149 research outputs found
Autonomous navigation of a mobile robot using inertial and visual cues
International audienceThis paper describes the development and implementation of a reactive visual module utilized on an autonomous mobile robot to automatically correct its trajectory. We use a multisensorial mechanism based on inertial and visual cues. We report here only on the implementation and the experimentation of this module, whereas the main theoretical aspects have been developed elsewhere
Cosmological bounds on neutrino statistics
We consider the phenomenological implications of the violation of the Pauli exclusion principle for neutrinos, focusing on cosmological observables such as the spectrum of Cosmic Microwave Background anisotropies, Baryon Acoustic Oscillations and the primordial abundances of light elements. Neutrinos that behave (at least partly) as bosonic particles have a modified equilibrium distribution function that implies a different influence on the evolution of the Universe that, in the case of massive neutrinos, can not be simply parametrized by a change in the effective number of neutrinos. Our results show that, despite the precision of the available cosmological data, only very weak bounds can be obtained on neutrino statistics, disfavouring a more bosonic behaviour at less than 2sigma
Planck 2013 results. XXII. Constraints on inflation
We analyse the implications of the Planck data for cosmic inflation. The Planck nominal mission temperature anisotropy measurements, combined with the WMAP large-angle polarization, constrain the scalar spectral index to be ns = 0:9603 _ 0:0073, ruling out exact scale invariance at over 5_: Planck establishes an upper bound on the tensor-to-scalar ratio of r < 0:11 (95% CL). The Planck data thus shrink the space of allowed standard inflationary models, preferring potentials with V00 < 0. Exponential potential models, the simplest hybrid inflationary models, and monomial potential models of degree n _ 2 do not provide a good fit to the data. Planck does not find statistically significant running of the scalar spectral index, obtaining dns=dln k = 0:0134 _ 0:0090. We verify these conclusions through a numerical analysis, which makes no slowroll approximation, and carry out a Bayesian parameter estimation and model-selection analysis for a number of inflationary models including monomial, natural, and hilltop potentials. For each model, we present the Planck constraints on the parameters of the potential and explore several possibilities for the post-inflationary entropy generation epoch, thus obtaining nontrivial data-driven constraints. We also present a direct reconstruction of the observable range of the inflaton potential. Unless a quartic term is allowed in the potential, we find results consistent with second-order slow-roll predictions. We also investigate whether the primordial power spectrum contains any features. We find that models with a parameterized oscillatory feature improve the fit by __2 e_ _ 10; however, Bayesian evidence does not prefer these models. We constrain several single-field inflation models with generalized Lagrangians by combining power spectrum data with Planck bounds on fNL. Planck constrains with unprecedented accuracy the amplitude and possible correlation (with the adiabatic mode) of non-decaying isocurvature fluctuations. The fractional primordial contributions of cold dark matter (CDM) isocurvature modes of the types expected in the curvaton and axion scenarios have upper bounds of 0.25% and 3.9% (95% CL), respectively. In models with arbitrarily correlated CDM or neutrino isocurvature modes, an anticorrelated isocurvature component can improve the _2 e_ by approximately 4 as a result of slightly lowering the theoretical prediction for the ` <_ 40 multipoles relative to the higher multipoles. Nonetheless, the data are consistent with adiabatic initial conditions
Non-linear evolution of the cosmic neutrino background
We investigate the non-linear evolution of the relic cosmic neutrino background by running large box-size, high resolution N-body simulations which incorporate cold dark matter (CDM) and neutrinos as independent particle species. Our set of simulations explore the properties of neutrinos in a reference Lambda CDM model with total neutrino masses between 0.05-0.60 eV in cold dark matter haloes of mass 10(11) Âż 10(15) h(-1) M-circle dot, over a redshift range z = 0 Âż 2. We compute the halo mass function and show that it is reasonably well fitted by the Sheth-Tormen formula, once the neutrino contribution to the total matter is removed. More importantly, we focus on the CDM and neutrino properties of the density and peculiar velocity fields in the cosmological