Design of a minimalist autonomous robotic vehicle

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (leaf 18).The purpose of this thesis is to investigate design alternatives for the creation of a minimalist autonomous robotic vehicle, based on the Ford Escape. The work builds on prior work performed by the MIT DARPA Urban Challenge team, which competed in the national DARPA Urban Challenge NQE and UCE events in October and November 2007. The MIT team pursued an ambitious design that was rich in both sensors and computation. The excessive amount of equipment and computing power throughout the current vehicle make it too expensive and unreasonable to go into actual production. The goal for this work is to revisit the design approach of the MIT team, and from a Mechanical Engineering perspective, to perform a new conceptual design that would bridge the gap between the current vehicle and present in production technologies. By developing a minimalist sensor/processor configuration, the Ford Escape can more closely reflect a present day vehicle, in both appearance and cost, and be more viable for future production. Using the Ford Escape rapid prototype vehicle, the previous installation was stripped out in order to design, re-engineer, and implement a configuration that will allow new research in affordable autonomy and active safety for in-production vehicles.by Mark Spadafora.S.B

A New Determination of the High Redshift Type Ia Supernova Rates with the Hubble Space Telescope Advanced Camera for Surveys

We present a new measurement of the volumetric rate of Type Ia supernova up to a redshift of 1.7, using the Hubble Space Telescope (HST) GOODS data combined with an additional HST dataset covering the North GOODS field collected in 2004. We employ a novel technique that does not require spectroscopic data for identifying Type Ia supernovae (although spectroscopic measurements of redshifts are used for over half the sample); instead we employ a Bayesian approach using only photometric data to calculate the probability that an object is a Type Ia supernova. This Bayesian technique can easily be modified to incorporate improved priors on supernova properties, and it is well-suited for future high-statistics supernovae searches in which spectroscopic follow up of all candidates will be impractical. Here, the method is validated on both ground- and space-based supernova data having some spectroscopic follow up. We combine our volumetric rate measurements with low redshift supernova data, and fit to a number of possible models for the evolution of the Type Ia supernova rate as a function of redshift. The data do not distinguish between a flat rate at redshift > 0.5 and a previously proposed model, in which the Type Ia rate peaks at redshift >1 due to a significant delay from star-formation to the supernova explosion. Except for the highest redshifts, where the signal to noise ratio is generally too low to apply this technique, this approach yields smaller or comparable uncertainties than previous work.Comment: Accepted for publication in Ap

Preliminary Limits on the WIMP-Nucleon Cross Section from the Cryogenic Dark Matter Search (CDMS)

We are conducting an experiment to search for WIMPs, or weakly-interacting massive particles, in the galactic halo using terrestrial detectors. This generic class of hypothetical particles, whose properties are similar to those predicted by extensions of the standard model of particle physics, could comprise the cold component of non-baryonic dark matter. We describe our experiment, which is based on cooled germanium and silicon detectors in a shielded low-background cryostat. The detectors achieve a high degree of background rejection through the simultaneous measurement of the energy in phonons and ionization. Using exposures on the order of one kilogram-day from initial runs of our experiment, we have achieved (preliminary) upper limits on the WIMP-nucleon cross section that are comparable to much longer runs of other experiments.Comment: 5 LaTex pages, 5 eps figs, epsf.sty, espcrc2dsa2.sty. Proceedings of TAUP97, Gran Sasso, Italy, 7-11 Sep 1997, Nucl. Phys. Suppl., A. Bottino, A. di Credico and P. Monacelli (eds.). See also http://cfpa.berkeley.ed

