A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator

Two different visual servoing controls have been developed to govern a translating parallel manipulator with an eye-in-hand configuration, That is, a position-based and an image-based controller. The robot must be able to reach and grasp a target randomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D space. The trajectory planning strategy ensures the continuity of the velocity vector for both PBVS and IBVS controls, whereas a replanning event is needed. A comparison between the two approaches is given in terms of accuracy, fastness, and stability in relation to the robot peculiar characteristics

Search for distortions in the spectrum of the Cosmic Microwave Radiation

We present preliminary results of TRIS, an experiment dedicated to the search of deviations from a pure planckian distribution in the spectrum of the Cosmic Microwave Background at frequencies close to 1 GHzComment: 9 pages, in press on the Proc. of the 3rd Sakharov Conf. - Moscow 200

Absolute calibration and beam reconstruction of MITO (a ground-based instrument in the millimetric region)

An efficient sky data reconstruction derives from a precise characterization of the observing instrument. Here we describe the reconstruction of performances of a single-pixel 4-band photometer installed at MITO (Millimeter and Infrared Testagrigia Observatory) focal plane. The strategy of differential sky observations at millimeter wavelengths, by scanning the field of view at constant elevation wobbling the subreflector, induces a good knowledge of beam profile and beam-throw amplitude, allowing efficient data recovery. The problems that arise estimating the detectors throughput by drift scanning on planets are shown. Atmospheric transmission, monitored by skydip technique, is considered for deriving final responsivities for the 4 channels using planets as primary calibrators.Comment: 14 pages, 6 fiugres, accepted for pubblication by New Astronomy (25 March

Triple Experiment Spectrum of the Sunyaev-Zeldovich Effect in the Coma Cluster: H_0

The Sunyaev-Zeldovich (SZ) effect was previously measured in the Coma cluster by the Owens Valley Radio Observatory and Millimeter and IR Testa Grigia Observatory experiments and recently also with the Wilkinson Microwave Anisotropy Probe satellite. We assess the consistency of these results and their implications on the feasibility of high-frequency SZ work with ground-based telescopes. The unique data set from the combined measurements at six frequency bands is jointly analyzed, resulting in a best-fit value for the Thomson optical depth at the cluster center, tau_{0}=(5.35 \pm 0.67) 10^{-3}. The combined X-ray and SZ determined properties of the gas are used to determine the Hubble constant. For isothermal gas with a \beta density profile we derive H_0 = 84 \pm 26 km/(s\cdot Mpc); the (1\sigma) error includes only observational SZ and X-ray uncertainties.Comment: 11 pages, 1 figur

MAD-4-MITO, a Multi Array of Detectors for ground-based mm/submm SZ observations

The last few years have seen a large development of mm technology and ultra-sensitive detectors devoted to microwave astronomy and astrophysics. The possibility to deal with large numbers of these detectors assembled into multi--pixel imaging systems has greatly improved the performance of microwave observations, even from ground--based stations, especially combining the power of multi--band detectors with their new imaging capabilities. Hereafter, we will present the development of a multi--pixel solution devoted to Sunyaev--Zel'dovich observations from ground--based telescopes, that is going to be operated from the Millimetre and Infrared Testagrigia Observatory.Comment: 5 pages, 3 figures, to be published in th eProceedings of the 2K1BC Workshop, July 9-13, 2001 - Breuil-Cervini

Cosmic Microwave Background Temperature at Galaxy Clusters

We have deduced the cosmic microwave background (CMB) temperature in the Coma cluster (A1656, $z=0.0231$), and in A2163 ($z=0.203$) from spectral measurements of the Sunyaev-Zel'dovich (SZ) effect over four passbands at radio and microwave frequencies. The resulting temperatures at these redshifts are $T_{Coma} = 2.789^{+0.080}_{-0.065}$ K and $T_{A2163} = 3.377^{+0.101}_{-0.102}$ K, respectively. These values confirm the expected relation $T(z)=T_{0}(1+z)$, where $T_{0}= 2.725 \pm 0.002$ K is the value measured by the COBE/FIRAS experiment. Alternative scaling relations that are conjectured in non-standard cosmologies can be constrained by the data; for example, if $T(z) = T_{0}(1+z)^{1-a}$ or $T(z)=T_{0}[1+(1+d)z]$, then $a=-0.16^{+0.34}_{-0.32}$ and $d = 0.17 \pm 0.36$ (at 95% confidence). We briefly discuss future prospects for more precise SZ measurements of $T(z)$ at higher redshifts.Comment: 13 pages, 1 figure, ApJL accepted for publicatio

Kinetic Inductance Detectors for the OLIMPO experiment: design and pre-flight characterization

