High-accuracy waveforms for binary black hole inspiral, merger, and ringdown

The first spectral numerical simulations of 16 orbits, merger, and ringdown of an equal-mass non-spinning binary black hole system are presented. Gravitational waveforms from these simulations have accumulated numerical phase errors through ringdown of ~0.1 radian when measured from the beginning of the simulation, and ~0.02 radian when waveforms are time and phase shifted to agree at the peak amplitude. The waveform seen by an observer at infinity is determined from waveforms computed at finite radii by an extrapolation process accurate to ~0.01 radian in phase. The phase difference between this waveform at infinity and the waveform measured at a finite radius of r=100M is about half a radian. The ratio of final mass to initial mass is M_f/M = 0.95162 +- 0.00002, and the final black hole spin is S_f/M_f^2=0.68646 +- 0.00004.Comment: 15 pages, 11 figures; New figure added, text edited to improve clarity, waveform made availabl

Resonances, Radiation Damping and Instability in Hamiltonian Nonlinear Wave Equations

We consider a class of nonlinear Klein-Gordon equations which are Hamiltonian and are perturbations of linear dispersive equations. The unperturbed dynamical system has a bound state, a spatially localized and time periodic solution. We show that, for generic nonlinear Hamiltonian perturbations, all small amplitude solutions decay to zero as time tends to infinity at an anomalously slow rate. In particular, spatially localized and time-periodic solutions of the linear problem are destroyed by generic nonlinear Hamiltonian perturbations via slow radiation of energy to infinity. These solutions can therefore be thought of as metastable states. The main mechanism is a nonlinear resonant interaction of bound states (eigenfunctions) and radiation (continuous spectral modes), leading to energy transfer from the discrete to continuum modes. This is in contrast to the KAM theory in which appropriate nonresonance conditions imply the persistence of invariant tori. A hypothesis ensuring that such a resonance takes place is a nonlinear analogue of the Fermi golden rule, arising in the theory of resonances in quantum mechanics. The techniques used involve: (i) a time-dependent method developed by the authors for the treatment of the quantum resonance problem and perturbations of embedded eigenvalues, (ii) a generalization of the Hamiltonian normal form appropriate for infinite dimensional dispersive systems and (iii) ideas from scattering theory. The arguments are quite general and we expect them to apply to a large class of systems which can be viewed as the interaction of finite dimensional and infinite dimensional dispersive dynamical systems, or as a system of particles coupled to a field.Comment: To appear in Inventiones Mathematica

Decentralized Maximum Likelihood Estimation for Sensor Networks Composed of Nonlinearly Coupled Dynamical Systems

In this paper we propose a decentralized sensor network scheme capable to reach a globally optimum maximum likelihood (ML) estimate through self-synchronization of nonlinearly coupled dynamical systems. Each node of the network is composed of a sensor and a first-order dynamical system initialized with the local measurements. Nearby nodes interact with each other exchanging their state value and the final estimate is associated to the state derivative of each dynamical system. We derive the conditions on the coupling mechanism guaranteeing that, if the network observes one common phenomenon, each node converges to the globally optimal ML estimate. We prove that the synchronized state is globally asymptotically stable if the coupling strength exceeds a given threshold. Acting on a single parameter, the coupling strength, we show how, in the case of nonlinear coupling, the network behavior can switch from a global consensus system to a spatial clustering system. Finally, we show the effect of the network topology on the scalability properties of the network and we validate our theoretical findings with simulation results.Comment: Journal paper accepted on IEEE Transactions on Signal Processin

Characterization of Model-Based Detectors for CPS Sensor Faults/Attacks

A vector-valued model-based cumulative sum (CUSUM) procedure is proposed for identifying faulty/falsified sensor measurements. First, given the system dynamics, we derive tools for tuning the CUSUM procedure in the fault/attack free case to fulfill a desired detection performance (in terms of false alarm rate). We use the widely-used chi-squared fault/attack detection procedure as a benchmark to compare the performance of the CUSUM. In particular, we characterize the state degradation that a class of attacks can induce to the system while enforcing that the detectors (CUSUM and chi-squared) do not raise alarms. In doing so, we find the upper bound of state degradation that is possible by an undetected attacker. We quantify the advantage of using a dynamic detector (CUSUM), which leverages the history of the state, over a static detector (chi-squared) which uses a single measurement at a time. Simulations of a chemical reactor with heat exchanger are presented to illustrate the performance of our tools.Comment: Submitted to IEEE Transactions on Control Systems Technolog