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Gravitational-wave memory is characterized by a signal component that persists after a transient signal has decayed. Treating such signals in the frequency domain is non-trivial, since discrete Fourier transforms assume periodic signals on finite time intervals. In order to reduce artifacts in the Fourier transform, it is common to use recipes that involve windowing and padding with constant values. Here we discuss how to regularize the Fourier transform in a straightforward way by splitting the signal into a given sigmoid function that can be Fourier transformed in closed form, and a residual which does depend on the details of the gravitational-wave signal and has to be Fourier transformed numerically, but does not contain a persistent component. We provide a detailed discussion of how to map between continuous and discrete Fourier transforms of signals that contain a persistent component. We apply this approach to discuss the frequency-domain phenomenology of the $(\ell=2, m=0)$ spherical harmonic mode, which contains both a memory and an oscillatory ringdown component., Comment: 13 pages, 13 figures

In this paper we describe a model for the $(\ell=2, m=0)$ spherical harmonic mode of the gravitational wave signal emitted by the coalescence of binary black holes, in particular, spin-aligned systems. This mode can be viewed as consisting of two components, gravitational wave memory and quasi-normal ringdown, which are both included in our model. Depending on the parameters of the binary and the sensitivity curve of the detector, but in particular for high masses, the ringdown part can contribute significantly to the signal-to-noise ratio. The model is constructed using the methods of the phenomenological waveforms program, and is calibrated to public numerical relativity data from the Simulating eXtreme Spacetimes (SXS) waveforms catalog, with the analytical results derived from the Bondi-Metzner-Sachs (BMS) balance laws. The code has been implemented as an extension to the computationally efficient IMRPhenomTHM model, it can therefore be used for computationally expensive applications such as Bayesian parameter estimation. The region of validity of our model in the parameter space is given by: $q\leq10$ and $\chi_{1},\chi_{2}\in[-1,1]$, and no restrictions apply in terms of the length of the waveforms., Comment: 20 pages, 13 figures

In this study, we investigate the role of the non-linear memory effect in gravitational wave (GW) parameter estimation, particularly we explore its capability to break the degeneracy between luminosity distance and inclination angle in binary coalescence events. Motivated by the rapid growth in GW detections and the increasing sensitivity of GW observatories enhancing the precision of cosmological and astrophysical measurements is crucial. We propose leveraging the non-linear memory effect -- a subtle, persistent feature in the GW signal resulting from the cumulative impact of emitted gravitational waves -- as a novel approach to enhance parameter estimation accuracy. Through a comprehensive series of injection studies, encompassing both reduced and full parameter spaces, we evaluate the effectiveness of non-linear memory in various scenarios for aligned-spin systems. Our findings demonstrate the significant potential of non-linear memory in resolving the inclination-distance degeneracy, particularly for events with high signal-to-noise ratios (SNR $>$ 90) for the current generation of detectors or closer than 1 Gpc in the context of future detector sensitivities such as the planned LIGO A$^\sharp$ upgrade. The results also suggest that excluding non-linear memory from parameter estimation could introduce significant systematics in future LIGO A$^\sharp$ detections. This observation will hold even greater weight for next-generation detectors, highlighting the importance of including non-linear memory in GW models for achieving high-accuracy measurements for gravitational wave (GW) astronomy., Comment: 10 pages, 9 figures

The Laser Interferometer Space Antenna (LISA) is the first scientific endeavour to detect and study gravitational waves from space. LISA will survey the sky for Gravitational Waves in the 0.1 mHz to 1 Hz frequency band which will enable the study of a vast number of objects ranging from Galactic binaries and stellar mass black holes in the Milky Way, to distant massive black-hole mergers and the expansion of the Universe. This definition study report, or Red Book, presents a summary of the very large body of work that has been undertaken on the LISA mission over the LISA definition phase., Comment: 155 pages, with executive summary and table of contents

Modelling the gravitational wave signal from binaries beyond comparable mass is an important open issue in gravitational wave astronomy. For non-spinning binaries and when the spins are aligned with the orbital angular momentum, some first studies concerning the transition between the comparable and extreme mass ratio regime are already available, which suggest that extreme mass ratio results at times extrapolate to comparable mass ratios with surprising precision. Here we study the case of misaligned spins: We present new NR simulations performed with the Einstein Toolkit code at mass ratios up to 18 and construct a heterogeneous dataset that spans all mass ratios, including data from NR simulations, numerical approximations to extreme mass ratio binaries, and data from the geodesic approximation. As a first application we provide fits for the remnant mass and spin magnitude in single spin precessing systems, omitting consideration of the in-plane spin orientation. These fits demonstrate accuracy comparable to the state-of-the-art NRSur7dq4EmriRemnant model, all while retaining the simplicity and efficiency inherent in previous phenomenological fits., Comment: 19 pages, 17 figures, 3 tables

LISA, the Laser Interferometer Space Antenna, will usher in a new era in gravitational-wave astronomy. As the first anticipated space-based gravitational-wave detector, it will expand our view to the millihertz gravitational-wave sky, where a spectacular variety of interesting new sources abound: from millions of ultra-compact binaries in our Galaxy, to mergers of massive black holes at cosmological distances; from the beginnings of inspirals that will venture into the ground-based detectors' view to the death spiral of compact objects into massive black holes, and many sources in between. Central to realising LISA's discovery potential are waveform models, the theoretical and phenomenological predictions of the pattern of gravitational waves that these sources emit. This white paper is presented on behalf of the Waveform Working Group for the LISA Consortium. It provides a review of the current state of waveform models for LISA sources, and describes the significant challenges that must yet be overcome., Comment: 239 pages, 11 figures, white paper from the LISA Consortium Waveform Working Group, invited for submission to Living Reviews in Relativity, updated with comments from community