We designed, fabricated, and characterized four arrays of horn--coupled, lumped element kinetic inductance detectors (LEKIDs), optimized to work in the spectral bands of the balloon-borne OLIMPO experiment. OLIMPO is a 2.6 m aperture telescope, aimed at spectroscopic measurements of the Sunyaev-Zel'dovich (SZ) effect. OLIMPO will also validate the LEKID technology in a representative space environment. The corrected focal plane is filled with diffraction limited horn-coupled KID arrays, with 19, 37, 23, 41 active pixels respectively at 150, 250, 350, and 460$\:$GHz. Here we report on the full electrical and optical characterization performed on these detector arrays before the flight. In a dark laboratory cryostat, we measured the resonator electrical parameters, such as the quality factors and the electrical responsivities, at a base temperature of 300$\:$mK. The measured average resonator $Q$s are 1.7$\times{10^4}$, 7.0$\times{10^4}$, 1.0$\times{10^4}$, and 1.0$\times{10^4}$ for the 150, 250, 350, and 460$\:$GHz arrays, respectively. The average electrical phase responsivities on resonance are 1.4$\:$rad/pW, 1.5$\:$rad/pW, 2.1$\:$rad/pW, and 2.1$\:$rad/pW; the electrical noise equivalent powers are 45$\:\rm{aW/\sqrt{Hz}}$, 160$\:\rm{aW/\sqrt{Hz}}$, 80$\:\rm{aW/\sqrt{Hz}}$, and 140$\:\rm{aW/\sqrt{Hz}}$, at 12 Hz. In the OLIMPO cryostat, we measured the optical properties, such as the noise equivalent temperatures (NET) and the spectral responses. The measured NET$_{\rm RJ}$s are $200\:\mu\rm{K\sqrt{s}}$, $240\:\mu\rm{K\sqrt{s}}$, $240\:\mu\rm{K\sqrt{s}}$, and $\:340\mu\rm{K\sqrt{s}}$, at 12 Hz; under 78, 88, 92, and 90 mK Rayleigh-Jeans blackbody load changes respectively for the 150, 250, 350, and 460 GHz arrays. The spectral responses were characterized with the OLIMPO differential Fourier transform spectrometer (DFTS) up to THz frequencies, with a resolution of 1.8 GHz.Comment: Published on JCA

CALDER - Neutrinoless double-beta decay identification in TeO2_2 bolometers with kinetic inductance detectors

Next-generation experiments searching for neutrinoless double-beta decay must be sensitive to a Majorana neutrino mass as low as 10 meV. CUORE, an array of 988 TeO$_2$ bolometers being commissioned at Laboratori Nazionali del Gran Sasso in Italy, features an expected sensitivity of 50-130 meV at 90% C.L, that can be improved by removing the background from $\alpha$ radioactivity. This is possible if, in coincidence with the heat release in a bolometer, the Cherenkov light emitted by the $\beta$ signal is detected. The amount of light detected is so far limited to only 100 eV, requiring low-noise cryogenic light detectors. The CALDER project (Cryogenic wide-Area Light Detectors with Excellent Resolution) aims at developing a small prototype experiment consisting of TeO$_2$ bolometers coupled to new light detectors based on kinetic inductance detectors. The R&D is focused on the light detectors that could be implemented in a next-generation neutrinoless double-beta decay experiment.Comment: 8 pages, 3 figures, added reference to first result

The Sunyaev-Zeldovich effect in superclusters of galaxies using gasdynamical simulations: the case of Corona Borealis

[Abridged] We study the thermal and kinetic Sunyaev-Zel'dovich (SZ) effect associated with superclusters of galaxies using the MareNostrum Universe SPH simulation. We consider superclusters similar to the Corona Borealis Supercluster (CrB-SC). This paper is motivated by the detection at 33GHz of a strong temperature decrement in the CMB towards the core of this supercluster. Multifrequency observations with VSA and MITO suggest the existence of a thermal SZ effect component in the spectrum of this cold spot, which would account for roughly 25% of the total observed decrement. We identify nine regions containing superclusters similar to CrB-SC, obtain the associated SZ maps and calculate the probability of finding such SZ signals arising from hot gas within the supercluster. Our results show that WHIM produces a thermal SZ effect much smaller than the observed value. Neither can summing the contribution of small clusters and galaxy groups in the region explain the amplitude of the SZ signal. When we take into account the actual posterior distribution from the observations, the probability that WHIM can cause a thermal SZ signal like the one observed is <1%, rising up to a 3.2% when the contribution of small clusters and galaxy groups is included. If the simulations provide a suitable description of the gas physics, then we conclude that the thermal SZ component of the CrB spot most probably arises from an unknown galaxy cluster along the line of sight. The simulations also show that the kinetic SZ signal associated with the supercluster cannot provide an explanation for the remaining 75% of the observed cold spot in CrB.Comment: Accepted for publication in MNRAS. 14 pages, 9 figure