Search

We present an investigation of the horizon and its effect on global 21-cm observations and analysis. We find that the horizon cannot be ignored when modeling low frequency observations. Even if the sky and antenna beam are known exactly, forward models cannot fully describe the beam-weighted foreground component without accurate knowledge of the horizon. When fitting data to extract the 21-cm signal, a single time-averaged spectrum or independent multi-spectrum fits may be able to compensate for the bias imposed by the horizon. However, these types of fits lack constraining power on the 21-cm signal, leading to large uncertainties on the signal extraction, in some cases larger in magnitude than the 21-cm signal itself. A significant decrease in signal uncertainty can be achieved by performing multi-spectrum fits in which the spectra are modeled simultaneously with common parameters. The cost of this greatly increased constraining power, however, is that the time dependence of the horizon's effect, which is more complex than its spectral dependence, must be precisely modeled to achieve a good fit. To aid in modeling the horizon, we present an algorithm and Python package for calculating the horizon profile from a given observation site using elevation data. We also address several practical concerns such as pixelization error, uncertainty in the horizon profile, and foreground obstructions such as surrounding buildings and vegetation. We demonstrate that our training set-based analysis pipeline can account for all of these factors to model the horizon well enough to precisely extract the 21-cm signal from simulated observations., Comment: 19 pages, 11 figures, 1 table

All 21-cm signal experiments rely on electronic receivers that affect the data via both multiplicative and additive biases through the receiver's gain and noise temperature. While experiments attempt to remove these biases, the residuals of their imperfect calibration techniques can still confuse signal extraction algorithms. In this paper, the fourth and final installment of our pipeline series, we present a technique for fitting out receiver effects as efficiently as possible. The fact that the gain and global signal, which are multiplied in the observation equation, must both be modeled implies that the model of the data is nonlinear in its parameters, making numerical sampling the only way to explore the parameter distribution rigorously. However, multi-spectra fits, which are necessary to extract the signal confidently as demonstrated in the third paper of the series, often require large numbers of foreground parameters, increasing the dimension of the posterior distribution that must be explored and therefore causing numerical sampling inefficiencies. Building upon techniques in the second paper of the series, we outline a method to explore the full parameter distribution by numerically sampling a small subset of the parameters and analytically marginalizing over the others. We test this method in simulation using a type-I Chebyshev band-pass filter gain model and a fast signal model based on a spline between local extrema. The method works efficiently, converging quickly to the posterior signal parameter distribution. The final signal uncertainties are of the same order as the noise in the data., Comment: 15 pages, 7 figures, submitted to ApJ

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple agents acting on a shared environment. In this paper we present a control framework for robot-robot collaborative lifting. The proposed shared controller takes into account the joint action of both the robots thanks to a centralized controller that communicates with them, and solves the whole-system optimization. Efficient collaboration is ensured by taking into account the ergonomic requirements of the robots through the optimization of posture and contact forces. The framework is validated in an experimental scenario with two iCub humanoid robots performing different payload lifting sequences.

We present results from \textit{Chandra} X-ray observations and 325 MHz Giant Metrewave Radio Telescope (GMRT) observations of the massive and X-ray luminous cluster of galaxies Abell S1063. We report the detection of large-scale \lq\lq excess brightness\rq\rq\ in the residual \textit{Chandra} X-ray surface brightness map, which extends at least 2.7 Mpc towards the north-east from the center of the cluster. We also present a high fidelity X-ray flux and temperature map using \textit{Chandra} archival data of 122 ksec, which shows the disturbed morphology in the cluster. The residual flux map shows the first observational confirmation of the merging axis proposed by earlier simulation by \citet{Gomez2012AJ....144...79G}. The average temperature within $R_{500}$ is $11.7 \pm 0.56$ keV, which makes AS1063 one of the hottest clusters in the nearby Universe. The integrated radio flux density at 325 MHz is found to be $62.0\pm6.3$ mJy. The integrated spectrum of the radio halo follows a power-law with a spectral index $\alpha=-1.43\pm 0.13$. The radio halo is found to be significantly under-luminous, which favored for both the hadronic as well as the turbulent re-acceleration mechanism for its origin., Comment: Accepted for publication in MNRAS (12 pages, 8 figures, 2 tables)