volume, inside and in the outskirts of virialized haloes. The dynamical state of the neutrino particles depends strongly on their momentum: whereas neutrinos in the low velocity tail behave similarly to CDM particles, neutrinos in the high velocity tail are not affected by the clustering of the underlying CDM component. We find that the neutrino (linear) unperturbed momentum distribution is modified and mass and redshift dependent deviations from the expected Fermi-Dirac distribution are in place both in the cosmological volume and inside haloes. The neutrino density profiles around virialized haloes have been carefully investigated and a simple fitting formula is provided. The neutrino profile, unlike the cold dark matter one, is found to be cored with core size and central density that depend on the neutrino mass, redshift and mass of the halo, for halos of masses larger than similar to 10(13.5) h(-1) M-circle dot. For lower masses the neutrino profile is best fitted by a simple power-law relation in the range probed by the simulations. The results we obtain are numerically converged in terms of neutrino profiles at the 10% level for scales above similar to 200 h(-1) kpc at z = 0, and are stable with respect to box-size and starting redshift of the simulation. Our findings are particularly important in view of upcoming large-scale structure surveys, like Euclid, that are expected to probe the non-linear regime at the percent level with lensing and clustering observations
Neutrino cosmology and Planck
Relic neutrinos play an important role in the evolution of the Universe, modifying some of the cosmological observables. We summarize the main aspects of cosmological neutrinos and describe how the precision of present cosmological data can be used to learn about neutrino properties. In particular, we discuss how cosmology provides information on the absolute scale of neutrino masses, complementary to beta decay and neutrinoless double-beta decay experiments. We explain why the combination of Planck temperature data with measurements of the baryon acoustic oscillation angular scale provides a strong bound on the sum of neutrino masses, 0.23 eV at the 95% confidence level, while the lensing potential spectrum and the cluster mass function measured by Planck are compatible with larger values. We also review the constraints from current data on other neutrino properties. Finally, we describe the very good perspectives from future cosmological measurements, which are expected to be sensitive to neutrino masses close the minimum values guaranteed by flavour oscillations
High-redshift post-reionization cosmology with 21cm intensity mapping
We investigate the possibility of performing cosmological studies in the redshift range 2.5<z<5 through suitable extensions of existing and upcoming radio-telescopes like CHIME, HIRAX and FAST. We use the Fisher matrix technique to forecast the bounds that those instruments can place on the growth rate, the BAO distance scale parameters, the sum of the neutrino masses and the number of relativistic degrees of freedom at decoupling, Neff. We point out that quantities that depend on the amplitude of the 21cm power spectrum, like f\u3c38, are completely degenerate with \u3a9HI and bHI, and propose several strategies to independently constrain them through cross-correlations with other probes. Assuming 5% priors on \u3a9HI and bHI, kmax=0.2 h Mpc-1 and the primary beam wedge, we find that a HIRAX extension can constrain, within bins of \u394 z=0.1: 1) the value of f\u3c38 at 4%, 2) the value of DA and H at 1%. In combination with data from Euclid-like galaxy surveys and CMB S4, the sum of the neutrino masses can be constrained with an error equal to 23 meV (1\u3c3), while Neff can be constrained within 0.02 (1\u3c3). We derive similar constraints for the extensions of the other instruments. We study in detail the dependence of our results on the instrument, amplitude of the HI bias, the foreground wedge coverage, the nonlinear scale used in the analysis, uncertainties in the theoretical modeling and the priors on bHI and \u3a9HI. We conclude that 21cm intensity mapping surveys operating in this redshift range can provide extremely competitive constraints on key cosmological parameters
Nonlinear Power Spectrum from Resummed Perturbation Theory: a Leap Beyond the BAO Scale
A new computational scheme for the nonlinear cosmological matter power
spectrum (PS) is presented. Our method is based on evolution equations in time,
which can be cast in a form extremely convenient for fast numerical
evaluations. A nonlinear PS is obtained in a time comparable to that needed for
a simple 1-loop computation, and the numerical implementation is very simple.