Along their path from source to observer, gravitational waves may be gravitationally lensed by massive objects. This results in distortions of the observed signal which can be used to extract new information about fundamental physics, astrophysics, and cosmology. Searches for these distortions amongst the observed signals from the current detector network have already been carried out, though there have as yet been no confident detections. However, predictions of the observation rate of lensing suggest detection in the future is a realistic possibility. Therefore, preparations need to be made to thoroughly investigate the candidate lensed signals. In this work, we present some of the follow-up analyses and strategies that could be applied to assess the significance of such events and ascertain what information may be extracted about the lens-source system from such candidate signals by applying them to a number of O3 candidate events, even if these signals did not yield a high significance for any of the lensing hypotheses. For strongly-lensed candidates, we verify their significance using a background of simulated unlensed events and statistics computed from lensing catalogs. We also look for potential electromagnetic counterparts. In addition, we analyse in detail a candidate for a strongly-lensed sub-threshold counterpart that is identified by a new method. For microlensing candidates, we perform model selection using a number of lens models to investigate our ability to determine the mass density profile of the lens and constrain the lens parameters. We also look for millilensing signatures in one of the lensed candidates. Applying these additional analyses does not lead to any additional evidence for lensing in the candidates that have been examined. However, it does provide important insight into potential avenues to deal with high-significance candidates in future observations., Comment: 29 pages, 27 figures

The general-relativistic phenomenon of spin-induced orbital precession has not yet been observed in strong-field gravity. Gravitational-wave observations of binary black holes (BBHs) are prime candidates, since we expect the astrophysical binary population to contain precessing binaries. Imprints of precession have been investigated in several signals, but no definitive identification of orbital precession has been reported in any one of the 84 BBH observations to date by the Advanced LIGO and Virgo detectors. Here we report the measurement of strong-field precession in the LIGO-Virgo-Kagra (LVK) gravitational-wave signal GW200129. The binary's orbit precesses at a rate ten orders of magnitude faster than previous weak-field measurements from binary pulsars. We also find that the primary black hole is likely highly spinning. According to current binary population estimates a GW200129-like signal is extremely unlikely, and therefore presents a direct challenge to many current binary formation models., Comment: 16 pages, 6 figures. Update to match published version

In this paper we present an extensive analysis of the GW190521 gravitational wave event with the current (fourth) generation of phenomenological waveform models for binary black hole coalescences. GW190521 stands out from other events since only a few wave cycles are observable. This leads to a number of challenges, one being that such short signals are prone to not resolve approximate waveform degeneracies, which may result in multi-modal posterior distributions. The family of waveform models we use includes a new fast time-domain model IMRPhenomTPHM, which allows us extensive tests of different priors and robustness with respect to variations in the waveform model, including the content of spherical harmonic modes. We clarify some issues raised in a recent paper [Nitz&Capano], associated with possible support for a high-mass ratio source, but confirm their finding of a multi-modal posterior distribution, albeit with important differences in the statistical significance of the peaks. In particular, we find that the support for both masses being outside the PISN mass-gap, and the support for an intermediate mass ratio binary are drastically reduced with respect to what Nitz&Capano found. We also provide updated probabilities for associating GW190521 to the potential electromagnetic counterpart from ZTF., Comment: 20 pages, 13 figures, 7 tables. Data release at https://zenodo.org/record/4751655

We present IMRPhenomTPHM, a phenomenological model for the gravitational wave signals emitted by the coalescence of quasi-circular precessing binary black holes systems. The model is based on the "twisting up" approximation, which maps non-precessing signals to precessing ones in terms of a time dependent rotation described by three Euler angles, and which has been utilized in several frequency domain waveform models that have become standard tools in gravitational wave data analysis. Our model is however constructed in the time domain, which allows several improvements over the frequency domain models: we do not use the stationary phase approximation, we employ a simple approximation for the precessing Euler angles for the ringdown signal, and we implement a new method for computing the Euler angles through the evolution of the spin dynamics of the system, which is more accurate and also computationally efficient., Comment: 18 pages, 10 figures, 4 tables

We consider the ten confidently detected gravitational-wave signals in the GWTC-1 catalog which are consistent with mergers of binary black hole systems, and perform a thorough parameter estimation re-analysis. This is made possible by using computationally efficient waveform models of the current (fourth) generation of the IMRPhenom family of phenomenological waveform models, which consists of the IMRPhenomX frequency-domain modelsand the IMRPhenomT time-domain models. The analysis is performed with both precessing and non-precessing waveform models with and without subdominant spherical harmonic modes. Results for all events are validated with convergence tests, discussing in particular the events GW170729 and GW151226. For the latter and the other two lowest-mass events, we also compare results between two independent sampling codes, Bilby and LALInference. We find overall consistent results with the original GWTC-1 results, with all Jensen-Shannon divergences between the previous results using IMRPhenomPv2 and our default IMRPhenomXPHM posteriors below 0.045 bits, but we also discuss cases where including subdominant harmonics and/or precession influences the posteriors., Comment: 24 pages, 19 figures, 9 tables matches version accepted by MNRAS

In this work we present an extension of the time domain phenomenological model IMRPhenomT for gravitational wave signals from binary black hole coalescences to include subdominant harmonics, specifically the $(l=2, m=\pm 1)$, $(l=3, m=\pm 3)$, $(l=4, m=\pm 4)$ and $(l=5, m=\pm 5)$ spherical harmonics. We also improve our model for the dominant $(l=2, m=\pm 2)$ mode and discuss mode mixing for the $(l=3, m=\pm 2)$ mode. The model is calibrated to numerical relativity solutions of the full Einstein equations up to mass ratio 18, and to numerical solutions of the Teukolsky equations for higher mass ratios. This work complements the latest generation of traditional frequency domain phenomenological models (IMRPhenomX), and provides new avenues to develop computationally efficient models for gravitational wave signals from generic compact binaries., Comment: 22 pages, 18 figures. https://dcc.ligo.org/P2000524

The production of numerical relativity waveforms that describe quasicircular binary black hole mergers requires high-quality initial data, and an algorithm to iteratively reduce residual eccentricity. To date, these tools remain closed source, or in commercial software that prevents their use in high performance computing platforms. To address these limitations, and to ensure that the broader numerical relativity community has access to these tools, herein we provide all the required elements to produce high-quality numerical relativity simulations in supercomputer platforms, namely: open source parameter files to numerical simulate spinning black hole binaries with asymmetric mass-ratios; open source $\texttt{Python}$ tools to produce high-quality initial data for numerical relativity simulations of spinning black hole binaries on quasi-circular orbits; open source $\texttt{Python}$ tools for eccentricity reduction, both as stand-alone software and deployed in the $\texttt{Einstein Toolkit}$'s software infrastructure. This open source toolkit fills in a critical void in the literature at a time when numerical relativity has an ever increasing role in the study and interpretation of gravitational wave sources. As part of our community building efforts, and to streamline and accelerate the use of these resources, we provide tutorials that describe, step by step, how to obtain and use these open source numerical relativity tools., Comment: 11 pages, 1 figure, 1 table. Open source software available at: https://github.com/NCSAGravity/eccred

