arXiv subjects

Francisco Prada

Publications and source records attributed to Francisco Prada.

At least 217 records · Page 12Linked to original sources

arXiv2015

SDSS-III Baryon Oscillation Spectroscopic Survey Data Release 12: galaxy target selection and large scale structure catalogues

The Baryon Oscillation Spectroscopic Survey (BOSS), part of the Sloan Digital Sky Survey (SDSS) III project, has provided the largest survey of galaxy redshifts available to date, in terms of both the number of galaxy redshifts measured by a single survey, and the effective cosmological volume covered. Key to analysing the clustering of these data to provide cosmological measurements is understanding the detailed properties of this sample. Potential issues include variations in the target catalogue caused by changes either in the targeting algorithm or properties of the data used, the pattern of spectroscopic observations, the spatial distribution of targets for which redshifts were not obtained, and variations in the target sky density due to observational systematics. We document here the target selection algorithms used to create the galaxy samples that comprise BOSS. We also present the algorithms used to create large scale structure catalogues for the final Data Release (DR12) samples and the associated random catalogues that quantify the survey mask. The algorithms are an evolution of those used by the BOSS team to construct catalogues from earlier data, and have been designed to accurately quantify the galaxy sample. The code used, designated MKSAMPLE, is released with this paper.

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arXiv2015

Cosmological implications of baryon acoustic oscillation (BAO) measurements

We derive constraints on cosmological parameters and tests of dark energy models from the combination of baryon acoustic oscillation (BAO) measurements with cosmic microwave background (CMB) and Type Ia supernova (SN) data. We take advantage of high-precision BAO measurements from galaxy clustering and the Ly-alpha forest (LyaF) in the BOSS survey of SDSS-III. BAO data alone yield a high confidence detection of dark energy, and in combination with the CMB angular acoustic scale they further imply a nearly flat universe. Combining BAO and SN data into an "inverse distance ladder" yields a 1.7% measurement of $H_0=67.3 \pm1.1$ km/s/Mpc. This measurement assumes standard pre-recombination physics but is insensitive to assumptions about dark energy or space curvature, so agreement with CMB-based estimates that assume a flat LCDM cosmology is an important corroboration of this minimal cosmological model. For open LCDM, our BAO+SN+CMB combination yields $Ω_m=0.301 \pm 0.008$ and curvature $Ω_k=-0.003 \pm 0.003$. When we allow more general forms of evolving dark energy, the BAO+SN+CMB parameter constraints remain consistent with flat LCDM. While the overall $χ^2$ of model fits is satisfactory, the LyaF BAO measurements are in moderate (2-2.5 sigma) tension with model predictions. Models with early dark energy that tracks the dominant energy component at high redshifts remain consistent with our constraints. Expansion history alone yields an upper limit of 0.56 eV on the summed mass of neutrino species, improving to 0.26 eV if we include Planck CMB lensing. Standard dark energy models constrained by our data predict a level of matter clustering that is high compared to most, but not all, observational estimates. (Abridged)

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arXiv2015

The SDSS-IV extended Baryonic Oscillation Spectroscopic Survey: Luminous Red Galaxy Target Selection

We describe the algorithm used to select the Luminous Red Galaxy (LRG) sample for the extended Baryon Oscillation Spectroscopic Survey (eBOSS) of the Sloan Digital Sky Survey IV (SDSS-IV) using photometric data from both the SDSS and the Wide-Field Infrared Survey Explorer (WISE). LRG targets are required to meet a set of color selection criteria and have z-band and i-band MODEL magnitudes z < 19.95 and 19.9 < i < 21.8, respectively. Our algorithm selects roughly 50 LRG targets per square degree, the great majority of which lie in the redshift range 0.6 < z < 1.0 (median redshift 0.71). We demonstrate that our methods are highly effective at eliminating stellar contamination and lower-redshift galaxies. We perform a number of tests using spectroscopic data from SDSS-III/BOSS to determine the redshift reliability of our target selection and its ability to meet the science requirements of eBOSS. The SDSS spectra are of high enough signal-to-noise ratio that at least 89% of the target sample yields secure redshift measurements. We also present tests of the uniformity and homogeneity of the sample, demonstrating that it should be clean enough for studies of the large-scale structure of the universe at higher redshifts than SDSS-III/BOSS LRGs reached.