A Calibration of NICMOS Camera 2 for Low Count-Rates

NICMOS 2 observations are crucial for constraining distances to most of the existing sample of z > 1 SNe Ia. Unlike the conventional calibration programs, these observations involve long exposure times and low count rates. Reciprocity failure is known to exist in HgCdTe devices and a correction for this effect has already been implemented for high and medium count-rates. However observations at faint count-rates rely on extrapolations. Here instead, we provide a new zeropoint calibration directly applicable to faint sources. This is obtained via inter-calibration of NIC2 F110W/F160W with WFC3 in the low count-rate regime using z ~ 1 elliptical galaxies as tertiary calibrators. These objects have relatively simple near-IR SEDs, uniform colors, and their extended nature gives superior signal-to-noise at the same count rate than would stars. The use of extended objects also allows greater tolerances on PSF profiles. We find ST magnitude zeropoints (after the installation of the NICMOS cooling system, NCS) of 25.296 +- 0.022 for F110W and 25.803 +- 0.023 for F160W, both in agreement with the calibration extrapolated from count-rates 1,000 times larger (25.262 and 25.799). Before the installation of the NCS, we find 24.843 +- 0.025 for F110W and 25.498 +- 0.021 for F160W, also in agreement with the high-count-rate calibration (24.815 and 25.470). We also check the standard bandpasses of WFC3 and NICMOS 2 using a range of stars and galaxies at different colors and find mild tension for WFC3, limiting the accuracy of the zeropoints. To avoid human bias, our cross-calibration was "blinded" in that the fitted zeropoint differences were hidden until the analysis was finalized.Comment: Accepted for Publication in the Astronomical Journal. New version contains added referenc

The Hubble Space Telescope Cluster Supernova Survey: VI. The Volumetric Type Ia Supernova Rate

We present a measurement of the volumetric Type Ia supernova (SN Ia) rate out to z ~ 1.6 from the Hubble Space Telescope Cluster Supernova Survey. In observations spanning 189 orbits with the Advanced Camera for Surveys we discovered 29 SNe, of which approximately 20 are SNe Ia. Twelve of these SNe Ia are located in the foregrounds and backgrounds of the clusters targeted in the survey. Using these new data, we derive the volumetric SN Ia rate in four broad redshift bins, finding results consistent with previous measurements at z > 1 and strengthening the case for a SN Ia rate that is equal to or greater than ~0.6 x 10^-4/yr/Mpc^3 at z ~ 1 and flattening out at higher redshift. We provide SN candidates and efficiency calculations in a form that makes it easy to rebin and combine these results with other measurements for increased statistics. Finally, we compare the assumptions about host-galaxy dust extinction used in different high-redshift rate measurements, finding that different assumptions may induce significant systematic differences between measurements.Comment: 11 pages, 7 figures. Submitted to the Astrophysical Journal. Revised version following referee comments. See the HST Cluster SN Survey website at http://supernova.lbl.gov/2009ClusterSurvey for control time simulations in a machine-readable table and a complete listing of transient candidates from the surve

New Results from the Cryogenic Dark Matter Search Experiment

Using improved Ge and Si detectors, better neutron shielding, and increased counting time, the Cryogenic Dark Matter Search (CDMS) experiment has obtained stricter limits on the cross section of weakly interacting massive particles (WIMPs) elastically scattering from nuclei. Increased discrimination against electromagnetic backgrounds and reduction of neutron flux confirm WIMP-candidate events previously detected by CDMS were consistent with neutrons and give limits on spin-independent WIMP interactions which are >2X lower than previous CDMS results for high WIMP mass, and which exclude new parameter space for WIMPs with mass between 8-20 GeV/c^2.Comment: 4 pages, 4 figure

Precision Measurement of The Most Distant Spectroscopically Confirmed Supernova Ia with the Hubble Space Telescope

We report the discovery of a redshift 1.71 supernova in the GOODS North field. The Hubble Space Telescope (HST) ACS spectrum has almost negligible contamination from the host or neighboring galaxies. Although the rest frame sampled range is too blue to include any Si ii line, a principal component analysis allows us to confirm it as a Type Ia supernova with 92% confidence. A recent serendipitous archival HST WFC3 grism spectrum contributed a key element of the confirmation by giving a host-galaxy redshift of 1.713 +/- 0.007. In addition to being the most distant SN Ia with spectroscopic confirmation, this is the most distant Ia with a precision color measurement. We present the ACS WFC and NICMOS 2 photometry and ACS and WFC3 spectroscopy. Our derived supernova distance is in agreement with the prediction of LambdaCDM.Comment: 13 pages, 6 figures, published in ApJ with updated analysi

Exclusion limits on the WIMP-nucleon cross-section from the Cryogenic Dark Matter Search

