BICEP2 II: Experiment and Three-Year Data Set

We report on the design and performance of the BICEP2 instrument and on its three-year data set. BICEP2 was designed to measure the polarization of the cosmic microwave background (CMB) on angular scales of 1 to 5 degrees ($\ell$=40-200), near the expected peak of the B-mode polarization signature of primordial gravitational waves from cosmic inflation. Measuring B-modes requires dramatic improvements in sensitivity combined with exquisite control of systematics. The BICEP2 telescope observed from the South Pole with a 26~cm aperture and cold, on-axis, refractive optics. BICEP2 also adopted a new detector design in which beam-defining slot antenna arrays couple to transition-edge sensor (TES) bolometers, all fabricated on a common substrate. The antenna-coupled TES detectors supported scalable fabrication and multiplexed readout that allowed BICEP2 to achieve a high detector count of 500 bolometers at 150 GHz, giving unprecedented sensitivity to B-modes at degree angular scales. After optimization of detector and readout parameters, BICEP2 achieved an instrument noise-equivalent temperature of 15.8 $\mu$K sqrt(s). The full data set reached Stokes Q and U map depths of 87.2 nK in square-degree pixels (5.2 $\mu$K arcmin) over an effective area of 384 square degrees within a 1000 square degree field. These are the deepest CMB polarization maps at degree angular scales to date. The power spectrum analysis presented in a companion paper has resulted in a significant detection of B-mode polarization at degree scales.Comment: 30 pages, 24 figure

An Independent Component Analysis Based Tool for Exploring Functional Connections in the Brain

This thesis describes the use of independent component analysis (ICA) as a measure of voxel similarity, which allows the user to find and view statistically independent maps of correlated voxel activity. The tool developed in this work uses a specialized clustering technique, designed to find and characterize clusters of activated voxels, to compare the independent component spatial maps across patients. This same method is also used to compare SPM results across patients

Inverse transformed encoding models - A solution to the problem of correlated trial-by-trial parameter estimates in fMRI decoding

Techniques of multivariate pattern analysis (MVPA) can be used to decode the discrete experimental condition or a continuous modulator variable from measured brain activity during a particular trial. In functional magnetic resonance imaging (fMRI), trial-wise response amplitudes are sometimes estimated from the measured signal using a general linear model (GLM) with one onset regressor for each trial. When using rapid event-related designs with trials closely spaced in time, those estimates are highly variable and serially correlated due to the temporally extended shape of the hemodynamic response function (HRF). Here, we describe inverse transformed encoding modelling (ITEM), a principled approach of accounting for those serial correlations and decoding from the resulting estimates, at low computational cost and with no loss in statistical power. We use simulated data to show that ITEM outperforms the current standard approach in terms of decoding accuracy and analyze empirical data to demonstrate that ITEM is capable of visual reconstruction from fMRI signals

RUR53: an Unmanned Ground Vehicle for Navigation, Recognition and Manipulation

This paper proposes RUR53: an Unmanned Ground Vehicle able to autonomously navigate through, identify, and reach areas of interest; and there recognize, localize, and manipulate work tools to perform complex manipulation tasks. The proposed contribution includes a modular software architecture where each module solves specific sub-tasks and that can be easily enlarged to satisfy new requirements. Included indoor and outdoor tests demonstrate the capability of the proposed system to autonomously detect a target object (a panel) and precisely dock in front of it while avoiding obstacles. They show it can autonomously recognize and manipulate target work tools (i.e., wrenches and valve stems) to accomplish complex tasks (i.e., use a wrench to rotate a valve stem). A specific case study is described where the proposed modular architecture lets easy switch to a semi-teleoperated mode. The paper exhaustively describes description of both the hardware and software setup of RUR53, its performance when tests at the 2017 Mohamed Bin Zayed International Robotics Challenge, and the lessons we learned when participating at this competition, where we ranked third in the Gran Challenge in collaboration with the Czech Technical University in Prague, the University of Pennsylvania, and the University of Lincoln (UK).Comment: This article has been accepted for publication in Advanced Robotics, published by Taylor & Franci

Patterned probes for high precision 4D-STEM bragg measurements.

Nanoscale strain mapping by four-dimensional scanning transmission electron microscopy (4D-STEM) relies on determining the precise locations of Bragg-scattered electrons in a sequence of diffraction patterns, a task which is complicated by dynamical scattering, inelastic scattering, and shot noise. These features hinder accurate automated computational detection and position measurement of the diffracted disks, limiting the precision of measurements of local deformation. Here, we investigate the use of patterned probes to improve the precision of strain mapping. We imprint a "bullseye" pattern onto the probe, by using a binary mask in the probe-forming aperture, to improve the robustness of the peak finding algorithm to intensity modulations inside the diffracted disks. We show that this imprinting leads to substantially improved strain-mapping precision at the expense of a slight decrease in spatial resolution. In experiments on an unstrained silicon reference sample, we observe an improvement in strain measurement precision from 2.7% of the reciprocal lattice vectors with standard probes to 0.3% using bullseye probes for a thin sample, and an improvement from 4.7% to 0.8% for a thick sample. We also use multislice simulations to explore how sample thickness and electron dose limit the attainable accuracy and precision for 4D-STEM strain measurements

Mapping the CMB III: combined analysis of QMAP flights

We present results from the QMAP balloon experiment, which maps the Cosmic Microwave Background (CMB) and probes its angular power spectrum on degree scales. In two separate flights, data were taken in six channels at two frequency bands between 26 to 46 GHz. We describe our method for mapmaking (removal of 1/f-noise and scan-synchronous offsets) and power spectrum estimation, as well as the results of a joint analysis of the data from both flights. This produces a 527 square degree map of the CMB around the North Celestial Pole, allowing a wide variety of systematic cross-checks. The frequency dependence of the fluctuations is consistent with CMB and inconsistent with Galactic foreground emission. The anisotropy is measured in three multipole bands from l~40 to l~200, and the angular power spectrum shows a distinct rise which is consistent with the Saskatoon results.Comment: 4 pages, with 3 figures included. Submitted to ApJL. Window functions are available at http://pupgg.princeton.edu/~cmb/welcome.html and color figures and links at http://www.sns.ias.edu/~angelica/skymap.html#qma