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arXiv2015

Constraint on the time variation of the fine-structure constant with the SDSS-III/BOSS DR12 quasar sample

From the Sloan Digital Sky Survey (SDSS) Data Release 12, which covers the full Baryonic Oscillation Spectroscopic Survey (BOSS) footprint, we investigate the possible variation of the fine-structure constant over cosmological time-scales. We analyse the largest quasar sample considered so far in the literature, which contains 13175 spectra (10363 from SDSS-III/BOSS DR12 + 2812 from SDSS-II DR7) with redshift $z<\,$1. We apply the emission-line method on the [O III] doublet (4960, 5008 A) and obtain $Δα/α= \left(0.9 \pm 1.8\right)\times10^{-5}$ for the relative variation of the fine-structure constant. We also investigate the possible sources of systematics: misidentification of the lines, sky OH lines, H$\,β$ and broad line contamination, Gaussian and Voigt fitting profiles, optimal wavelength range for the Gaussian fits, chosen polynomial order for the continuum spectrum, signal-to-noise ratio and good quality of the fits. The uncertainty of the measurement is dominated by the sky subtraction. The results presented in this work, being systematics limited, have sufficient statistics to constrain robustly the variation of the fine-structure constant in redshift bins ($Δz\approx$ 0.06) over the last 7.9 Gyr. In addition, we study the [Ne III] doublet (3870, 3969 A) present in 462 quasar spectra and discuss the systematic effects on using these emission lines to constrain the fine-structure constant variation. Better constraints on $Δα/α $ ($<$10$^{-6}$) using the emission-line method would be possible with high-resolution spectroscopy and large galaxy/qso surveys.

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arXiv2015

Bayesian redshift-space distortions correction from galaxy redshift surveys

We present a Bayesian reconstruction method which maps a galaxy distribution from redshift-space to real-space inferring the distances of the individual galaxies. The method is based on sampling density fields assuming a lognormal prior with a likelihood given by the negative binomial distribution function modelling stochastic bias. We assume a deterministic bias given by a power law relating the dark matter density field to the expected halo or galaxy field. Coherent redshift-space distortions are corrected in a Gibbs-sampling procedure by moving the galaxies from redshift-space to real-space according to the peculiar motions derived from the recovered density field using linear theory with the option to include tidal field corrections from second order Lagrangian perturbation theory. The virialised distortions are corrected by sampling candidate real-space positions (being in the neighbourhood of the observations along the line of sight), which are compatible with the bulk flow corrected redshift-space position adding a random dispersion term in high density collapsed regions. The latter are defined according to the eigenvalues of the Hessian. This approach presents an alternative method to estimate the distances to galaxies using the three dimensional spatial information, and assuming isotropy. Hence the number of applications is very broad. In this work we show the potential of this method to constrain the growth rate up to $k$ ~ 0.3 $h$ Mpc$^{-1}$. Furthermore it could be useful to correct for photo-metric redshift errors, and to obtain improved BAO reconstructions.

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arXiv2015

nIFTy Cosmology: Galaxy/halo mock catalogue comparison project on clustering statistics

We present a comparison of major methodologies of fast generating mock halo or galaxy catalogues. The comparison is done for two-point and the three-point clustering statistics. The reference catalogues are drawn from the BigMultiDark N-body simulation. Both friend-of-friends (including distinct halos only) and spherical overdensity (including distinct halos and subhalos) catalogs have been used with the typical number density of a large-volume galaxy surveys. We demonstrate that a proper biasing model is essential for reproducing the power spectrum at quasilinear and even smaller scales. With respect to various clustering statistics a methodology based on perturbation theory and a realistic biasing model leads to very good agreement with N-body simulations. However, for the quadrupole of the correlation function or the power spectrum, only the method based on semi-N-body simulation could reach high accuracy (1% level) at small scales, i.e., r<25 Mpc/h or k>0.15 h/Mpc. Full N-body solutions will remain indispensable to produce reference catalogues. Nevertheless, we have demonstrated that the far more efficient approximate solvers can reach a few percent accuracy in terms of clustering statistics at the scales interesting for the large-scale structure analysis after calibration with a few reference N-body calculations. This makes them useful for massive production aimed at covariance studies, to scan large parameter spaces, and to estimate uncertainties in data analysis techniques, such as baryon acoustic oscillation reconstruction, redshift distortion measurements, etc.