We re-analyse the gravitational-wave event GW190412 with state-of-the-art phenomenological waveform models. This event, which has been associated with a black hole merger, is interesting due to the significant contribution from subdominant harmonics. We use both frequency-domain and time-domain waveform models. The PhenomX waveform models constitute the fourth generation of frequency-domain phenomenological waveforms for black hole binary coalescence; they have more recently been complemented by the time-domain PhenomT models, which open up new strategies to model precession and eccentricity, and to perform tests of general relativity with the phenomenological waveforms approach. Both PhenomX and PhenomT have been constructed with similar techniques and accuracy goals, and due to their computational efficiency this "generation X" model family allows the routine use of subdominant spherical harmonics in Bayesian inference. We show the good agreement between these and other state-of-the-art waveform models for GW190412, and discuss the improvements over the previous generation of phenomenological waveform models. We also discuss practical aspects of Bayesian inference such as run convergence, variations of sampling parameters, and computational cost., Comment: 25 pages, 18 figures. Data release: https://doi.org/10.5281/zenodo.4079188

The possible formation of stellar-mass binary black holes through dynamical interactions in dense stellar environments predicts the existence of binaries with non-negligible eccentricity in the frequency band of ground-based gravitational wave detectors; the detection of binary black hole mergers with measurable orbital eccentricity would validate the existence of this formation channel. Waveform templates currently used in the matched-filter gravitational-wave searches of LIGO-Virgo data neglect effects of eccentricity which is expected to reduce their efficiency to detect eccentric binary black holes. Meanwhile, the sensitivity of coherent unmodeled gravitational-wave searches (with minimal assumptions about the signal model) have been shown to be largely unaffected by the presence of even sizable orbital eccentricity. In this paper, we compare the performance of two state-of-the-art search algorithms recently used by LIGO and Virgo to search for binary black holes in the second Observing Run (O2), quantifying their search sensitivity by injecting numerical-relativity simulations of inspiral-merger-ringdown eccentric waveforms into O2 LIGO data. Our results show that the matched-filter search PyCBC performs better than the unmodeled search cWB for the high chirp mass ($>20 M_{\odot}$) and low eccentricity region ($e_{30 Hz} < 0.3$) of parameter space. For moderate eccentricities and low chirp mass, on the other hand, the unmodeled search is more sensitive than the modeled search.

In this work we present IMRPhenomTP, a time domain phenomenological model for the dominant $l=2$, $m=|2|$ modes of coalescing black hole binary systems and its extension to describe general precessing systems within the "twisting up" approximation. The underlying non-precessing model is calibrated to the new release of Numerical Relativity simulations of the SXS Collaboration and its accuracy is comparable to the state-of-the-art non-precessing dominant mode models as IMRPhenomX and SEOBNRv4. The precessing extension allows for flexibility choosing the Euler angles of the time-dependent rotation between the co-precessing and the inertial reference systems, including the single spin NNLO and the double spin MSA PN descriptions present in other models, numerical integration of the orbit averaged spin evolution equations, different choices for the evolution of the orbital angular momentum norm and a simple approximation to the ringdown behaviour., Comment: 19 pages, 11 figures

We present IMRPhenomXPHM, a phenomenological frequency-domain model for the gravitational-wave signal emitted by quasi-circular precessing binary black holes, which incorporates multipoles beyond the dominant quadrupole in the precessing frame. The model is a precessing extension of IMRPhenomXHM (Garc\'ia-Quir\'os 2020), based on approximate maps between aligned-spin waveform modes in the co-precessing frame and precessing waveform modes in the inertial frame, which is commonly referred to as "twisting up" the non-precessing waveforms. IMRPhenomXPHM includes IMRPhenomXP as a special case, the restriction to the dominant quadrupole contribution in the co-precessing frame. We implement two alternative mappings, one based on a single-spin PN approximation, as used in IMRPhenomPv2 (Hannam 2013), and one based on the double-spin MSA approach (Chatziioannou 2017). We include a detailed discussion of conventions used in the description of precessing binaries and of all choices made in constructing the model. The computational cost of \phXPHM is further reduced by extending the interpolation technique of (C. Garc\'ia-Quir\'os 2020) to the Euler angles. The accuracy, speed, robustness and modularity of the IMRPhenomX family will make these models productive tools for gravitational wave astronomy in the current era of greatly increased number and diversity of detected events., Comment: Version accepted for publication in Physical Review D

In this paper we present IMRPhenomXAS, a thorough overhaul of the IMRPhenomD [1,2] waveform model, which describes the dominant $l=2, \:| m | = 2$ spherical harmonic mode of non-precessing coalescing black holes in terms of piecewise closed form expressions in the frequency domain. Improvements include in particular the accurate treatment of unequal spin effects, and the inclusion of extreme mass ratio waveforms. IMRPhenomD has previously been extended to approximately include spin precession [3] and subdominant spherical harmonics [4], and with its extensions it has become a standard tool in gravitational wave parameter estimation. Improved extensions of IMRPhenomXAS are discussed in companion papers [5,6]., Comment: 29 pages. 20 figures. Comments and feedback welcome! This paper corresponds to LIGO DCC P2000018

This paper presents an algorithm to accelerate the evaluation of inspiral-merger-ringdown waveform models for gravitational wave data analysis. While the idea can also be applied in the time domain, here we focus on the frequency domain, which is most typically used to reduced computational cost in gravitational wave data analysis. Our work extends the idea of multibanding, which has been developed to accelerate frequency domain waveforms, to include the merger and ringdown and spherical harmonics beyond the dominant quadrupole spherical harmonic. The original method is based on a heuristic algorithm based on the inspiral to de-refine the equi-spaced frequency grid used for data analysis where a coarser grid is sufficient for accurate evaluation of a waveform model. Here we use a different criterion, based on the local interpolation error, which is more flexible and can easily be adapted to general waveforms, if their phenomenology is understood. We discuss our implementation in the LIGO Algorithm Library for the PhenomXHM frequency domain model, and report the acceleration in different parts of the parameter space of compact binary systems.