The Cryogenic Dark Matter Search (CDMS) employs low-temperature Ge and Si detectors to search for Weakly Interacting Massive Particles (WIMPs) via their elastic-scattering interactions with nuclei while discriminating against interactions of background particles. For recoil energies above 10 keV, events due to background photons are rejected with >99.9% efficiency, and surface events are rejected with >95% efficiency. The estimate of the background due to neutrons is based primarily on the observation of multiple-scatter events that should all be neutrons. Data selection is determined primarily by examining calibration data and vetoed events. Resulting efficiencies should be accurate to about 10%. Results of CDMS data from 1998 and 1999 with a relaxed fiducial-volume cut (resulting in 15.8 kg-days exposure on Ge) are consistent with an earlier analysis with a more restrictive fiducial-volume cut. Twenty-three WIMP candidate events are observed, but these events are consistent with a background from neutrons in all ways tested. Resulting limits on the spin-independent WIMP-nucleon elastic-scattering cross-section exclude unexplored parameter space for WIMPs with masses between 10-70 GeV c^{-2}. These limits border, but do not exclude, parameter space allowed by supersymmetry models and accelerator constraints. Results are compatible with some regions reported as allowed at 3-sigma by the annual-modulation measurement of the DAMA collaboration. However, under the assumptions of standard WIMP interactions and a standard halo, the results are incompatible with the DAMA most likely value at >99.9% CL, and are incompatible with the model-independent annual-modulation signal of DAMA at 99.99% CL in the asymptotic limit.Comment: 40 pages, 49 figures (4 in color), submitted to Phys. Rev. D; v.2:clarified conclusions, added content and references based on referee's and readers' comments; v.3: clarified introductory sections, added figure based on referee's comment

Supernova / Acceleration Probe: A Satellite Experiment to Study the Nature of the Dark Energy

The Supernova / Acceleration Probe (SNAP) is a proposed space-based experiment designed to study the dark energy and alternative explanations of the acceleration of the Universe's expansion by performing a series of complementary systematics-controlled measurements. We describe a self-consistent reference mission design for building a Type Ia supernova Hubble diagram and for performing a wide-area weak gravitational lensing study. A 2-m wide-field telescope feeds a focal plane consisting of a 0.7 square-degree imager tiled with equal areas of optical CCDs and near infrared sensors, and a high-efficiency low-resolution integral field spectrograph. The SNAP mission will obtain high-signal-to-noise calibrated light-curves and spectra for several thousand supernovae at redshifts between z=0.1 and 1.7. A wide-field survey covering one thousand square degrees resolves ~100 galaxies per square arcminute. If we assume we live in a cosmological-constant-dominated Universe, the matter density, dark energy density, and flatness of space can all be measured with SNAP supernova and weak-lensing measurements to a systematics-limited accuracy of 1%. For a flat universe, the density-to-pressure ratio of dark energy can be similarly measured to 5% for the present value w0 and ~0.1 for the time variation w'. The large survey area, depth, spatial resolution, time-sampling, and nine-band optical to NIR photometry will support additional independent and/or complementary dark-energy measurement approaches as well as a broad range of auxiliary science programs. (Abridged)Comment: 40 pages, 18 figures, submitted to PASP, http://snap.lbl.go

Scaling Relations and Overabundance of Massive Clusters at z>~1 from Weak-Lensing Studies with HST

We present weak gravitational lensing analysis of 22 high-redshift (z >~1) clusters based on Hubble Space Telescope images. Most clusters in our sample provide significant lensing signals and are well detected in their reconstructed two-dimensional mass maps. Combining the current results and our previous weak-lensing studies of five other high-z clusters, we compare gravitational lensing masses of these clusters with other observables. We revisit the question whether the presence of the most massive clusters in our sample is in tension with the current LambdaCDM structure formation paradigm. We find that the lensing masses are tightly correlated with the gas temperatures and establish, for the first time, the lensing mass-temperature relation at z >~ 1. For the power law slope of the M-TX relation (M propto T^{\alpha}), we obtain \alpha=1.54 +/- 0.23. This is consistent with the theoretical self-similar prediction \alpha=3/2 and with the results previously reported in the literature for much lower redshift samples. However, our normalization is lower than the previous results by 20-30%, indicating that the normalization in the M-TX relation might evolve. After correcting for Eddington bias and updating the discovery area with a more conservative choice, we find that the existence of the most massive clusters in our sample still provides a tension with the current Lambda CDM model. The combined probability of finding the four most massive clusters in this sample after marginalization over current cosmological parameters is less than 1%.Comment: ApJ in press. See http://www.supernova.lbl.gov for additional information pertaining to the HST Cluster SN Surve