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NASA NTRS2024

Masses of Sunyaev-Zel’dovich Galaxy Clusters Detected by the Atacama Cosmology Telescope: Stacked Lensing Measurements with Subaru HSC Year 3 Data

We present a stacked lensing analysis of 96 galaxy clusters selected by the thermal Sunyaev-Zel’dovich (SZ) effect in maps of the cosmic microwave background (CMB). We select foreground galaxy clusters with a 5σ-level SZ threshold in CMB observations from the Atacama Cosmology Telescope, while we define background source galaxies for the lensing analysis with secure photometric redshift cuts in Year 3 data of the Subaru Hyper Suprime Cam survey. We detect the stacked lensing signal in the range of 0.1 < R[h −1 Mpc] < 100 in each of three cluster redshift bins, 0.092 < z ≤ 0.445, 0.445 < z ≤ 0.695, and 0.695 < z ≤ 1.180, with 32 galaxy clusters in each bin. The cumulative signal-to-noise ratios of the lensing signal are 14.6, 12.0, and 6.6, respectively. Using a halo-based forward model, we then constrain statistical relationships between the mass inferred from the SZ observation (i.e. SZ mass) and the total mass derived from our stacked lensing measurements. At the average SZ mass in the cluster sample (2.1 − 2.4 × 10 14 h −1 M⊙), our likelihood analysis shows that the average total mass differs from the SZ counterpart by a factor of 1.3 ± 0.2, 1.6 ± 0.2, and 1.6 ± 0.3 (68%) in the aforementioned redshift ranges, respectively. Our limits are consistent with previous lensing measurements, and we find that the cluster modeling choices can introduce a 1σ-level difference in our parameter inferences.

Masato Shirasaki↗

NASA NTRS2024

A Koopman-based residual modeling approach for the control of a soft robot arm

Soft robots are challenging to model and control due to their poorly defined kinematics and nonlinear dynamics. Recently, Koopman operator theory has been shown capable of constructing control-oriented soft robot models from data. However, building these models requires extensive data collection and they do not necessarily generalize well outside of the training observations. This paper presents a more data-efficient and generalizable approach to soft robot modeling that first identifies a physics-based Koopman model then supplements it with a data-driven residual Koopman model. The resulting combined model is linear and thus compatible with real-time model-based control techniques such as Model Predictive Control (MPC). The efficacy of the approach is demonstrated on several simulated systems and on a real soft robot arm, where it is shown to generate models that are more accurate than purely physics-based models and require less data to construct than purely data-driven models. Using a model-based controller, the soft arm is able to successfully track end effector trajectories, perform a pick-and-place task, and write on a dry-erase board, showcasing the applicability of this framework to increase the capabilities of soft robotic systems.

Daniel Bruder↗

NASA NTRSDate not supplied

Trajectory Generation with Load Constraints for Robotic Manipulators

Future large spacecraft will utilize robotic manipulators for in-space servicing, assembly, and manufacturing. Due to launch mass constraints, such manipulators will be designed to be as lightweight as possible. Trajectory generation algorithms will need to factor in load constraints to avoid overexerting and damaging manipulators. This paper investigates an approach that combines optimal Rapidly-exploring Random Trees, spline interpolation, and Model Predictive Control to generate a manipulator trajectory which respects load constraints.

Manipulators↗