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arXiv2015

Galaxy clusters and groups in the ALHAMBRA Survey

We present a catalogue of 348 galaxy clusters and groups with $0.2<z<1.2$ selected in the 2.78 $deg^2$ ALHAMBRA Survey. The high precision of our photometric redshifts, close to $1\%$, and the wide spread of the seven ALHAMBRA pointings ensure that this catalogue has better mass sensitivity and is less affected by cosmic variance than comparable samples. The detection has been carried out with the Bayesian Cluster Finder (BCF), whose performance has been checked in ALHAMBRA-like light-cone mock catalogues. Great care has been taken to ensure that the observable properties of the mocks photometry accurately correspond to those of real catalogues. From our simulations, we expect to detect galaxy clusters and groups with both $70\%$ completeness and purity down to dark matter halo masses of $M_h\sim3\times10^{13}\rm M_{\odot}$ for $z<0.85$. Cluster redshifts are expected to be recovered with $\sim0.6\%$ precision for $z<1$. We also expect to measure cluster masses with $σ_{M_h|M^*_{CL}}\sim0.25-0.35\, dex$ precision down to $\sim3\times10^{13}\rm M_{\odot}$, masses which are $50\%$ smaller than those reached by similar work. We have compared these detections with previous optical, spectroscopic and X-rays work, finding an excellent agreement with the rates reported from the simulations. We have also explored the overall properties of these detections such as the presence of a colour-magnitude relation, the evolution of the photometric blue fraction and the clustering of these sources in the different ALHAMBRA fields. Despite the small numbers, we observe tentative evidence that, for a fixed stellar mass, the environment is playing a crucial role at lower redshifts (z$<$0.5).

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arXiv2015

Building a Better Understanding of the High Redshift BOSS Galaxies as Tools for Cosmology

We explore the bluer star-forming population of the Sloan Digital Sky Survey (SDSS) III/BOSS CMASS DR11 galaxies at $z>0.55$ to quantify their differences, in terms of redshift-space distortions and large-scale bias, with respect to the luminous red galaxy sample. We perform a qualitative analysis to understand the significance of these differences and whether we can model and reproduce them in mock catalogs. Specifically, we measure galaxy clustering in CMASS on small and intermediate scales ($r\lesssim 50\,h^{-1}$Mpc) by computing the two-point correlation function $-$ both projected and redshift-space $-$ of these galaxies, and a new statistic, $Σ(π)$, able to provide robust information about redshift-space distortions and large-scale bias. We interpret our clustering measurements by adopting a Halo Occupation Distribution (HOD) scheme that maps them onto high-resolution N-body cosmological simulations to produce suitable mock galaxy catalogs. The traditional HOD prescription can be applied to the red and the blue samples, independently, but this approach is unphysical since it allows the same mock galaxies to be either red or blue. To overcome this failure, we modify the standard formulation and infer the red and the blue mock catalogs directly from the full one, so that they are complementary and non-overlapping. This separation is performed by matching the observed CMASS red and blue galaxy fractions and produces reliable and accurate models.

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arXiv2015

Halo mass distribution reconstruction across the cosmic web

We study the relation between halo mass and its environment from a probabilistic perspective. We find that halo mass depends not only on local dark matter density, but also on non-local quantities such as the cosmic web environment and the halo-exclusion effect. Given these accurate relations, we have developed the HADRON-code (Halo mAss Distribution ReconstructiON), a technique which permits us to assign halo masses to a distribution of haloes in three-dimensional space. This can be applied to the fast production of mock galaxy catalogues, by assigning halo masses, and reproducing accurately the bias for different mass cuts. The resulting clustering of the halo populations agree well with that drawn from the BigMultiDark $N$-body simulation: the power spectra are within 1-$σ$ up to scales of $k=0.2\,h\,{\rm Mpc}^{-1}$, when using augmented Lagrangian perturbation theory based mock catalogues. Only the most massive haloes show a larger deviation. For these, we find evidence of the halo-exclusion effect. A clear improvement is achieved when assigning the highest masses to haloes with a minimum distance separation. We also compute the 2- and 3-point correlation functions, and find an excellent agreement with $N$-body results. Our work represents a quantitative application of the cosmic web classification. It can have further interesting applications in the multi-tracer analysis of the large-scale structure for future galaxy surveys.

