to study mass substructures lying close to lensed images of bright background sources. However, in typical galaxy-scale lenses, the strong lensing region only covers a small projected area of the lens's dark matter halo, implying that the vast majority of subhalos cannot be directly detected in lensing observations. In this paper, we point out that this large population of dark satellites can collectively affect gravitational lensing observables, hence possibly allowing their statistical detection. Focusing on the region of the galactic halo outside the strong lensing area, we compute from first principles the statistical properties of perturbations to the gravitational time delay and position of lensed images in the presence of a mass substructure population. We find that in the standard cosmological scenario, the statistics of these lensing observables are well approximated by Gaussian distributions. The formalism developed as part of this calculation is very general and can be applied to any halo geometry and choice of subhalo mass function. Our results significantly reduce the computational cost of including a large substructure population in lens models and enable the use of Bayesian inference techniques to detect and characterize the distributed satellite population of distant lens galaxies. [ABSTRACT FROM AUTHOR]