Our results agree with N-body simulations at the percent level in the BAO range
of scales, and at the few-percent level up to h/Mpc at ,
thereby opening the possibility of applying this tool to scales interesting for
weak lensing. We clarify the approximations inherent to this approach as well
as its relations to previous ones, such as the Time Renormalization Group, and
the multi-point propagator expansion. We discuss possible lines of improvements
of the method and its intrinsic limitations by multi streaming at small scales
and low redshifts.Comment: Discussion of the small scale regime dramatically reorganized. Two
appendices added. Results unchange
Weighing Neutrinos with Cosmic Neutral Hydrogen
We investigate the signatures left by massive neutrinos on the spatial distribution of neutral hydrogen (H I) in the post-reionization era by running hydrodynamic simulations that include massive neutrinos as additional collisionless particles. We find that halos in massive/massless neutrino cosmologies host a similar amount of neutral hydrogen, although for a fixed halo mass, on average, the H I mass increases with the sum of the neutrino masses. Our results show that H I is more strongly clustered in cosmologies with massive neutrinos, while its abundance, Omega(H I) (z), is lower. These effects arise mainly from the impact of massive neutrinos on cosmology: they suppress both the amplitude of the matter power spectrum on small scales and the abundance of dark matter halos. Modeling the H I distribution with hydrodynamic simulations at z > 3 and a simple analytic model at z < 3, we use the Fisher matrix formalism to conservatively forecast the constraints that Phase 1 of the Square Kilometre Array will place on the sum of neutrino masses, M-nu = Sigma m(nu). We find that with 10,000 hr of interferometric observations at 3 less than or similar to z less than or similar to 6 from a deep and narrow survey with SKA1-LOW, the sum of the neutrino masses can be measured with an error sigma(M-nu) less than or similar to 0.3 eV (95% CL). Similar constraints can be obtained with a wide and deep SKA1-MID survey at z less than or similar to 3, using the single-dish mode. By combining data from MID, LOW, and Planck, plus priors on cosmological parameters from a Stage IV spectroscopic galaxy survey, the sum of the neutrino masses can be determined with an error sigma(M-nu) similar or equal to 0.06 eV (95% CL)
KiDS-450: cosmological parameter constraints from tomographic weak gravitational lensing
We present cosmological parameter constraints from a tomographic weak gravitational lensing analysis of âŒ450 deg2 of imaging data from the Kilo Degree Survey (KiDS). For a flat Î cold dark matter (ÎCDM) cosmology with a prior on H0 that encompasses the most recent direct measurements, we find S8âĄÏ8Ωm/0.3âââââââ=0.745±0.039â . This result is in good agreement with other low-redshift probes of large-scale structure, including recent cosmic shear results, along with pre-Planck cosmic microwave background constraints. A 2.3Ï tension in S8 and âsubstantial discordanceâ in the full parameter space is found with respect to the Planck 2015 results. We use shear measurements for nearly 15 million galaxies, determined with a new improved âself-calibratingâ version of lensFIT validated using an extensive suite of image simulations. Four-band ugri photometric redshifts are calibrated directly with deep spectroscopic surveys. The redshift calibration is confirmed using two independent techniques based on angular cross-correlations and the properties of the photometric redshift probability distributions. Our covariance matrix is determined using an analytical approach, verified numerically with large mock galaxy catalogues. We account for uncertainties in the modelling of intrinsic galaxy alignments and the impact of baryon feedback on the shape of the non-linear matter power spectrum, in addition to the small residual uncertainties in the shear and redshift calibration. The cosmology analysis was performed blind. Our high-level data products, including shear correlation functions, covariance matrices, redshift distributions, and Monte Carlo Markov chains are available at http://kids.strw.leidenuniv.nl
Planck 2015 results. XIII. Cosmological parameters
We present results based on full-mission Planck observations of temperature and polarization anisotropies of the CMB. These data are consistent with the six-parameter inflationary LCDM cosmology. From the Planck temperature and lensing data, for this cosmology we find a Hubble constant, H0= (67.8 +/- 0.9) km/s/Mpc, a matter density parameter Omega_m = 0.308 +/- 0.012 and a scalar spectral index with n_s = 0.968 +/- 0.006. (We quote 68% errors on measured parameters and 95% limits on other parameters.) Combined with Planck temperature and lensing data, Planck LFI polarization measurements lead to a reionization optical depth of tau = 0.066 +/- 0.016. Combining Planck with other astrophysical data we find N_ eff = 3.15 +/- 0.23 for the effective number of relativistic degrees of freedom and the sum of neutrino masses is constrained to < 0.23 eV. Spatial curvature is found to be |Omega_K| < 0.005. For LCDM we find a limit on the tensor-to-scalar ratio of r <0.11 consistent with the B-mode constraints from an analysis of BICEP2, Keck Array, and Planck (BKP) data. Adding the BKP data leads to a tighter constraint of r < 0.09. We find no evidence for isocurvature perturbations or cosmic defects. The equation of state of dark energy is constrained to w = -1.006 +/- 0.045. Standard big bang nucleosynthesis predictions for the Planck LCDM cosmology are in excellent agreement with observations. We investigate annihilating dark matter and deviations from standard recombination, finding no evidence for new physics. The Planck results for base LCDM are in agreement with BAO data and with the JLA SNe sample. However the amplitude of the fluctuations is found to be higher than inferred from rich cluster counts and weak gravitational lensing. Apart from these tensions, the base LCDM cosmology provides an excellent description of the Planck CMB observations and many other astrophysical data sets
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