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arXiv2014

Tests of redshift-space distortions models in configuration space for the analysis of the BOSS final data release

Observations of redshift-space distortions in spectroscopic galaxy surveys offer an attractive method for observing the build-up of cosmological structure, which depends both on the expansion rate of the Universe and our theory of gravity. In preparation for analysis of redshift-space distortions from the Baryon Oscillation Spectroscopic Survey (BOSS) final data release we compare a number of analytic and phenomenological `streaming' models, specified in configuration space, to mock catalogs derived in different ways from several N-body simulations. The galaxies in each mock catalog have properties similar to those of the higher redshift galaxies measured by BOSS but differ in the details of how small-scale velocities and halo occupancy are determined. We find that all of the analytic models fit the simulations over a limited range of scales while failing at small scales. We discuss which models are most robust and on which scales they return reliable estimates of the rate of growth of structure: we find that models based on some form of resummation can fit our N-body data for BOSS-like galaxies above $30\,h^{-1}$Mpc well enough to return unbiased parameter estimates.

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arXiv2014

Hunting down systematics in baryon acoustic oscillations after cosmic high noon

Future dark energy experiments will require better and more accurate theoretical predictions for the baryonic acoustic oscillations (BAO) signature in the spectrum of cosmological perturbations. Here, we use large N-body simulations of the \LambdaCDM Planck cosmology to study any possible systematic shifts and damping in BAO due to the impact of nonlinear gravitational growth of structure, scale dependent and non-local bias, and redshift-space distortions. The effect of cosmic variance is largely reduced by dividing the tracer power spectrum by that from a BAO-free simulation starting with the same phases. This permits us to study with unprecedented accuracy (better than 0.02% for dark matter and 0.07% for low-bias halos) small shifts of the pristine BAO wavenumbers towards larger k, and non-linear damping of BAO wiggles in the power spectrum of dark matter and halo populations in the redshift range z=0-1. For dark matter, we provide an accurate parametrization of the evolution of αas a function of the linear growth factor D(z). For halo samples, with bias ranging from 1.2 to 2.8, we measure a typical BAO shift of ~0.25%, observed in real-space, which does not show an appreciable evolution with redshift within the uncertainties. Moreover, we report a constant shift as a function of halo bias. We find a different evolution of the damping of the acoustic feature in all halo samples as compared to dark matter with haloes suffering less damping, and also find some weak dependence on bias. A larger BAO shift and damping is measured in redshift-space which can be well explained by linear theory due to redshift-space distortions. A clear modulation in phase with the acoustic scale is observed in the scale-dependent halo bias due to the presence of the baryonic acoustic oscillations.

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arXiv2014

Collision-free motion planning for fiber positioner robots: discretization of velocity profiles

The next generation of large-scale spectroscopic survey experiments such as DESI, will use thousands of fiber positioner robots packed on a focal plate. In order to maximize the observing time with this robotic system we need to move in parallel the fiber-ends of all positioners from the previous to the next target coordinates. Direct trajectories are not feasible due to collision risks that could undeniably damage the robots and impact the survey operation and performance. We have previously developed a motion planning method based on a novel decentralized navigation function for collision-free coordination of fiber positioners. The navigation function takes into account the configuration of positioners as well as their envelope constraints. The motion planning scheme has linear complexity and short motion duration (~2.5 seconds with the maximum speed of 30 rpm for the positioner), which is independent of the number of positioners. These two key advantages of the decentralization designate the method as a promising solution for the collision-free motion-planning problem in the next-generation of fiber-fed spectrographs. In a framework where a centralized computer communicates with the positioner robots, communication overhead can be reduced significantly by using velocity profiles consisting of a few bits only. We present here the discretization of velocity profiles to ensure the feasibility of a real-time coordination for a large number of positioners. The modified motion planning method that generates piecewise linearized position profiles guarantees collision-free trajectories for all the robots. The velocity profiles fit few bits at the expense of higher computational costs.