An array of low-frequency dipole antennas on the lunar farside surface will probe a unique, unexplored epoch in the early Universe called the Dark Ages. It begins at Recombination when neutral hydrogen atoms formed, first revealed by the cosmic microwave background. This epoch is free of stars and astrophysics, so it is ideal to investigate high energy particle processes including dark matter, early Dark Energy, neutrinos, and cosmic strings. A NASA-funded study investigated the design of the instrument and the deployment strategy from a lander of 128 pairs of antenna dipoles across a 10 kmx10 km area on the lunar surface. The antenna nodes are tethered to the lander for central data processing, power, and data transmission to a relay satellite. The array, named FARSIDE, would provide the capability to image the entire sky in 1400 channels spanning frequencies from 100 kHz to 40 MHz, extending down two orders of magnitude below bands accessible to ground-based radio astronomy. The lunar farside can simultaneously provide isolation from terrestrial radio frequency interference, the Earth's auroral kilometric radiation, and plasma noise from the solar wind. It is thus the only location within the inner solar system from which sky noise limited observations can be carried out at sub-MHz frequencies. Through precision calibration via an orbiting beacon and exquisite foreground characterization, the farside array would measure the Dark Ages global 21-cm signal at redshifts z~35-200. It will also be a pathfinder for a larger 21-cm power spectrum instrument by carefully measuring the foreground with high dynamic range., Comment: 14 pages, 3 figures, 1 table, response to DOE request for information on lunar farside radio telescope to explore the early universe. arXiv admin note: substantial text overlap with arXiv:1911.08649

One of the last unexplored windows to the cosmos, the Dark Ages and Cosmic Dawn, can be opened using a simple low frequency radio telescope from the stable, quiet lunar farside to measure the Global 21-cm spectrum. This frontier remains an enormous gap in our knowledge of the Universe. Standard models of physics and cosmology are untested during this critical epoch. The messenger of information about this period is the 1420 MHz (21-cm) radiation from the hyperfine transition of neutral hydrogen, Doppler-shifted to low radio astronomy frequencies by the expansion of the Universe. The Global 21-cm spectrum uniquely probes the cosmological model during the Dark Ages plus the evolving astrophysics during Cosmic Dawn, yielding constraints on the first stars, on accreting black holes, and on exotic physics such as dark matter-baryon interactions. A single low frequency radio telescope can measure the Global spectrum between ~10-110 MHz because of the ubiquity of neutral hydrogen. Precise characterizations of the telescope and its surroundings are required to detect this weak, isotropic emission of hydrogen amidst the bright foreground Galactic radiation. We describe how two antennas will permit observations over the full frequency band: a pair of orthogonal wire antennas and a 0.3-m$^3$ patch antenna. A four-channel correlation spectropolarimeter forms the core of the detector electronics. Technology challenges include advanced calibration techniques to disentangle covariances between a bright foreground and a weak 21-cm signal, using techniques similar to those for the CMB, thermal management for temperature swings of >250C, and efficient power to allow operations through a two-week lunar night. This simple telescope sets the stage for a lunar farside interferometric array to measure the Dark Ages power spectrum.

We present a methodology for ensuring the robustness of our analysis pipeline in separating the global 21-cm hydrogen cosmology signal from large systematics based on singular value decomposition (SVD) of training sets. We show how traditional goodness-of-fit metrics such as the $\chi^2$ statistic that assess the fit to the full data may not be able to detect a suboptimal extraction of the 21-cm signal when it is fit alongside one or more additional components due to significant covariance between them. However, we find that comparing the number of SVD eigenmodes for each component chosen by the pipeline for a given fit to the distribution of eigenmodes chosen for synthetic data realizations created from training set curves can detect when one or more of the training sets is insufficient to optimally extract the signal. Furthermore, this test can distinguish which training set (e.g. foreground, 21-cm signal) needs to be modified in order to better describe the data and improve the quality of the 21-cm signal extraction. We also extend this goodness-of-fit testing to cases where a prior distribution derived from the training sets is applied and find that, in this case, the $\chi^2$ statistic as well as the recently introduced $\psi^2$ statistic are able to detect inadequacies in the training sets due to the increased restrictions imposed by the prior. Crucially, the tests described in this paper can be performed when analyzing any type of observations with our pipeline., Comment: 16 pages, 6 figures, 2 tables. Submitted to the Astrophysical Journal

