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A method is developed here for building differentiable three-dimensional manifolds on multicube structures. This method constructs a sequence of reference metrics that determine differentiable structures on the cubic regions that serve as non-overlapping coordinate charts on these manifolds. It uses solutions to the two- and three-dimensional biharmonic equations in a sequence of steps that increase the differentiability of the reference metrics across the interfaces between cubic regions. This method is algorithmic and has been implemented in a computer code that automatically generates these reference metrics. Examples of three-manifolds constructed in this way are presented here, including representatives from five of the eight Thurston geometrization classes, plus the well-known Hantzsche-Wendt, the Poincare dodecahedral space, and the Seifert-Weber space., Comment: 37 pages, 10 figures, 12 Tables; v2 includes minor revisions and additions to agree with the final published version

Scalar, vector and tensor harmonics on the three-sphere were introduced originally to facilitate the study of various problems in gravitational physics. These harmonics are defined as eigenfunctions of the covariant Laplace operator which satisfy certain divergence and trace identities, and ortho-normality conditions. This paper provides a summary of these properties, along with a new notation that simplifies and clarifies some of the key expressions. Practical methods are described for accurately and efficiently computing these harmonics numerically, and test results are given that illustrate how well the analytical identities are satisfied by the harmonics computed numerically in this way., Comment: 14 pages, 9 figures, to appear in General Relativity and Gravitation

Reference metrics are used to define the differential structure on multicube representations of manifolds, i.e., they provide a simple and practical way to define what it means globally for tensor fields and their derivatives to be continuous. This paper introduces a general procedure for constructing reference metrics automatically on multicube representations of manifolds with arbitrary topologies. The method is tested here by constructing reference metrics for compact, orientable two-dimensional manifolds with genera between zero and five. These metrics are shown to satisfy the Gauss-Bonnet identity numerically to the level of truncation error (which converges toward zero as the numerical resolution is increased). These reference metrics can be made smoother and more uniform by evolving them with Ricci flow. This smoothing procedure is tested on the two-dimensional reference metrics constructed here. These smoothing evolutions (using volume-normalized Ricci flow with DeTurck gauge fixing) are all shown to produce reference metrics with constant scalar curvatures (at the level of numerical truncation error)., Comment: 37 pages, 16 figures; additional introductory material added in version accepted for publication

We present a method of calculating the strong-field gravitational lensing caused by many analytic and numerical spacetimes. We use this procedure to calculate the distortion caused by isolated black holes and by numerically evolved black hole binaries. We produce both demonstrative images illustrating details of the spatial distortion and realistic images of collections of stars taking both lensing amplification and redshift into account. On large scales the lensing from inspiraling binaries resembles that of single black holes, but on small scales the resulting images show complex and in some cases self-similar structure across different angular scales., Comment: 10 pages, 12 figures. Supplementary images and movies can be found at http://www.black-holes.org/the-science-numerical-relativity/numerical-relativity/gravitational-lensing

This paper develops a method for solving Einstein's equation numerically on multi-cube representations of manifolds with arbitrary spatial topologies. This method is designed to provide a set of flexible, easy to use computational procedures that make it possible to explore the never before studied properties of solutions to Einstein's equation on manifolds with arbitrary toplogical structures. A new covariant, first-order symmetric-hyperbolic representation of Einstein's equation is developed for this purpose, along with the needed boundary conditions at the interfaces between adjoining cubic regions. Numerical tests are presented that demonstrate the long-term numerical stability of this method for evolutions of a complicated, time-dependent solution of Einstein's equation coupled to a complex scalar field on a manifold with spatial topology S^3. The accuracy of these numerical test solutions is evaluated by performing convergence studies and by comparing the full non-linear numerical results to the analytical perturbation solutions, which are also derived here., Comment: 20 pages, 12 figures, 1 table; v2 minor revisions to agree with published version

Gravitational waves emitted by black-hole binary systems have the highest signal-to-noise ratio in LIGO and Virgo detectors when black-hole spins are aligned with the orbital angular momentum and extremal. For such systems, we extend the effective-one-body inspiral-merger-ringdown waveforms to generic mass ratios and spins calibrating them to 38 numerical-relativity nonprecessing waveforms produced by the SXS Collaboration. The numerical-relativity simulations span mass ratios from 1 to 8, spin magnitudes up to 98% of extremality, and last for 40 to 60 gravitational-wave cycles. When the total mass of the binary is between 20Msun and 200Msun, the effective-one-body nonprecessing (dominant mode) waveforms have overlaps above 99% (using the advanced-LIGO design noise spectral density) with all of the 38 nonprecessing numerical waveforms, when maximizing only on initial phase and time. This implies a negligible loss in event rate due to modeling. Moreover, without further calibration, we show that the precessing effective-one-body (dominant mode) waveforms have overlaps above 97% with two very long, strongly precessing numerical-relativity waveforms, when maximizing only on the initial phase and time., Comment: 5 pages, 4 figures