The current paradigm for constructing waveforms from precessing compact binaries is to first construct a waveform in a non-inertial, co-precessing binary source frame followed by a time-dependent rotation to map back to the physical, inertial frame. A key insight in the construction of these models is that the co-precessing waveform can be effectively mapped to some equivalent aligned spin waveform. Secondly, the time-dependent rotation implicitly introduces $m$-mode mixing, necessitating an accurate description of higher-order modes in the co-precessing frame. We assess the efficacy of this modelling strategy in the strong field regime using Numerical Relativity simulations. We find that this framework allows for the highly accurate construction of $(2,\pm 2)$ modes in our data set, while for higher order modes, especially the $(2,|1|), (3,|2|)$ and $(4,|3|)$ modes, we find rather large mismatches. We also investigate a variant of the approximate map between co-precessing and aligned spin waveforms, where we only identify the slowly varying part of the time domain co-precessing waveforms with the aligned-spin one, but find no significant improvement. Our results indicate that the simple paradigm to construct precessing waveforms does not provide an accurate description of higher order modes in the strong-field regime, and demonstrate the necessity for modelling mode asymmetries and mode-mixing to significantly improve the description of precessing higher order modes., Comment: Improved version: correcting typos, adding acknowledgement and more references

We present the IMRPhenomXHM frequency domain phenomenological waveform model for the inspiral, merger and ringdown of quasi-circular non-precessing black hole binaries. The model extends the IMRPhenomXAS waveform model, which describes the dominant quadrupole modes $\ell = |m| = 2$, to the harmonics $(\ell, |m|)=(2,1), (3,3), (3,2), (4,4)$, and includes mode mixing effects for the $(3,2)$ spherical harmonic. IMRPhenomXHM is calibrated against hybrid waveforms, which match an inspiral phase described by the effective-one-body model and post-Newtonian amplitudes for the subdominant harmonics to numerical relativity waveforms and numerical solutions to the perturbative Teukolsky equation for large mass ratios up to 1000. A computationally efficient implementation of the model is available as part of the LSC Algorithm Library Suite., Comment: 30 pages, 23 figures. Updated to match published version

We present the first estimation of the mass and spin magnitude of Kerr black holes resulting from the coalescence of binary black holes using a deep neural network. The network is trained on a dataset containing 80\% of the full publicly available catalog of numerical simulations of gravitational waves emission by binary black hole systems, including full precession effects for spinning binaries. The network predicts the remnant black holes mass and spin with an error less than 0.04\% and 0.3\% respectively for 90\% of the values in the non-precessing test dataset, it is 0.1\% and 0.3\% respectively in the precessing test dataset. When compared to existing fits in the LIGO algorithm software library, the network enables to reduce the remnant mass root mean square error to one half in the non-precessing case. In the precessing case, both remnant mass and spin mean square errors are decreased to one half, and the network corrects the bias observed in available fits., Comment: 16 pages, 5 figures

We analyze a new numerical relativity dataset of spinning but nonprecessing binary black holes on eccentric orbits, with eccentricities from approximately $0.1$ to $0.5$, with dimensionless spins up to $0.75$ included at mass ratios $q=m_1/m_2 = (1, 2)$, and further nonspinning binaries at mass ratios $q = (1.5, 3, 4)$. A comparison of the final mass and spin of these simulations with noneccentric data extends previous results in the literature on circularization of eccentric binaries to the spinning case. For the $(l,m)=(2,2)$ spin-weighted spherical harmonic mode we construct eccentric hybrid waveforms that connect the numerical relativity data to a post-Newtonian description for the inspiral, and we discuss the limitations in the current knowledge about post-Newtonian theory which complicate the generation of eccentric hybrid waveforms. We also perform a Bayesian parameter estimation study, quantifying the parameter biases introduced when using three different quasicircular waveform models to estimate the parameters of highly eccentric binary systems. We find that the used aligned-spin quasicircular model including higher order modes produces lower bias in certain parameters than the nonprecessing quasicircular model without higher order modes and the quasicircular precessing model., Comment: Matching published version

We present simple procedures to construct quasi-circular initial data for numerical evolutions of binary black hole spacetimes. Our method consists of using Post-Newtonian theory in three ways: first to provide an initial guess for the initial momenta at 3.5PN order that implies low residual eccentricity, second to measure the resulting eccentricity, and third to calculate corrections to the momenta or initial separation which further reduce the eccentricity. Regarding the initial guess, we compare numerical evolutions in post-Newtonian theory to the post-circular and post-post-circular analytical approximations to quasi-circular data. We discuss a robust fitting procedure to measure eccentricity from numerical simulations using the orbital frequency, and derive from the quasi-Keplerian parametrization at 1PN oder the correction factors for the tangential and radial momentum components required to achieve reduce the measured eccentricity to zero. We first test our procedure integrating PN equations of motion at $3.5$PN where low eccentric initial data is easily obtained, and then apply our method to sets of binary black hole numerical relativity simulations with different mass ratios (q=1,2,...,8), spin configurations and separations. Our set of simulations contains non-spinning, spin-aligned and precessing simulations. We observe that the iterative procedure produces low eccentric simulations with eccentricities of the order (10^{-4}) with only one iteration. The simplicity of the procedure allows to obtain low eccentric NR simulations easily and saving computational resources. Moreover, the analytical PN formulas derived in this paper will be useful to generate eccentric hybrid waveforms., Comment: Matching published version

The grand challenges of contemporary fundamental physics---dark matter, dark energy, vacuum energy, inflation and early universe cosmology, singularities and the hierarchy problem---all involve gravity as a key component. And of all gravitational phenomena, black holes stand out in their elegant simplicity, while harbouring some of the most remarkable predictions of General Relativity: event horizons, singularities and ergoregions. The hitherto invisible landscape of the gravitational Universe is being unveiled before our eyes: the historical direct detection of gravitational waves by the LIGO-Virgo collaboration marks the dawn of a new era of scientific exploration. Gravitational-wave astronomy will allow us to test models of black hole formation, growth and evolution, as well as models of gravitational-wave generation and propagation. It will provide evidence for event horizons and ergoregions, test the theory of General Relativity itself, and may reveal the existence of new fundamental fields. The synthesis of these results has the potential to radically reshape our understanding of the cosmos and of the laws of Nature. The purpose of this work is to present a concise, yet comprehensive overview of the state of the art in the relevant fields of research, summarize important open problems, and lay out a roadmap for future progress., Comment: White Paper for the COST action "Gravitational Waves, Black Holes, and Fundamental Physics", 272 pages, 12 figures; v4: updated references and author list. Overall improvements and corrections. To appear in Classical and Quantum Gravity