In order to characterize and model the beam-weighted foreground for global 21-cm signal experiments, we present a methodology for generating basis eigenvectors that combines analytical and observational models of both the galactic spectral index and sky brightness temperature with simulations of beams having various angular and spectral dependencies and pointings. Each combination creates a unique beam-weighted foreground. By generating eigenvectors to fit each foreground model using Singular Value Decomposition (SVD), we examine the effects of varying the components of the beam-weighted foreground. We find that the eigenvectors for modelling an achromatic, isotropic beam -- the ideal case -- are nearly identical regardless of the unweighted foreground model used, and are practicably indistinguishable from polynomial-based models. When anisotropic, chromatic beams weight the foreground, however, a coupling is introduced between the spatial and spectral structure of the foreground which distorts the eigenvectors away from the polynomial models and induces a dependence of the basis upon the exact features of the beam (chromaticity, pattern, pointing) and foreground (spectral index, sky brightness temperature map). We find that the beam has a greater impact upon the eigenvectors than foreground models. Any model which does not account for its distortion may produce RMS uncertainties on the order of $\sim 10$ - $10^3$ Kelvin for six-parameter, single spectrum fits. If the beam is incorporated directly using SVD and training sets, however, the resultant eigenvectors yield milli-Kelvin level uncertainties. Given a sufficiently detailed description of the sky, our methodology can be applied to any particular experiment with a suitably characterized beam for the purpose of generating accurate beam-weighted foreground models., Comment: 16 pages, 10 figures

We perform a joint analysis of the counts of redMaPPer clusters selected from the Dark Energy Survey (DES) Y1 data and multi-wavelength follow-up data collected within the 2500 deg$^2$ South Pole Telescope (SPT) SZ survey. The SPT follow-up data, calibrating the richness--mass relation of the optically selected redMaPPer catalog, enable the cosmological exploitation of the DES cluster abundance data. To explore possible systematics related to the modeling of projection effects, we consider two calibrations of the observational scatter on richness estimates: a simple Gaussian model which account only for the background contamination (BKG), and a model which further includes contamination and incompleteness due to projection effects (PRJ). Assuming either a $\Lambda$CDM+$\sum m_\nu$ or $w$CDM+$\sum m_\nu$ cosmology, and for both scatter models, we derive cosmological constraints consistent with multiple cosmological probes of the low and high redshift Universe, and in particular with the SPT cluster abundance data. This result demonstrates that the DES Y1 and SPT cluster counts provide consistent cosmological constraints, if the same mass calibration data set is adopted. It thus supports the conclusion of the DES Y1 cluster cosmology analysis which interprets the tension observed with other cosmological probes in terms of systematics affecting the stacked weak lensing analysis of optically--selected low--richness clusters. Finally, we analyse the first combined optically-SZ selected cluster catalogue obtained by including the SPT sample above the maximum redshift probed by the DES Y1 redMaPPer sample. Besides providing a mild improvement of the cosmological constraints, this data combination serves as a stricter test of our scatter models: the PRJ model, providing scaling relations consistent between the two abundance and multi-wavelength follow-up data, is favored over the BKG model., Comment: matches published version

The assumptions inherent to global 21-cm signal analyses are rarely delineated. In this paper, we formulate a general list of suppositions underlying a given claimed detection of the global 21-cm signal. Then, we specify the form of these assumptions for two different analyses: 1) the one performed by the EDGES team showing an absorption trough in brightness temperature that they modeled separately from the sky foreground and 2) a new, so-called Minimum Assumption Analysis (MAA), that makes the most conservative assumptions possible for the signal. We show fits using the EDGES analysis on various beam-weighted foreground simulations from the EDGES latitude with no signal added. Depending on the beam used, these simulations produce large false troughs due to the invalidity of the foreground model to describe the combination of beam chromaticity and the shape of the Galactic plane in the sky, the residuals of which are captured by the ad hoc flattened Gaussian signal model. On the other hand, the MAA provides robust fits by including many spectra at different time bins and allowing any possible 21-cm spectrum to be modeled exactly. We present uncertainty levels and example signal reconstructions found with the MAA for different numbers of time bins. With enough time bins, one can determine the true 21-cm signal with the MAA to $<10$ times the noise level., Comment: 19 pages, 4 figures, accepted to ApJ. Since previous version, added frequency correlation structure under MAA analysis and laid out extension of MAA to motion-induced dipole of 21-cm signal