We extract gravitational waveforms from numerical simulations of black hole binaries computed using the Spectral Einstein Code. We compare two extraction methods: direct construction of the Newman-Penrose (NP) scalar $\Psi_4$ at a finite distance from the source and Cauchy-characteristic extraction (CCE). The direct NP approach is simpler than CCE, but NP waveforms can be contaminated by near-zone effects---unless the waves are extracted at several distances from the source and extrapolated to infinity. Even then, the resulting waveforms can in principle be contaminated by gauge effects. In contrast, CCE directly provides, by construction, gauge-invariant waveforms at future null infinity. We verify the gauge invariance of CCE by running the same physical simulation using two different gauge conditions. We find that these two gauge conditions produce the same CCE waveforms but show differences in extrapolated-$\Psi_4$ waveforms. We examine data from several different binary configurations and measure the dominant sources of error in the extrapolated-$\Psi_4$ and CCE waveforms. In some cases, we find that NP waveforms extrapolated to infinity agree with the corresponding CCE waveforms to within the estimated error bars. However, we find that in other cases extrapolated and CCE waveforms disagree, most notably for $m=0$ "memory" modes., Comment: 26 pages, 20 figures

We compute the periastron advance using the effective-one-body formalism for binary black holes moving on quasi-circular orbits and having spins collinear with the orbital angular momentum. We compare the predictions with the periastron advance recently computed in accurate numerical-relativity simulations and find remarkable agreement for a wide range of spins and mass ratios. These results do not use any numerical-relativity calibration of the effective-one-body model, and stem from two key ingredients in the effective-one-body Hamiltonian: (i) the mapping of the two-body dynamics of spinning particles onto the dynamics of an effective spinning particle in a (deformed) Kerr spacetime, fully symmetrized with respect to the two-body masses and spins, and (ii) the resummation, in the test-particle limit, of all post-Newtonian (PN) corrections linear in the spin of the particle. In fact, even when only the leading spin PN corrections are included in the effective-one-body spinning Hamiltonian but all the test-particle corrections linear in the spin of the particle are resummed we find very good agreement with the numerical results (within the numerical error for equal-mass binaries and discrepancies of at most 1% for larger mass ratios). Furthermore, we specialize to the extreme mass-ratio limit and derive, using the equations of motion in the gravitational skeleton approach, analytical expressions for the periastron advance, the meridional Lense-Thirring precession and spin precession frequency in the case of a spinning particle on a nearly circular equatorial orbit in Kerr spacetime, including also terms quadratic in the spin., Comment: minor changes to match published version

We study the general relativistic periastron advance in spinning black hole binaries on quasi-circular orbits, with spins aligned or anti-aligned with the orbital angular momentum, using numerical-relativity simulations, the post-Newtonian approximation, and black hole perturbation theory. By imposing a symmetry by exchange of the bodies' labels, we devise an improved version of the perturbative result, and use it as the leading term of a new type of expansion in powers of the symmetric mass ratio. This allows us to measure, for the first time, the gravitational self-force effect on the periastron advance of a non-spinning particle orbiting a Kerr black hole of mass M and spin S = -0.5 M^2, down to separations of order 9M. Comparing the predictions of our improved perturbative expansion with the exact results from numerical simulations of equal-mass and equal-spin binaries, we find a remarkable agreement over a wide range of spins and orbital separations., Comment: 18 pages, 12 figures; matches version to appear in Phys. Rev. D

The Numerical-Relativity-Analytical-Relativity (NRAR) collaboration is a joint effort between members of the numerical relativity, analytical relativity and gravitational-wave data analysis communities. The goal of the NRAR collaboration is to produce numerical-relativity simulations of compact binaries and use them to develop accurate analytical templates for the LIGO/Virgo Collaboration to use in detecting gravitational-wave signals and extracting astrophysical information from them. We describe the results of the first stage of the NRAR project, which focused on producing an initial set of numerical waveforms from binary black holes with moderate mass ratios and spins, as well as one non-spinning binary configuration which has a mass ratio of 10. All of the numerical waveforms are analysed in a uniform and consistent manner, with numerical errors evaluated using an analysis code created by members of the NRAR collaboration. We compare previously-calibrated, non-precessing analytical waveforms, notably the effective-one-body (EOB) and phenomenological template families, to the newly-produced numerical waveforms. We find that when the binary's total mass is ~100-200 solar masses, current EOB and phenomenological models of spinning, non-precessing binary waveforms have overlaps above 99% (for advanced LIGO) with all of the non-precessing-binary numerical waveforms with mass ratios <= 4, when maximizing over binary parameters. This implies that the loss of event rate due to modelling error is below 3%. Moreover, the non-spinning EOB waveforms previously calibrated to five non-spinning waveforms with mass ratio smaller than 6 have overlaps above 99.7% with the numerical waveform with a mass ratio of 10, without even maximizing on the binary parameters., Comment: 51 pages, 10 figures; published version