We present TEOBResumS, a new effective-one-body (EOB) waveform model for nonprecessing (spin-aligned) and tidally interacting compact binaries.Spin-orbit and spin-spin effects are blended together by making use of the concept of centrifugal EOB radius. The point-mass sector through merger and ringdown is informed by numerical relativity (NR) simulations of binary black holes (BBH) computed with the SpEC and BAM codes. An improved, NR-based phenomenological description of the postmerger waveform is developed.The tidal sector of TEOBResumS describes the dynamics of neutron star binaries up to merger and incorporates a resummed attractive potential motivated by recent advances in the post-Newtonian and gravitational self-force description of relativistic tidal interactions. Equation-of-state dependent self-spin interactions (monopole-quadrupole effects) are incorporated in the model using leading-order post-Newtonian results in a new expression of the centrifugal radius. TEOBResumS is compared to 135 SpEC and 19 BAM BBH waveforms. The maximum unfaithfulness to SpEC data $\bar{F}$ -- at design Advanced-LIGO sensitivity and evaluated with total mass $M$ varying between $10M_\odot \leq M \leq 200 M_\odot$ --is always below $2.5 \times 10^{-3}$ except for a single outlier that grazes the $7.1 \times 10^{-3}$ level. When compared to BAM data, $\bar{F}$ is smaller than $0.01$ except for a single outlier in one of the corners of the NR-covered parameter space, that reaches the $0.052$ level.TEOBResumS is also compatible, up to merger, to high end NR waveforms from binary neutron stars with spin effects and reduced initial eccentricity computed with the BAM and THC codes. The model is designed to generate accurate templates for the analysis of LIGO-Virgo data through merger and ringdown. We demonstrate its use by analyzing the publicly available data for GW150914., Comment: 39 pages, 36 figures. Extended appendix with discussion of the postmerger fits. Version accepted for publication in Phys. Rev. D

Gravitational-wave observations of binary black holes currently rely on theoretical models that predict the dominant multipoles (l,m) of the radiation during inspiral, merger and ringdown. We introduce a simple method to include the subdominant multipoles to binary black hole gravitational waveforms, given a frequency-domain model for the dominant multipoles. The amplitude and phase of the original model are appropriately stretched and rescaled using post-Newtonian results (for the inspiral), perturbation theory (for the ringdown), and a smooth transition between the two. No additional tuning to numerical-relativity simulations is required. We apply a variant of this method to the non-precessing PhenomD model. The result, PhenomHM, constitutes the first higher-multipole model of spinning black-hole binaries, and currently includes the (l,m) = (2,2), (3,3), (4,4), (2,1), (3,2), (4,3) radiative moments. Comparisons with numerical-relativity waveforms demonstrate that PhenomHM is more accurate than dominant-multipole-only models for all binary configurations, and typically improves the measurement of binary properties., Comment: 4 pages, 4 figures

We present numerical solutions of the hyperboloidal initial value problem for a self-gravitating scalar field in spherical symmetry, using a variety of standard hyperbolic slicing and shift conditions that we adapt to our hyperboloidal setup. We work in the framework of conformal compactification, and study both evolutions that employ the preferred conformal gauge, which simplifies the formal singularities of our equations at null infinity, and evolutions without this simplification. In previous work we have used a staggered grid, which excludes null infinity, while now we include the option of placing a gridpoint directly at null infinity. We use both the generalized BSSN and conformal Z4 formulations of the Einstein equations, study the effect of different gauge conditions, and show that robust evolutions are possible for a range of choices., Comment: 35 pages, 5 figures. Version accepted by CQG

For a brief moment, a binary black hole (BBH) merger can be the most powerful astrophysical event in the visible universe. Here we present a model fit for this gravitational-wave peak luminosity of nonprecessing quasicircular BBH systems as a function of the masses and spins of the component black holes, based on numerical relativity (NR) simulations and the hierarchical fitting approach introduced by X. Jim\'enez-Forteza et al. [Phys. Rev. D 95, 064024 (2017), arXiv:1611.00332]. This fit improves over previous results in accuracy and parameter-space coverage and can be used to infer posterior distributions for the peak luminosity of future astrophysical signals like GW150914 and GW151226. The model is calibrated to the l<=6 modes of 378 nonprecessing NR simulations up to mass ratios of 18 and dimensionless spin magnitudes up to 0.995, and includes unequal-spin effects. We also constrain the fit to perturbative numerical results for large mass ratios. Studies of key contributions to the uncertainty in NR peak luminosities, such as (i) mode selection, (ii) finite resolution, (iii) finite extraction radius, and (iv) different methods for converting NR waveforms to luminosity, allow us to use NR simulations from four different codes as a homogeneous calibration set. This study of systematic fits to combined NR and large-mass-ratio data, including higher modes, also paves the way for improved inspiral-merger-ringdown waveform models., Comment: Updated to match PRD version. 22 pages, 22 figures, 6 tables; data and example implementations provided as supplementary material

Numerical relativity is an essential tool in studying the coalescence of binary black holes (BBHs). It is still computationally prohibitive to cover the BBH parameter space exhaustively, making phenomenological fitting formulas for BBH waveforms and final-state properties important for practical applications. We describe a general hierarchical bottom-up fitting methodology to design and calibrate fits to numerical relativity simulations for the three-dimensional parameter space of quasicircular nonprecessing merging BBHs, spanned by mass ratio and by the individual spin components orthogonal to the orbital plane. Particular attention is paid to incorporating the extreme-mass-ratio limit and to the subdominant unequal-spin effects. As an illustration of the method, we provide two applications, to the final spin and final mass (or equivalently: radiated energy) of the remnant black hole. Fitting to 427 numerical relativity simulations, we obtain results broadly consistent with previously published fits, but improving in overall accuracy and particularly in the approach to extremal limits and for unequal-spin configurations. We also discuss the importance of data quality studies when combining simulations from diverse sources, how detailed error budgets will be necessary for further improvements of these already highly accurate fits, and how this first detailed study of unequal-spin effects helps in choosing the most informative parameters for future numerical relativity runs., Comment: 23 pages, 31 figures, 15 tables; data and example implementations as supplementary material. Updated to match PRD version