When using valid foreground and signal models, the uncertainties on extracted signals in global 21-cm signal experiments depend principally on the overlap between signal and foreground models. In this paper, we investigate two strategies for decreasing this overlap: (i) utilizing time dependence by fitting multiple drift-scan spectra simultaneously and (ii) measuring all four Stokes parameters instead of only the total power, Stokes I. Although measuring polarization requires different instruments than are used in most existing experiments, all existing experiments can utilize drift-scan measurements merely by averaging their data differently. In order to evaluate the increase in constraining power from using these two techniques, we define a method for connecting Root-Mean-Square (RMS) uncertainties to probabilistic confidence levels. Employing simulations, we find that fitting only one total power spectrum leads to RMS uncertainties at the few K level, while fitting multiple time-binned, drift-scan spectra yields uncertainties at the $\lesssim 10$ mK level. This significant improvement only appears if the spectra are modeled with one set of basis vectors, instead of using multiple sets of basis vectors that independently model each spectrum. Assuming that they are simulated accurately, measuring all four Stokes parameters also leads to lower uncertainties. These two strategies can be employed simultaneously and fitting multiple time bins of all four Stokes parameters yields the best precision measurements of the 21-cm signal, approaching the noise level in the data., Comment: 16 pages, 6 figures, accepted for publication in ApJ

Low radio frequency experiments performed on Earth are contaminated by both ionospheric effects and radio frequency interference (RFI) from Earth-based sources. The lunar farside provides a unique environment above the ionosphere where RFI is heavily attenuated by the presence of the Moon. We present electrodynamics simulations of the propagation of radio waves around and through the Moon in order to characterize the level of attenuation on the farside. The simulations are performed for a range of frequencies up to 100 kHz, assuming a spherical lunar shape with an average, constant density. Additionally, we investigate the role of the topography and density profile of the Moon in the propagation of radio waves and find only small effects on the intensity of RFI. Due to the computational demands of performing simulations at higher frequencies, we propose a model for extrapolating the width of the quiet region above 100 kHz that also takes into account height above the lunar surface as well as the intensity threshold chosen to define the quiet region. This model, which we make publicly available through a Python package, allows the size of the radio quiet region to be easily calculated both in orbit or on the surface, making it directly applicable for lunar satellites as well as surface missions., Comment: 14 pages, 8 figures, accepted to Advances in Space Research. Additional physical insight such as the skin depth of the lunar material added since previous version. Inset of figure 5 revised to be more legible. Results unchanged

The advent of sensitive low frequency radio observations has revealed a number of diffuse radio objects with peculiar properties that are challenging our understanding about the physics of the intracluster medium. Here, we report the discovery of a steep spectrum radio halo surrounding the central Brightest Cluster Galaxy (BCG) in the galaxy cluster SPT-CL J2031-4037. This cluster is morphologically disturbed yet has a weak cool core, an example of cool core/non-cool core transition system, which harbours a radio halo of $\sim 0.7$ Mpc in size. The halo emission detected at 1.7 GHz is less extended compared to that in the 325 MHz observation, and the spectral index of the part of the halo visible at 325 MHz to 1.7 GHz frequencies was found to be $-1.35 \pm 0.07$. Also, $P_{1.4\ \mathrm{GHz}}$ was found to be $0.77 \times 10^{24}$ W Hz$^{-1}$ which falls in the region where radio mini-halos, halo upper limits and ultra-steep spectrum (USS) halos are found in the $P_{1.4\ \mathrm{GHz}} - L_\mathrm{X}$ plane. Additionally, simulations presented in the paper provide support to the scenario of the steep spectrum. The diffuse radio emission found in this cluster may be a steep spectrum "intermediate" or "hybrid" radio halo which is transitioning into a mini-halo., Comment: 6 pages, 3 figures; Accepted for publication in MNRAS Letter

Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational skills that ensure a social component in their existence. This article draws from our experience as roboticists in Human-Robot Collaboration (HRC) with humanoid robots and presents some of the recent advances made towards realizing intuitive robot behaviors and partner-aware control involving physical interactions., Comment: Extended Abstract Accepted and Presented at The Communication Challenges in Joint Action for Human-Robot Interaction Workshop, International Conference on Social Robotics (ICSR) 2019, Madrid, Spain

Cool core galaxy clusters are considered to be dynamically relaxed clusters with regular morphology and highly X-ray luminous central region. However, cool core clusters can also be sites for merging events that exhibit cold fronts in X-ray and mini-halos in radio. We present recent radio/X-ray observations of the Phoenix Cluster or SPT-CL J2344-4243 at the redshift of $z=0.596$. Using archival {\it Chandra} X-ray observations, we detect spiraling cool gas around the cluster core as well as discover two cold fronts near the core. It is perhaps the most distant galaxy cluster to date known to host cold fronts. Also, we present JVLA\footnote{Jansky Very Large Array\\ \url{https://science.nrao.edu/facilities/vla}} 1.52 GHz observations of the minihalo, previously discovered at 610 MHz with GMRT\footnote{Giant Metrewave Radio Telescope\\ \url{http://www.gmrt.ncra.tifr.res.in}} observations in the center of the Phoenix galaxy cluster. The minihalo flux density at 1.52 GHz is $9.65 \pm 0.97$ mJy with the spectral index between 610 MHz and 1.52 GHz being $-0.98 \pm 0.16$\footnote{$S_{\nu} = \nu^{\alpha}$ where $S_{\nu}$}. A possible origin of these radio sources is turbulence induced by sloshing of the gas in the cluster core., Comment: 13 pages, 6 figures, accepted by ApJ

Scaling relations trace the formation and evolution of galaxy clusters. We exploited multi-wavelength surveys -- the XXL survey at \emph{XMM-Newton} in the X-ray band, and the Hyper Suprime-Cam Subaru Strategic Program for optical weak lensing -- to study an X-ray selected, complete sample of clusters and groups. The scalings of gas mass, temperature, and soft-band X-ray luminosity with the weak lensing mass show imprints of radiative cooling and AGN feedback in groups. From the multi-variate analysis, we found some evidence for steeper than self-similar slopes for gas mass ($\beta_{m_\text{g}|m}=1.73 \pm0.80$) and luminosity ($\beta_{l|m}=1.91\pm0.94$) and a nearly self-similar slope for the temperature ($\beta_{t|m}=0.78\pm0.43$). Intrinsic scatters of X-ray properties appear to be positively correlated at a fixed mass (median correlation factor $\rho_{X_1X_2|m}\sim0.34$) due to dynamical state and merger history of the halos. Positive correlations with the weak lensing mass (median correlation factor $\rho_{m_\text{wl}X|m}\sim0.35$) can be connected to triaxiality and orientation. Comparison of weak lensing and hydrostatic masses suggests a small role played by non-thermal pressure support ($9\pm17\%$)., Comment: 19 pages; in press on MNRAS. One of two companion papers on HSC-XXL surveys (Keiichi Umetsu et al., arXiv:1909.10524)

We present the completion of a data analysis pipeline that self-consistently separates global 21-cm signals from large systematics using a pattern recognition technique. In the first paper of this series, we obtain optimal basis vectors from signal and foreground training sets to linearly fit both components with the minimal number of terms that best extracts the signal given its overlap with the foreground. In this second paper, we utilize the spectral constraints derived in the first paper to calculate the full posterior probability distribution of any signal parameter space of choice. The spectral fit provides the starting point for a Markov Chain Monte Carlo (MCMC) engine that samples the signal without traversing the foreground parameter space. At each MCMC step, we marginalize over the weights of all linear foreground modes and suppress those with unimportant variations by applying priors gleaned from the training set. This method drastically reduces the number of MCMC parameters, augmenting the efficiency of exploration, circumvents the need for selecting a minimal number of foreground modes, and allows the complexity of the foreground model to be greatly increased to simultaneously describe many observed spectra without requiring extra MCMC parameters. Using two nonlinear signal models, one based on EDGES observations and the other on phenomenological frequencies and temperatures of theoretically expected extrema, we demonstrate the success of this methodology by recovering the input parameters from multiple randomly simulated signals at low radio frequencies (10-200 MHz), while rigorously accounting for realistically modeled beam-weighted foregrounds., Comment: 19 pages, 11 figures, 5 tables. Submitted to ApJ. Code available at https://bitbucket.org/ktausch/pylinex