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arXiv2014

Developing Micro DC-Brushless Motor Driver and Position Control for Fiber Positioners

In the large-scale, Dark Energy Spectroscopic Instrument (DESI), thousands of fiber positioners will be used. Those are robotic positioners, with two axis, and having the size of a pen. They are tightly packed on the focal plane of the telescope. Dedicated micro-robots have been developed and they use 4mm brushless DC motors. To simplify the implementation and reduce the space occupancy, each actuator will integrate its own electronic control board. This board will be used to communicate with the central trajectory generator, manage low level control tasks and motor current feeding. In this context, we present a solution for a highly compact electronic. This electronic is composed of two layers. The first is the power stage that can drive simultaneously two brushless motors. The second one consists of a fast microcontroller and deals with different control tasks: communication, acquisition of the hall sensor signals, commutation of the motors phases, and performing position and current regulation. A set of diagnostic functions are also implemented to detect failure in the motors or the sensors, and to sense abnormal load change that may be the result of two robots colliding.

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arXiv2014

Constraining the halo bispectrum in real and redshift space from perturbation theory and non-linear stochastic bias

We present a method to produce mock galaxy catalogues with efficient perturbation theory schemes, which match the number density, power spectra and bispectra in real and in redshift space from N-body simulations. The essential contribution of this work is the way in which we constrain the bias parameters in the PATCHY-code. In addition of aiming at reproducing the two-point statistics, we seek the set of bias parameters, which constrain the univariate halo probability distribution function (PDF) encoding higher-order correlation functions. We demonstrate that halo catalogues based on the same underlying dark matter field with a fix halo number density, and accurately matching the power spectrum (within 2%), can lead to very different bispectra depending on the adopted halo bias model. A model ignoring the shape of the halo PDF can lead to deviations up to factors of 2. The catalogues obtained additionally constraining the shape of the halo PDF can significantly lower the discrepancy in the three-point statistics, yielding closely unbiased bispectra both in real and in redshift space; which are in general compatible with those corresponding to an N-body simulation within 10% (deviating at most up to 20%). Our calculations show that the constant linear bias of ~2 for Luminous Red Galaxy (LRG) like galaxies seen in the power spectrum, mainly comes from sampling halos in high density peaks, choosing a high density threshold rather than from a factor multiplying the dark matter density field. Our method contributes towards an efficient modelling of the halo/galaxy distribution required to estimate uncertainties in the clustering measurements from galaxy redshift surveys. We have also demonstrated that it represents a powerful tool to test various bias models.

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arXiv2014

The flattening of the concentration-mass relation towards low halo masses and its implications for the annihilation signal boost

In the standard Cold Dark Matter (CDM) theory for understanding the formation of structure in the universe, there exists a tight connection between the properties of dark matter (DM) haloes, and their formation epochs. Such relation can be expressed in terms of a single key parameter, namely the halo concentration. In this work, we examine the median concentration-mass relation, c(M), at present time, over more than 20 orders of magnitude in halo mass, i.e., from tiny Earth-mass microhalos up to galaxy clusters. The c(M) model proposed by Prada et al. (2012), which links the halo concentration with the r.m.s. amplitude of matter linear fluctuations, describes remarkably well all the available N-body simulation data down to ~10^(-6) Msun microhalos. A clear fattening of the halo concentration-mass relation towards smaller masses is observed, that excludes the commonly adopted power-law c(M) models, and stands as a natural prediction for the CDM paradigm. We provide a parametrization for the c(M) relation that works accurately for all halo masses. This feature in the c(M) relation at low masses has decisive consequences e.g. for gamma-ray DM searches, as it implies more modest boosts of the DM annihilation flux due to substructure, i.e., ~35 for galaxy clusters and ~15 for galaxies like our own, as compared to those huge values adopted in the literature that rely on such power-law c(M) extrapolations. We provide a parametrization of the boosts that can be safely used for dwarfs to galaxy cluster-size halos.

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arXiv2014

The clustering of galaxies in the SDSS-III Baryon Oscillation Spectroscopic Survey: Baryon Acoustic Oscillations in the Data Release 10 and 11 galaxy samples