We address the hyperboloidal initial value problem in the context of Numerical Relativity, motivated by its evolution on hyperboloidal slices: smooth spacelike slices that reach future null infinity, the "location" in spacetime where radiation is to be extracted. Our approach uses the BSSN and Z4 formulations and a time-independent conformal factor. The resulting system of PDEs includes formally diverging terms at null infinity. Here we discuss a regularized numerical scheme in spherical symmetry. A critical ingredient are the gauge conditions, which control the treatment of future null infinity. Stable numerical evolutions have been performed with regular and black hole initial data on a hyperboloidal slice. A sufficiently large scalar field perturbation will create a black hole, whose final stationary state is different from the trumpet initial data derived here., Comment: 6 pages, 4 figures, submitted as proceedings for the 14th Marcel Grossmann meeting

Current template-based gravitational wave searches for compact binary coalescences (CBC) use waveform models that neglect the higher order modes content of the gravitational radiation emitted, considering only the quadrupolar $(\ell,|m|)=(2,2)$ modes. We study the effect of such a neglection for the case of aligned-spin CBC searches for equal-spin (and non-spinning) binary black holes in the context of two versions of Advanced LIGO: the upcoming 2015 version, known as early Advanced LIGO (eaLIGO) and its Zero-Detuned High Energy Power version, that we will refer to as Advanced LIGO (AdvLIGO). In addition, we study the case of a non-spinning search for initial LIGO (iLIGO). We do this via computing the effectualness of the aligned-spin SEOBNRv1 ROM waveform family, which only considers quadrupolar modes, towards hybrid post-Newtonian/Numerical Relativity waveforms which contain higher order modes. We find that for all LIGO versions, losses of more than $10\%$ of events occur for mass ratio $q\geq6$ and $M \geq 100M_\odot$ due to the neglection of higher modes. Moreover, for iLIGO and eaLIGO, losses notably increase up to $(39,23)\%$ respectively for the highest mass $(220M_\odot)$ and mass ratio ($q=8$) studied. For the case of early AdvLIGO, losses of $10\%$ occur for $M>50M_\odot$ and $q\geq6$. Neglection of higher modes leads to observation-averaged systematic parameter biases towards lower spin, total mass and chirp mass. For completeness, we perform a preliminar, non-exhaustive comparison of systematic biases to statistical errors. We find that, for a given SNR, systematic biases dominate over statistical errors at much lower total mass for eaLIGO than for AdvLIGO., Comment: 11 pages, 10 figures

We present a new frequency-domain phenomenological model of the gravitational-wave signal from the inspiral, merger and ringdown of non-precessing (aligned-spin) black-hole binaries. The model is calibrated to 19 hybrid effective-one-body--numerical-relativity waveforms up to mass ratios of 1:18 and black-hole spins of $|a/m| \sim 0.85$ ($0.98$ for equal-mass systems). The inspiral part of the model consists of an extension of frequency-domain post-Newtonian expressions, using higher-order terms fit to the hybrids. The merger-ringdown is based on a phenomenological ansatz that has been significantly improved over previous models. The model exhibits mismatches of typically less than 1\% against all 19 calibration hybrids, and an additional 29 verification hybrids, which provide strong evidence that, over the calibration region, the model is sufficiently accurate for all relevant gravitational-wave astronomy applications with the Advanced LIGO and Virgo detectors. Beyond the calibration region the model produces physically reasonable results, although we recommend caution in assuming that \emph{any} merger-ringdown waveform model is accurate outside its calibration region. As an example, we note that an alternative non-precessing model, SEOBNRv2 (calibrated up to spins of only 0.5 for unequal-mass systems), exhibits mismatch errors of up to 10\% for high spins outside its calibration region. We conclude that waveform models would benefit most from a larger number of numerical-relativity simulations of high-aligned-spin unequal-mass binaries., Comment: 27 pages, 21 figures, Updated coefficients table

In this paper we discuss the anatomy of frequency-domain gravitational-wave signals from non-precessing black-hole coalescences with the goal of constructing accurate phenomenological waveform models. We first present new numerical-relativity simulations for mass ratios up to 18 including spins. From a comparison of different post-Newtonian approximants with numerical-relativity data we select the uncalibrated SEOBNRv2 model as the most appropriate for the purpose of constructing hybrid post-Newtonian/numerical-relativity waveforms, and we discuss how we prepare time-domain and frequency-domain hybrid data sets. We then use our data together with results in the literature to calibrate simple explicit expressions for the final spin and radiated energy. Equipped with our prediction for the final state we then develop a simple and accurate merger-ringdown-model based on modified Lorentzians in the gravitational wave amplitude and phase, and we discuss a simple method to represent the low frequency signal augmenting the TaylorF2 post-Newtonian approximant with terms corresponding to higher orders in the post-Newtonian expansion. We finally discuss different options for modelling the small intermediate frequency regime between inspiral and merger-ringdown. A complete phenomenological model based on the present work is presented in a companion paper., Comment: 17 pages, 18 figures ,minor edits to text

Gravitational waveforms which describe the inspiral, merger and ringdown of coalescing binaries are usually constructed by synthesising information from perturbative descriptions, in particular post-Newtonian theory and black-hole perturbation theory, with numerical solutions of the full Einstein equations. In this paper we discuss the "glueing" of numerical and post-Newtonian waveforms to produce hybrid waveforms which include subdominant spherical harmonics ("higher order modes"), and focus in particular on the process of consistently aligning the waveforms, which requires a comparison of both descriptions and a discussion of their imprecisions. We restrict to the non-precessing case, and illustrate the process using numerical waveforms of up to mass ratio $q=18$ produced with the BAM code, and publicly available waveforms from the SXS catalogue. The results also suggest new ways of analysing finite radius errors in numerical simulations., Comment: 19 pages, 13 Figures

We consider unconstrained evolution schemes for the hyperboloidal initial value problem in numerical relativity as a promising candidate for the optimally efficient numerical treatment of radiating compact objects. Here, spherical symmetry already poses nontrivial problems and constitutes an important first step to regularize the resulting singular PDEs. We evolve the Einstein equations in their generalized BSSN and Z4 formulations coupled to a massless self-gravitating scalar field. Stable numerical evolutions are achieved for black hole initial data, and critically rely on the construction of appropriate gauge conditions., Comment: 6 pages, 5 figures