This is the final report submitted to NASA for a Probe-class concept study of the "Farside Array for Radio Science Investigations of the Dark ages and Exoplanets" (FARSIDE), a low radio frequency interferometric array on the farside of the Moon. The design study focused on the instrument, a deployment rover, the lander and base station, and delivered an architecture broadly consistent with the requirements for a Probe mission. This notional architecture consists of 128 dipole antennas deployed across a 10 km area by a rover, and tethered to a base station for central processing, power and data transmission to the Lunar Gateway, or an alternative relay satellite. FARSIDE would provide the capability to image the entire sky each minute in 1400 channels spanning frequencies from 150 kHz to 40 MHz, extending down two orders of magnitude below bands accessible to ground-based radio astronomy. The lunar farside can simultaneously provide isolation from terrestrial radio frequency interference, auroral kilometric radiation, and plasma noise from the solar wind. This would enable near-continuous monitoring of the nearest stellar systems in the search for the radio signatures of coronal mass ejections and energetic particle events, and would also detect the magnetospheres for the nearest candidate habitable exoplanets. Simultaneously, FARSIDE would be used to characterize similar activity in our own solar system, from the Sun to the outer planets. Through precision calibration via an orbiting beacon, and exquisite foreground characterization, FARSIDE would also measure the Dark Ages global 21-cm signal at redshifts from 50-100. It will also be a pathfinder for a larger 21-cm power spectrum instrument by carefully measuring the foreground with high dynamic range., Comment: 50 pages, NASA Probe final study report. arXiv admin note: text overlap with arXiv:1907.05407

In this work, merging ideas from compatible discretisations and polyhedral methods, we construct novel fully discrete polynomial de Rham sequences of arbitrary degree on polygons and polyhedra. The spaces and operators that appear in these sequences are directly amenable to computer implementation. Besides proving exactness, we show that the usual three-dimensional sequence of trimmed Finite Element spaces forms, through appropriate interpolation operators, a commutative diagram with our sequence, which ensures suitable approximation properties. A discussion on reconstructions of potentials and discrete $L^2$-products completes the exposition.

The field of astronomy has arrived at a turning point in terms of size and complexity of both datasets and scientific collaboration. Commensurately, algorithms and statistical models have begun to adapt --- e.g., via the onset of artificial intelligence --- which itself presents new challenges and opportunities for growth. This white paper aims to offer guidance and ideas for how we can evolve our technical and collaborative frameworks to promote efficient algorithmic development and take advantage of opportunities for scientific discovery in the petabyte era. We discuss challenges for discovery in large and complex data sets; challenges and requirements for the next stage of development of statistical methodologies and algorithmic tool sets; how we might change our paradigms of collaboration and education; and the ethical implications of scientists' contributions to widely applicable algorithms and computational modeling. We start with six distinct recommendations that are supported by the commentary following them. This white paper is related to a larger corpus of effort that has taken place within and around the Petabytes to Science Workshops (https://petabytestoscience.github.io/)., Comment: arXiv admin note: substantial text overlap with arXiv:1905.05116

Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a trajectory advancement approach that facilitates advancement along a reference trajectory by leveraging assistance from helpful interaction wrench present during human-robot collaboration. We validate our approach through experiments in simulation with iCub., Comment: Accepted to The first Italian Robotics and Intelligent Machines Conference (I-RIM 2019). arXiv admin note: substantial text overlap with arXiv:1907.13445

Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor's spatial resolution is about 4 taxels/cm^2 in order to have an accurate reconstruction of the contact pressure distribution. As a consequence, the insole provides information such as contact forces, moments, and center of pressure. To retrieve this information, a calibration technique that fuses measurements from a vacuum chamber and shoes equipped with force/torque sensors is proposed. The validation analysis shows that the best performance achieved a root mean square error (RMSE) of about 7 N for the contact forces and 2 N m for the contact moments when using the force/torque shoe data as ground truth. Thus, the insole may be an alternative to force/torque sensors for certain applications, with a considerably more cost-effective and less invasive hardware., Comment: 21 pages, 12 figures

We present a weak-lensing analysis of X-ray galaxy groups and clusters selected from the XMM-XXL survey using the first-year data from the Hyper Suprime-Cam (HSC) Subaru Strategic Program. Our joint weak-lensing and X-ray analysis focuses on 136 spectroscopically confirmed X-ray-selected systems at 0.031 < z < 1.033 detected in the 25sqdeg XXL-N region. We characterize the mass distributions of individual clusters and establish the concentration-mass (c-M) relation for the XXL sample, by accounting for selection bias and statistical effects, and marginalizing over the remaining mass calibration uncertainty. We find the mass-trend parameter of the c-M relation to be \beta = -0.07 \pm 0.28 and the normalization to be c200 = 4.8 \pm 1.0 (stat) \pm 0.8 (syst) at M200=10^{14}Msun/h and z = 0.3. We find no statistical evidence for redshift evolution. Our weak-lensing results are in excellent agreement with dark-matter-only c-M relations calibrated for recent LCDM cosmologies. The level of intrinsic scatter in c200 is constrained as \sigma(\ln[c200]) < 24% (99.7% CL), which is smaller than predicted for the full population of LCDM halos. This is likely caused in part by the X-ray selection bias in terms of the relaxation state. We determine the temperature-mass (Tx-M500) relation for a subset of 105 XXL clusters that have both measured HSC lensing masses and X-ray temperatures. The resulting Tx-M500 relation is consistent with the self-similar prediction. Our Tx-M500 relation agrees with the XXL DR1 results at group scales, but has a slightly steeper mass trend, implying a smaller mass scale in the cluster regime. The overall offset in the Tx-M500 relation is at the $1.5\sigma$ level, corresponding to a mean mass offset of (34\pm 20)%. We also provide bias-corrected, weak-lensing-calibrated M200 and M500 mass estimates of individual XXL clusters based on their measured X-ray temperatures., Comment: Version matching the one published in ApJ. We recommend to use statistically corrected mass estimates (M200MT, M500MT) of Table 2 for a given individual cluster. One of two companion papers presenting initial HSC-XXL results (Mauro Sereno et al., arXiv:1912.02827)

Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid robots using a novel approach for motion retargeting through inverse kinematics over the robot model. The proposed method enhances scalability for retargeting, i.e., it allows teleoperating different robots by different human users with minimal changes to the proposed system. Our framework enables an intuitive and natural interaction between the human operator and the humanoid robot at the configuration space level. We validate our approach by demonstrating whole-body retargeting with multiple robot models. Furthermore, we present experimental validation through teleoperation experiments using two state-of-the-art whole-body controllers for humanoid robots., Comment: Equal author contribution from Kourosh Darvish and Yeshasvi Tirupachuri

This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present a method based on the integration of differential kinematics using distance measurement on SO(3) for which the convergence is proved using Lyapunov analysis. An experimental scenario, where the motion of a human subject is tracked in static and dynamic configurations, is used to validate the inverse kinematics method performance on human and humanoid models. Moreover, the method is tested on a human-humanoid retargeting scenario, verifying the usability of the computed solution for real-time robotics applications. Our approach is evaluated both in terms of accuracy and computational load, and compared to iterative optimization algorithms.

As technology advances, the barriers between the co-existence of humans and robots are slowly coming down. The prominence of physical interactions for collaboration and cooperation between humans and robots will be an undeniable fact. Rather than exhibiting simple reactive behaviors to human interactions, it is desirable to endow robots with augmented capabilities of exploiting human interactions for successful task completion. Towards that goal, in this paper, we propose a trajectory advancement approach in which we mathematically derive the conditions that facilitate advancing along a reference trajectory by leveraging assistance from helpful interaction wrench present during human-robot collaboration. We validate our approach through experiments conducted with the iCub humanoid robot both in simulation and on the real robot., Comment: Accepted to the 28th IEEE International Conference on Robot & Human Interactive Communication (IEEE RO-MAN 2019)