We present a one per cent measurement of the cosmic distance scale from the detections of the baryon acoustic oscillations in the clustering of galaxies from the Baryon Oscillation Spectroscopic Survey (BOSS), which is part of the Sloan Digital Sky Survey III (SDSS-III). Our results come from the Data Release 11 (DR11) sample, containing nearly one million galaxies and covering approximately $8\,500$ square degrees and the redshift range $0.2<z<0.7$. We also compare these results with those from the publicly released DR9 and DR10 samples. Assuming a concordance $Λ$CDM cosmological model, the DR11 sample covers a volume of 13\,Gpc${}^3$ and is the largest region of the Universe ever surveyed at this density. We measure the correlation function and power spectrum, including density-field reconstruction of the baryon acoustic oscillation (BAO) feature. The acoustic features are detected at a significance of over $7\,σ$ in both the correlation function and power spectrum. Fitting for the position of the acoustic features measures the distance relative to the sound horizon at the drag epoch, $r_d$, which has a value of $r_{d,{\rm fid}}=149.28\,$Mpc in our fiducial cosmology. We find $D_V=(1264\pm25\,{\rm Mpc})(r_d/r_{d,{\rm fid}})$ at $z=0.32$ and $D_V=(2056\pm20\,{\rm Mpc})(r_d/r_{d,{\rm fid}})$ at $z=0.57$. At 1.0 per cent, this latter measure is the most precise distance constraint ever obtained from a galaxy survey. Separating the clustering along and transverse to the line-of-sight yields measurements at $z=0.57$ of $D_A=(1421\pm20\,{\rm Mpc})(r_d/r_{d,{\rm fid}})$ and $H=(96.8\pm3.4\,{\rm km/s/Mpc})(r_{d,{\rm fid}}/r_d)$. Our measurements of the distance scale are in good agreement with previous BAO measurements and with the predictions from cosmic microwave background data for a spatially flat cold dark matter model with a cosmological constant.

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arXiv2014

The SDSS-III Baryonic Oscillation Spectroscopic Survey: Constraints on the Integrated Sachs Wolfe effect

In the context of the study of the Integrated Sachs Wolfe effect (ISW), we construct a template of the projected density distribution up to $z\simeq 0.7$ by using the Luminous Galaxies (LGs) from the Sloan Digital Sky Survey DR8. We use a photo-z catalogue trained with more than a hundred thousand galaxies from BOSS in the SDSS DR8 imaging area. We consider two different LG samples whose selection matches that of SDSS-III/BOSS: the LOWZ sample ($z\in [0.15,0.5]$) and the CMASS sample ($z\in[0.4,0.7]$). When building the LG density maps we use the information from star density, survey footprint, seeing conditions, sky emission, dust extinction and airmass to explore the impact of these artifacts on the two LG samples. In agreement with previous studies, we find that the CMASS sample is particularly sensitive to Galactic stars, which dominate the contribution to the auto-angular power spectrum below $\ell=7$. Other potential systematics affect mostly the low multipole range ($\ell\in[2,7]$), but leave fluctuations on smaller scales practically unchanged. The resulting power spectra in the multipole range $\ell\in[2,100]$ for the LOWZ, CMASS and LOWZ+CMASS samples are compatible with linear $Λ$CDM expectations and constant bias values of $b=1.98 \pm 0.11$, $2.08\pm0.14$ and $1.88\pm 0.11$, respectively, with no traces of non-Gaussianity: $f_{\rm NL}^{\rm local}=59\pm 75$ at 95% confidence level for the full LOWZ+CMASS sample in the range $\ell\in[4,100]$. After cross-correlating WMAP-9yr data with the LOWZ+CMASS LG density field, the ISW signal is detected at the level of 1.62--1.69$\,σ$. While this result is in close agreement with predictions from Monte Carlo simulations in the concordance $Λ$CDM model, it cannot rule out by itself an Einstein-de Sitter scenario, and has a moderately low signal compared to previous studies conducted on subsets of this LG sample.

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arXiv2013

Collision Avoidance in Next-generation Fiber Positioner Robotic System for Large Survey Spectrograph

Some of the next generation massive spectroscopic survey projects, such as DESI and PFS, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next target points. The most direct trajectories are prone to collision that could damage the robots and impact the survey operation. We thus present here a motion planning method based on a novel decentralized navigation function for collision-free coordination of fiber positioners. The navigation function takes into account the configuration of positioners as well as the actuator constraints. We provide details for the proof of convergence and collision avoidance. Decentralization results in linear complexity for the motion planning as well as dependency of motion duration with respect to the number of positioners. Therefore the coordination method is scalable for large-scale spectrograph robots. The short in-motion duration of positioner robots (~2.5 seconds using typical actuator constraints), will thus allow the time dedicated for observation to be maximized.

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