We consider the hyperboloidal initial value problem in numerical relativity, motivated by the goal to evolve radiating compact objects such as black hole binaries with a numerical grid that includes null infinity. Unconstrained evolution schemes promise optimal efficiency, but are difficult to regularize at null infinity, where the compactified Einstein equations are formally singular. In this work we treat the spherically symmetry case, which already poses nontrivial problems and constitutes an important first step. We have carried out stable numerical evolutions with the generalized BSSN and Z4 equations coupled to a scalar field. The crucial ingredients have been to find an appropriate evolution equation for the lapse function and to adapt constraint damping terms to handle null infinity., Comment: 30 pages, 7 figures

We study the effect of non-quadrupolar modes in the detection and parameter estimation of gravitational waves (GWs) from non-spinning black-hole binaries. We evaluate the loss of signal-to-noise ratio and the systematic errors in the estimated parameters when one uses a quadrupole-mode template family to detect GW signals with all the relevant modes, for target signals with total masses $20 M_\odot \leq M \leq 250 M_\odot$ and mass ratios $1 \leq q \leq 18$. Target signals are constructed by matching numerical-relativity simulations describing the late inspiral, merger and ringdown of the binary with post-Newtonian/effective-one-body waveforms describing the early inspiral. We find that waveform templates modeling only the quadrupolar modes of the GW signal are sufficient (loss of detection rate $< 10\%$) for the detection of GWs with mass ratios $q\leq4$ using advanced GW observatories. Neglecting the effect of non-quadrupole modes will introduce systematic errors in the estimated parameters. The systematic errors are larger than the expected $1\,\sigma$ statistical errors for binaries with large, unequal masses ($q\gtrsim4, M \gtrsim 150 M_\odot$), for sky-averaged signal-to-noise ratios larger than $8$. We provide a summary of the regions in the parameter space where neglecting non-quadrupole modes will cause unacceptable loss of detection rates and unacceptably large systematic biases in the estimated parameters., Comment: 11 pages, 9 figures, submitted to Phys. Rev. D

The construction of a model of the gravitational-wave (GW) signal from generic configurations of spinning-black-hole binaries, through inspiral, merger and ringdown, is one of the most pressing theoretical problems in the build-up to the era of GW astronomy. We present the first such model in the frequency domain, "PhenomP", which captures the basic phenomenology of the seven-dimensional parameter space of binary configurations with only three key physical parameters. Two of these (the binary's mass ratio and an effective total spin parallel to the orbital angular momentum, which determines the inspiral rate) define an underlying non-precessing-binary model. The non-precessing-binary waveforms are then "twisted up" with approximate expressions for the precessional motion, which require only one additional physical parameter, an effective precession spin, $\chi_p$. All other parameters (total mass, sky location, orientation and polarisation, and initial phase) can be specified trivially. The model is constructed in the frequency domain, which will be essential for efficient GW searches and source measurements. We have tested the model's fidelity for GW applications by comparison against hybrid post-Newtonian-numerical-relativity waveforms at a variety of configurations --although we did not use these numerical simulations in the construction of the model. Our model can be used to develop GW searches, to study the implications for astrophysical measurements, and as a simple conceptual framework to form the basis of generic-binary waveform modelling in the advanced-detector era., Comment: 5 pages, 2 figures. Matches version published in PRL

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

Gravitational-wave signals from black-hole binaries with non-precessing spins are described by four parameters -- each black hole's mass and spin. It has been shown that the dominant spin effects can be modeled by a \emph{single} spin parameter, leading to the development of several \emph{three-parameter} waveform models. Previous studies indicate that these models should be adequate for gravitational-wave detection. In this paper we focus on the systematic biases that would result from using them to estimate binary parameters, and consider a one-parameter family of configurations at one choice of mass ratio and effective single spin. We find that for low-mass binaries within that family of configurations, where the observable waveform is dominated by the inspiral, the systematic bias in all physical parameters is smaller than the parameter uncertainty due to degeneracies between the mass ratio and the spins, at least up to signal-to-noise ratios (SNRs) of 50. For higher-mass binaries, where the merger and ringdown make a greater contribution to the observed signal, the bias in the mass ratio is comparable to its uncertainty at SNRs of only $\sim$30, and the bias in the measurement of the total spin is \emph{larger} than the uncertainty defined by the 90% confidence region even at an SNR of only 10. Although this bias may be mitigated in future models by a better choice of single-effective-spin parameter, these results suggest that it may be possible to accurately measure \emph{both} black-hole spins in intermediate-mass binaries., Comment: 14 pages, 14 figures

One of the greatest theoretical challenges in the build-up to the era of second-generation gravitational-wave detectors is the modeling of generic binary waveforms. We introduce an approximation that has the potential to significantly simplify this problem. We show that generic precessing-binary inspiral waveforms (covering a seven-dimensional space of intrinsic parameters) can be mapped to a two-dimensional space of non-precessing binaries, characterized by the mass ratio and a single effective total spin. The mapping consists of a time-dependent rotation of the waveforms into the quadrupole-aligned frame, and is extremely accurate (matches $> 0.99$ with parameter biases in the total spin of $\Delta \chi \leq 0.04$), even in the case of transitional precession. In addition, we demonstrate a simple method to construct hybrid post-Newtonian--numerical-relativity precessing-binary waveforms in the quadrupole-aligned frame, and provide evidence that our approximate mapping can be used all the way to the merger. Finally, based on these results, we outline a general proposal for the construction of generic waveform models, which will be the focus of future work., Comment: 16 pages, 11 figures, 2 tables; replaced to match published version; journal ref. added

We present a new iterative method to reduce eccentricity in black-hole-binary simulations. Given a good first estimate of low-eccentricity starting momenta, we evolve puncture initial data for ~4 orbits and construct improved initial parameters by comparing the inspiral with post-Newtonian calculations. Our method is the first to be applied directly to the gravitational-wave (GW) signal, rather than the orbital motion. The GW signal is in general less contaminated by gauge effects, which, in moving-puncture simulations, limit orbital-motion-based measurements of the eccentricity to an uncertainty of $\Delta e \sim 0.002$, making it difficult to reduce the eccentricity below this value. Our new method can reach eccentricities below $10^{-3}$ in one or two iteration steps; we find that this is well below the requirements for GW astronomy in the advanced detector era. Our method can be readily adapted to any compact-binary simulation with GW emission, including black-hole-binary simulations that use alternative approaches, and neutron-star-binary simulations. We also comment on the differences in eccentricity estimates based on the strain $h$, and the Newman-Penrose scalar $\Psi_4$., Comment: 24 pages, 25 figures, pdflatex; v2: minor changes

