The IPAC Image Subtraction and Discovery Pipeline for the intermediate Palomar Transient Factory

We describe the near real-time transient-source discovery engine for the intermediate Palomar Transient Factory (iPTF), currently in operations at the Infrared Processing and Analysis Center (IPAC), Caltech. We coin this system the IPAC/iPTF Discovery Engine (or IDE). We review the algorithms used for PSF-matching, image subtraction, detection, photometry, and machine-learned (ML) vetting of extracted transient candidates. We also review the performance of our ML classifier. For a limiting signal-to-noise ratio of 4 in relatively unconfused regions, "bogus" candidates from processing artifacts and imperfect image subtractions outnumber real transients by ~ 10:1. This can be considerably higher for image data with inaccurate astrometric and/or PSF-matching solutions. Despite this occasionally high contamination rate, the ML classifier is able to identify real transients with an efficiency (or completeness) of ~ 97% for a maximum tolerable false-positive rate of 1% when classifying raw candidates. All subtraction-image metrics, source features, ML probability-based real-bogus scores, contextual metadata from other surveys, and possible associations with known Solar System objects are stored in a relational database for retrieval by the various science working groups. We review our efforts in mitigating false-positives and our experience in optimizing the overall system in response to the multitude of science projects underway with iPTF.Comment: 66 pages, 21 figures, 7 tables, accepted by PAS

Imaging the first light: experimental challenges and future perspectives in the observation of the Cosmic Microwave Background Anisotropy

Measurements of the cosmic microwave background (CMB) allow high precision observation of the Last Scattering Surface at redshift $z\sim$1100. After the success of the NASA satellite COBE, that in 1992 provided the first detection of the CMB anisotropy, results from many ground-based and balloon-borne experiments have showed a remarkable consistency between different results and provided quantitative estimates of fundamental cosmological properties. During 2003 the team of the NASA WMAP satellite has released the first improved full-sky maps of the CMB since COBE, leading to a deeper insight into the origin and evolution of the Universe. The ESA satellite Planck, scheduled for launch in 2007, is designed to provide the ultimate measurement of the CMB temperature anisotropy over the full sky, with an accuracy that will be limited only by astrophysical foregrounds, and robust detection of polarisation anisotropy. In this paper we review the experimental challenges in high precision CMB experiments and discuss the future perspectives opened by second and third generation space missions like WMAP and Planck.Comment: To be published in "Recent Research Developments in Astronomy & Astrophysics Astrophysiscs" - Vol I

Observational Evidence of the Accelerated Expansion of the Universe

The discovery of cosmic acceleration is one of the most important developments in modern cosmology. The observation, thirteen years ago, that type Ia supernovae appear dimmer that they would have been in a decelerating universe followed by a series of independent observations involving galaxies and cluster of galaxies as well as the cosmic microwave background, all point in the same direction: we seem to be living in a flat universe whose expansion is currently undergoing an acceleration phase. In this paper, we review the various observational evidences, most of them gathered in the last decade, and the improvements expected from projects currently collecting data or in preparation.Comment: Accepted review article to appear in a special volume of the "Comptes Rendus de l'Acad\'emie des Sciences" about Dark Energy and Dark Matte

Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks

abstract: Swarms of low-cost, autonomous robots can potentially be used to collectively perform tasks over large domains and long time scales. The design of decentralized, scalable swarm control strategies will enable the development of robotic systems that can execute such tasks with a high degree of parallelism and redundancy, enabling effective operation even in the presence of unknown environmental factors and individual robot failures. Social insect colonies provide a rich source of inspiration for these types of control approaches, since they can perform complex collective tasks under a range of conditions. To validate swarm robotic control strategies, experimental testbeds with large numbers of robots are required; however, existing low-cost robots are specialized and can lack the necessary sensing, navigation, control, and manipulation capabilities. To address these challenges, this thesis presents a formal approach to designing biologically-inspired swarm control strategies for spatially-confined coverage and payload transport tasks, as well as a novel low-cost, customizable robotic platform for testing swarm control approaches. Stochastic control strategies are developed that provably allocate a swarm of robots around the boundaries of multiple regions of interest or payloads to be transported. These strategies account for spatially-dependent effects on the robots' physical distribution and are largely robust to environmental variations. In addition, a control approach based on reinforcement learning is presented for collective payload towing that accommodates robots with heterogeneous maximum speeds. For both types of collective transport tasks, rigorous approaches are developed to identify and translate observed group retrieval behaviors in Novomessor cockerelli ants to swarm robotic control strategies. These strategies can replicate features of ant transport and inherit its properties of robustness to different environments and to varying team compositions. The approaches incorporate dynamical models of the swarm that are amenable to analysis and control techniques, and therefore provide theoretical guarantees on the system's performance. Implementation of these strategies on robotic swarms offers a way for biologists to test hypotheses about the individual-level mechanisms that drive collective behaviors. Finally, this thesis describes Pheeno, a new swarm robotic platform with a three degree-of-freedom manipulator arm, and describes its use in validating a variety of swarm control strategies.Dissertation/ThesisDoctoral Dissertation Mechanical Engineering 201

A Review on Applications of Machine Learning in Shipping Sustainability

The shipping industry faces a significant challenge as it needs to significantly lower the amounts of Green House Gas emissions at the same time as it is expected to meet the rising demand. Traditionally, optimising the fuel consumption for ships is done during the ship design stage and through operating it in a better way, for example, with more energy-efficient machinery, optimising the speed or route. During the last decade, the area of machine learning has evolved significantly, and these methods are applicable in many more fields than before. The field of ship efficiency improvement by using Machine Learning methods is significantly progressing due to the available volumes of data from online measuring, experiments and computations. This amount of data has made machine learning a powerful tool that has been successfully used to extract information and intricate patterns that can be translated into attractive ship energy savings. This article presents an overview of machine learning, current developments, and emerging opportunities for ship efficiency. This article covers the fundamentals of Machine Learning and discusses the methodologies available for ship efficiency optimisation. Besides, this article reveals the potentials of this promising technology and future challenges

Cooperative Navigation for Low-bandwidth Mobile Acoustic Networks.

This thesis reports on the design and validation of estimation and planning algorithms for underwater vehicle cooperative localization. While attitude and depth are easily instrumented with bounded-error, autonomous underwater vehicles (AUVs) have no internal sensor that directly observes XY position. The global positioning system (GPS) and other radio-based navigation techniques are not available because of the strong attenuation of electromagnetic signals in seawater. The navigation algorithms presented herein fuse local body-frame rate and attitude measurements with range observations between vehicles within a decentralized architecture. The acoustic communication channel is both unreliable and low bandwidth, precluding many state-of-the-art terrestrial cooperative navigation algorithms. We exploit the underlying structure of a post-process centralized estimator in order to derive two real-time decentralized estimation frameworks. First, the origin state method enables a client vehicle to exactly reproduce the corresponding centralized estimate within a server-to-client vehicle network. Second, a graph-based navigation framework produces an approximate reconstruction of the centralized estimate onboard each vehicle. Finally, we present a method to plan a locally optimal server path to localize a client vehicle along a desired nominal trajectory. The planning algorithm introduces a probabilistic channel model into prior Gaussian belief space planning frameworks. In summary, cooperative localization reduces XY position error growth within underwater vehicle networks. Moreover, these methods remove the reliance on static beacon networks, which do not scale to large vehicle networks and limit the range of operations. Each proposed localization algorithm was validated in full-scale AUV field trials. The planning framework was evaluated through numerical simulation.PhDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/113428/1/jmwalls_1.pd