Exploiting Cross Correlations and Joint Analyses

In this report, we present a wide variety of ways in which information from multiple probes of dark energy may be combined to obtain additional information not accessible when they are considered separately. Fundamentally, because all major probes are affected by the underlying distribution of matter in the regions studied, there exist covariances between them that can provide information on cosmology. Combining multiple probes allows for more accurate (less contaminated by systematics) and more precise (since there is cosmological information encoded in cross-correlation statistics) measurements of dark energy. The potential of cross-correlation methods is only beginning to be realized. By bringing in information from other wavelengths, the capabilities of the existing probes of dark energy can be enhanced and systematic effects can be mitigated further. We present a mixture of work in progress and suggestions for future scientific efforts. Given the scope of future dark energy experiments, the greatest gains may only be realized with more coordination and cooperation between multiple project teams; we recommend that this interchange should begin sooner, rather than later, to maximize scientific gains.Comment: Report from the "Dark Energy and CMB" working group for the American Physical Society's Division of Particles and Fields long-term planning exercise ("Snowmass"

Perception-aware Path Planning

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue that motion planning for vision-controlled robots should be perception aware in that the robot should also favor texture-rich areas to minimize the localization uncertainty during a goal-reaching task. Thus, we describe how to optimally incorporate the photometric information (i.e., texture) of the scene, in addition to the the geometric one, to compute the uncertainty of vision-based localization during path planning. To avoid the caveats of feature-based localization systems (i.e., dependence on feature type and user-defined thresholds), we use dense, direct methods. This allows us to compute the localization uncertainty directly from the intensity values of every pixel in the image. We also describe how to compute trajectories online, considering also scenarios with no prior knowledge about the map. The proposed framework is general and can easily be adapted to different robotic platforms and scenarios. The effectiveness of our approach is demonstrated with extensive experiments in both simulated and real-world environments using a vision-controlled micro aerial vehicle.Comment: 16 pages, 20 figures, revised version. Conditionally accepted for IEEE Transactions on Robotic

Informative Path Planning for Active Field Mapping under Localization Uncertainty

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the pose uncertainty in both the mapping and planning tasks. Our strategy exploits a Gaussian Process (GP) model to capture a target environmental field given the uncertainty on its inputs. For planning, we formulate a new utility function that couples the localization and field mapping objectives in GP-based mapping scenarios in a principled way, without relying on any manually tuned parameters. Extensive simulations show that our approach outperforms existing strategies, with reductions in mean pose uncertainty and map error. We also present a proof of concept in an indoor temperature mapping scenario.Comment: 8 pages, 7 figures, submission (revised) to Robotics & Automation Letters (and IEEE International Conference on Robotics and Automation

The Transit Light Curve Project. X. A Christmas Transit of HD 17156b

Photometry is presented of the Dec. 25, 2007 transit of HD 17156b, which has the longest orbital period and highest orbital eccentricity of all the known transiting exoplanets. New measurements of the stellar radial velocity are also presented. All the data are combined and integrated with stellar-evolutionary modeling to derive refined system parameters. The planet's mass and radius are found to be 3.212_{-0.082}^{+0.069} Jupiter masses and 1.023_{-0.055}^{+0.070} Jupiter radii. The corresponding stellar properties are 1.263_{-0.047}^{+0.035} solar masses and 1.446_{-0.067}^{+0.099} solar radii. The planet is smaller by 1 sigma than a theoretical solar-composition gas giant with the same mass and equilibrium temperature, a possible indication of heavy-element enrichment. The midtransit time is measured to within 1 min, and shows no deviation from a linear ephemeris (and therefore no evidence for orbital perturbations from other planets). We provide ephemerides for future transits and superior conjunctions. There is an 18% chance that the orbital plane is oriented close enough to edge-on for secondary eclipses to occur at superior conjunction. Observations of secondary eclipses would reveal the thermal emission spectrum of a planet that experiences unusually large tidal heating and insolation variations.Comment: To appear in ApJ [26 pages

The WFC3 Galactic Bulge Treasury Program: A First Look at Resolved Stellar Population Tools

[Abridged] When WFC3 is installed on HST, the community will have powerful new tools for investigating resolved stellar populations. The WFC3 Galactic Bulge Treasury program will obtain deep imaging on 4 low-extinction fields. These non-proprietary data will enable a variety of science investigations not possible with previous data sets. To aid in planning for the use of these data and for future proposals, we provide an introduction to the program, its photometric system, and the associated calibration effort. The observing strategy is based upon a new 5-band photometric system spanning the UV, optical, and near-infrared. With these broad bands, one can construct reddening-free indices of Teff and [Fe/H]. Besides the 4 bulge fields, the program will target 6 fields in well-studied star clusters, spanning a wide range of [Fe/H]. The cluster data serve to calibrate the indices, provide population templates, and correct the transformation of isochrones into the WFC3 photometric system. The bulge data will shed light on the bulge formation history, and will also serve as population templates for other studies. One of the fields includes 12 candidate hosts of extrasolar planets. CMDs are the most popular tool for analyzing resolved stellar populations. However, due to degeneracies among Teff, [Fe/H], and reddening in traditional CMDs, it can be difficult to draw robust conclusions from the data. The 5-band system used for the bulge Treasury observations will provide indices that are roughly orthogonal in Teff and [Fe/H], and we argue that model fitting in an index-index diagram will make better use of the information than fitting separate CMDs. We provide simulations to show the expected data quality and the potential for differentiating between different star-formation histories.Comment: Accepted for publication in The Astronomical Journal. 9 pages, 8 figures, latex, AJ forma

Report by the ESA-ESO Working Group on Fundamental Cosmology

ESO and ESA agreed to establish a number of Working Groups to explore possible synergies between these two major European astronomical institutions. This Working Group's mandate was to concentrate on fundamental questions in cosmology, and the scope for tackling these in Europe over the next ~15 years. One major resulting recommendation concerns the provision of new generations of imaging survey, where the image quality and near-IR sensitivity that can be attained only in space are naturally matched by ground-based imaging and spectroscopy to yield massive datasets with well-understood photometric redshifts (photo-z's). Such information is essential for a range of new cosmological tests using gravitational lensing, large-scale structure, clusters of galaxies, and supernovae. Great scope in future cosmology also exists for ELT studies of the intergalactic medium and space-based studies of the CMB and gravitational waves; here the synergy is less direct, but these areas will remain of the highest mutual interest to the agencies. All these recommended facilities will produce vast datasets of general applicability, which will have a tremendous impact on broad areas of astronomy.Comment: ESA-ESO Working Groups Report No. 3, 125 pages, 28 figures. A PDF version including the cover is available from http://www.stecf.org/coordination/esa_eso/cosmology/report_cover.pdf and a printed version (A5 booklet) is available in limited numbers from the Space Telescope-European Coordinating Facility (ST-ECF): [email protected]