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

With recent advances in post-Newtonian (PN) theory and numerical relativity (NR) it has become possible to construct inspiral-merger-ringdown waveforms by combining both descriptions into one hybrid signal. While addressing the reliability of such waveforms, previous studies have identified the PN contribution as the dominant source of error, which can be reduced by incorporating longer NR simulations. Here we overcome the two outstanding issues that make it difficult to determine the minimum NR simulation length necessary to produce suitably accurate hybrids: (1) the criteria for a GW search is the mismatch between the true waveform and a set of model waveforms, optimized over all waveforms in the model, but for discrete hybrids this optimization was not yet possible. (2) these calculations typically require that numerical waveforms already exist, while we develop an algorithm to estimate hybrid mismatches errors without numerical data. Our procedure relies on combining supposedly equivalent PN models at highest available order with common data in the NR regime, and their difference serves as a measure of the uncertainty assumed in each waveform. Contrary to some earlier studies, we estimate that ~10 NR orbits before merger should allow for the construction of waveform families that are accurate enough for detection in a broad range of parameters, only excluding highly spinning, unequal-mass systems. Nonspinning systems, even with high mass-ratio (q>=20) are well modeled for astrophysically reasonable component masses. The parameter bias is only of the order of 1% for total mass and symmetric mass-ratio and less than 0.1 for the dimensionless spin magnitude. We take the view that similar NR waveform lengths will remain the state of the art in the advanced detector era, and begin to assess the limits of the science that can be done with them., Comment: 16 pages, 8 figures, PDFLaTeX, updated presentation, consistent with published PRD version

Perturbed Kerr black holes emit gravitational radiation, which (for the practical purposes of gravitational-wave astronomy) consists of a superposition of damped sinusoids termed quasi-normal modes. The frequencies and time-constants of the modes depend only on the mass and spin of the black hole - a consequence of the no-hair theorem. It has been proposed that a measurement of two or more quasi-normal modes could be used to confirm that the source is a black hole and to test if general relativity continues to hold in ultra-strong gravitational fields. In this paper we propose a practical approach to testing general relativity with quasi-normal modes. We will also argue that the relative amplitudes of the various quasi-normal modes encode important information about the origin of the perturbation that caused them. This helps in inferring the nature of the perturbation from an observation of the emitted quasi-normal modes. In particular, we will show that the relative amplitudes of the different quasi-normal modes emitted in the process of the merger of a pair of nonspinning black holes can be used to measure the component masses of the progenitor binary., Comment: 24 pages, 9 figures, 4 tables, accepted for publication in Physical Review D

We present a simple method to track the precession of a black-hole-binary system, using only information from the gravitational-wave (GW) signal. Our method consists of locating the frame from which the magnitude of the $(\ell=2,|m|=2)$ modes is maximized, which we denote the "quadrupole-aligned" frame. We demonstrate the efficacy of this method when applied to waveforms from numerical simulations. In the test case of an equal-mass nonspinning binary, our method locates the direction of the orbital angular momentum to within $(\Delta \theta, \Delta \phi) = (0.05^{\circ},0.2^{\circ})$. We then apply the method to a $q = M_2/M_1 = 3$ binary that exhibits significant precession. In general a spinning binary's orbital angular momentum $\mathbf{L}$ is \emph{not} orthogonal to the orbital plane. Evidence that our method locates the direction of $\mathbf{L}$ rather than the normal of the orbital plane is provided by comparison with post-Newtonian (PN) results. Also, we observe that it accurately reproduces similar higher-mode amplitudes to a comparable non-spinning (and therefore non-precessing) binary, and that the frequency of the $(\ell=2,|m|=2)$ modes is consistent with the "total frequency" of the binary's motion. The simple form of the quadrupole-aligned waveform will be useful in attempts to analytically model the inspiral-merger-ringdown (IMR) signal of precessing binaries, and in standardizing the representation of waveforms for studies of accuracy and consistency of source modelling efforts, both numerical and analytical., Comment: 11 pages, 12 figures, 1 table

One way to produce complete inspiral-merger-ringdown gravitational waveforms from black-hole-binary systems is to connect post-Newtonian (PN) and numerical-relativity (NR) results to create "hybrid" waveforms. Hybrid waveforms are central to the construction of some phenomenological models for GW search templates, and for tests of GW search pipelines. The dominant error source in hybrid waveforms arises from the PN contribution, and can be reduced by increasing the number of NR GW cycles that are included in the hybrid. Hybrid waveforms are considered sufficiently accurate for GW detection if their mismatch error is below 3% (i.e., a fitting factor about 0.97). We address the question of the length requirements of NR waveforms such that the final hybrid waveforms meet this requirement, considering nonspinning binaries with q = M_2/M_1 \in [1,4] and equal-mass binaries with \chi = S_i/M_i^2 \in [-0.5,0.5]. We conclude that for the cases we study simulations must contain between three (in the equal-mass nonspinning case) and ten (the \chi = 0.5 case) orbits before merger, but there is also evidence that these are the regions of parameter space for which the least number of cycles will be needed., Comment: Corrected some typos

We present gravitational waveforms for the last orbits and merger of black-hole-binary (BBH) systems along two branches of the BBH parameter space: equal-mass binaries with equal non-precessing spins, and nonspinning unequal-mass binaries. The waveforms are calculated from numerical solutions of Einstein's equations for black-hole binaries that complete between six and ten orbits before merger. Along the equal-mass spinning branch, the spin parameter of each BH is $\chi_i = S_i/M_i^2 \in [-0.85,0.85]$, and along the unequal-mass branch the mass ratio is $q =M_2/M_1 \in [1,4]$. We discuss the construction of low-eccentricity puncture initial data for these cases, the properties of the final merged BH, and compare the last 8-10 GW cycles up to $M\omega = 0.1$ with the phase and amplitude predicted by standard post-Newtonian (PN) approximants. As in previous studies, we find that the phase from the 3.5PN TaylorT4 approximant is most accurate for nonspinning binaries. For equal-mass spinning binaries the 3.5PN TaylorT1 approximant (including spin terms up to only 2.5PN order) gives the most robust performance, but it is possible to treat TaylorT4 in such a way that it gives the best accuracy for spins $\chi_i > -0.75$. When high-order amplitude corrections are included, the PN amplitude of the $(\ell=2,m=\pm2)$ modes is larger than the NR amplitude by between 2-4%., Comment: 21 pages, 9 figures, 6 tables. Version accepted by PRD