Development of the hardware, data analysis, and simulation techniques for large compact radio arrays dedicated to mapping the 21 cm line of neutral hydrogen gas has proven to be more difficult than imagined twenty years ago when such telescopes were first proposed. Despite tremendous technical and methodological advances, there are several outstanding questions on how to optimally calibrate and analyze such data. On the positive side, it has become clear that the outstanding issues are purely technical in nature and can be solved with sufficient development activity. Such activity will enable science across redshifts, from early galaxy evolution in the pre-reionization era to dark energy evolution at low redshift., Comment: 10 pages + references, 2 figures, 1 table; APC white paper submitted to the Astro2020 decadal survey. arXiv admin note: text overlap with arXiv:1810.09572

We report the first detection of gravitational lensing due to galaxy clusters using only the polarization of the cosmic microwave background (CMB). The lensing signal is obtained using a new estimator that extracts the lensing dipole signature from stacked images formed by rotating the cluster-centered Stokes $Q/U$ map cutouts along the direction of the locally measured background CMB polarization gradient. Using data from the SPTpol 500 deg$^{2}$ survey at the locations of roughly 18,000 clusters with richness $\lambda \ge 10$ from the Dark Energy Survey (DES) Year-3 full galaxy cluster catalog, we detect lensing at $4.8\sigma$. The mean stacked mass of the selected sample is found to be $(1.43 \pm 0.4)\ \times 10^{14}\ {\rm M_{\odot}}$ which is in good agreement with optical weak lensing based estimates using DES data and CMB-lensing based estimates using SPTpol temperature data. This measurement is a key first step for cluster cosmology with future low-noise CMB surveys, like CMB-S4, for which CMB polarization will be the primary channel for cluster lensing measurements., Comment: 10 pages, 3 figures, 1 table; typos fixed; accepted for publication in PRL

FARSIDE (Farside Array for Radio Science Investigations of the Dark ages and Exoplanets) is a Probe-class concept to place a low radio frequency interferometric array on the farside of the Moon. A NASA-funded design study, focused on the instrument, a deployment rover, the lander and base station, delivered an architecture broadly consistent with the requirements for a Probe mission. This notional architecture consists of 128 dual polarization antennas deployed across a 10 km area by a rover, and tethered to a base station for central processing, power and data transmission to the Lunar Gateway. FARSIDE would provide the capability to image the entire sky each minute in 1400 channels spanning frequencies from 100 kHz to 40 MHz, extending down two orders of magnitude below bands accessible to ground-based radio astronomy. The lunar farside can simultaneously provide isolation from terrestrial radio frequency interference, auroral kilometric radiation, and plasma noise from the solar wind. This would enable near-continuous monitoring of the nearest stellar systems in the search for the radio signatures of coronal mass ejections and energetic particle events, and would also detect the magnetospheres for the nearest candidate habitable exoplanets. Simultaneously, FARSIDE would be used to characterize similar activity in our own solar system, from the Sun to the outer planets, including the hypothetical Planet Nine. Through precision calibration via an orbiting beacon, and exquisite foreground characterization, FARSIDE would also measure the Dark Ages global 21-cm signal at redshifts z=50-100. The unique observational window offered by FARSIDE would enable an abundance of additional science ranging from sounding of the lunar subsurface to characterization of the interstellar medium in the solar system neighborhood., Comment: 13 pages, 9 figures, 2 tables, Astro2020 Decadal Survey whitepaper

ClusterPyXT is a new software pipeline to generate spectral temperature, X-ray surface brightness, pressure, and density maps from X-ray observations of galaxy clusters. These data products help elucidate the physics of processes occurring within clusters of galaxies, including turbulence, shock fronts, nonthermal phenomena, and the overall dynamics of cluster mergers. ClusterPyXT automates the creation of these data products with minimal user interaction, and allows for rapid analyses of archival data with user defined parameters and the ability to straightforwardly incorporate additional observations. In this paper, we describe in detail the use of this code and release it as an open source Python project on GitHub., Comment: 11 pages, 7 figures, Published in Astronomy and Computing, Volume 27, April 2019