The behavior of merging black holes (including the emitted gravitational waves and the properties of the remnant) can currently be computed only by numerical simulations. This paper introduces ten numerical relativity simulations of binary black holes with equal masses and equal spins aligned or anti-aligned with the orbital angular momentum. The initial spin magnitudes have $|\chi_i| \lesssim 0.95$ and are more concentrated in the aligned direction because of the greater astrophysical interest of this case. We combine this data with five previously reported simulations of the same configuration, but with different spin magnitudes, including the highest spin simulated to date, $\chi_i \approx 0.97$. This data set is sufficiently accurate to enable us to offer improved analytic fitting formulae for the final spin and for the energy radiated by gravitational waves as a function of initial spin. The improved fitting formulae can help to improve our understanding of the properties of binary black hole merger remnants and can be used to enhance future approximate waveforms for gravitational wave searches, such as Effective-One-Body waveforms., Comment: 13 pages, 10 figures

This paper presents a publicly available catalog of 174 numerical binary black-hole simulations following up to 35 orbits. The catalog includes 91 precessing binaries, mass ratios up to 8:1, orbital eccentricities from a few percent to $10^{-5}$, black-hole spins up to 98% of the theoretical maximum, and radiated energies up to 11.1% of the initial mass. We establish remarkably good agreement with post-Newtonian precession of orbital and spin directions for two new precessing simulations, and we discuss other applications of this catalog. Formidable challenges remain: e.g., precession complicates the connection of numerical and approximate analytical waveforms, and vast regions of the parameter space remain unexplored., Comment: 6 pages; text clarified; additional results added

Simulations of binary black hole systems using the Spectral Einstein Code (SpEC) are done on a computational domain that excises the regions inside the black holes. It is imperative that the excision boundaries are outflow boundaries with respect to the hyperbolic evolution equations used in the simulation. We employ a time-dependent mapping between the fixed computational frame and the inertial frame through which the black holes move. The time-dependent parameters of the mapping are adjusted throughout the simulation by a feedback control system in order to follow the motion of the black holes, to adjust the shape and size of the excision surfaces so that they remain outflow boundaries, and to prevent large distortions of the grid. We describe in detail the mappings and control systems that we use. We show how these techniques have been essential in the evolution of binary black hole systems with extreme configurations, such as large spin magnitudes and high mass ratios, especially during the merger, when apparent horizons are highly distorted and the computational domain becomes compressed. The techniques introduced here may be useful in other applications of partial differential equations that involve time-dependent mappings., Comment: 40 pages, 12 figures

This article studies sufficient accuracy criteria of hybrid post-Newtonian (PN) and numerical relativity (NR) waveforms for parameter estimation of strong binary black-hole sources in second- generation ground-based gravitational-wave detectors. We investigate equal-mass non-spinning binaries with a new 33-orbit NR waveform, as well as unequal-mass binaries with mass ratios 2, 3, 4 and 6. For equal masses, the 33-orbit NR waveform allows us to recover previous results and to extend the analysis toward matching at lower frequencies. For unequal masses, the errors between different PN approximants increase with mass ratio. Thus, at 3.5PN, hybrids for higher-mass-ratio systems would require NR waveforms with many more gravitational-wave (GW) cycles to guarantee no adverse impact on parameter estimation. Furthermore, we investigate the potential improvement in hybrid waveforms that can be expected from 4th order post-Newtonian waveforms, and find that knowledge of this 4th post-Newtonian order would significantly improve the accuracy of hybrid waveforms., Comment: 11 pages, 14 figures

The Numerical INJection Analysis (NINJA) project is a collaborative effort between members of the numerical relativity and gravitational wave data analysis communities. The purpose of NINJA is to study the sensitivity of existing gravitational-wave search and parameter-estimation algorithms using numerically generated waveforms, and to foster closer collaboration between the numerical relativity and data analysis communities. The first NINJA project used only a small number of injections of short numerical-relativity waveforms, which limited its ability to draw quantitative conclusions. The goal of the NINJA-2 project is to overcome these limitations with long post-Newtonian - numerical relativity hybrid waveforms, large numbers of injections, and the use of real detector data. We report on the submission requirements for the NINJA-2 project and the construction of the waveform catalog. Eight numerical relativity groups have contributed 63 hybrid waveforms consisting of a numerical portion modelling the late inspiral, merger, and ringdown stitched to a post-Newtonian portion modelling the early inspiral. We summarize the techniques used by each group in constructing their submissions. We also report on the procedures used to validate these submissions, including examination in the time and frequency domains and comparisons of waveforms from different groups against each other. These procedures have so far considered only the $(\ell,m)=(2,2)$ mode. Based on these studies we judge that the hybrid waveforms are suitable for NINJA-2 studies. We note some of the plans for these investigations., Comment: Presented at Amaldi 9

Current spectral simulations of Einstein's equations require writing the equations in first-order form, potentially introducing instabilities and inefficiencies. We present a new penalty method for pseudo-spectral evolutions of second order in space wave equations. The penalties are constructed as functions of Legendre polynomials and are added to the equations of motion everywhere, not only on the boundaries. Using energy methods, we prove semi-discrete stability of the new method for the scalar wave equation in flat space and show how it can be applied to the scalar wave on a curved background. Numerical results demonstrating stability and convergence for multi-domain second-order scalar wave evolutions are also presented. This work provides a foundation for treating Einstein's equations directly in second-order form by spectral methods., Comment: 16 pages, 5 figures