arXiv subjects

Olivia Young

Publications and source records attributed to Olivia Young.

17 recordsLinked to original sources

arXiv2026

Toward Autonomous Soft Robotic Endovascular Navigation via Imitation Learning

In endovascular surgery, endovascular interventionists push a thin tube called a catheter, guided by a thin wire to a treatment site inside the patient's blood vessels to treat various conditions such as blood clots, aneurysms, and malformations. Robotic guidewires can enhance maneuverability but are difficult to model and control. Autonomous soft robotic guidewire navigation has the potential to overcome these challenges, increasing the precision and safety of endovascular navigation. As a first step, we establish a large-scale, 2D-projected environment for autonomous navigation. In other surgical domains, end-to-end imitation learning has shown promising results. Thus, we develop a transformer-based imitation learning framework with goal conditioning, relative action outputs, and automatic contrast dye injections to enable generalizable soft robot navigation in an aneurysm targeting task. We train the policy on 36 different modular bifurcated geometries, generating 647 total demonstrations under simulated fluoroscopy, and evaluate it on three previously unseen vascular geometries. The policy reaches the aneurysm with a success rate of 83% on the unseen geometries, outperforming several baselines. In addition, ablation and baseline studies evaluate the effectiveness of each design and data collection choice. Lastly, we extend the policy to achieve 75% success on an unseen patient-derived geometry. Project website: https://softrobotnavigation.github.io/

cs.RO↗

arXiv2026

Modeling and Control of a Pneumatic Soft Robotic Catheter Using Neural Koopman Operators

Catheter-based interventions are widely used for the diagnosis and treatment of cardiac diseases. Recently, robotic catheters have attracted attention for their ability to improve precision and stability over conventional manual approaches. However, accurate modeling and control of soft robotic catheters remain challenging due to their complex, nonlinear behavior. The Koopman operator enables lifting the original system data into a linear "lifted space", offering a data-driven framework for predictive control; however, manually chosen basis functions in the lifted space often oversimplify system behaviors and degrade control performance. To address this, we propose a neural network-enhanced Koopman operator framework that jointly learns the lifted space representation and Koopman operator in an end-to-end manner. Moreover, motivated by the need to minimize radiation exposure during X-ray fluoroscopy in cardiac ablation, we investigate open-loop control strategies using neural Koopman operators to reliably reach target poses without continuous imaging feedback. The proposed method is validated in two experimental scenarios: interactive position control and a simulated cardiac ablation task using an atrium-like cavity. Our approach achieves average errors of 2.1 +- 0.4 mm in position and 4.9 +- 0.6 degrees in orientation, outperforming not only model-based baselines but also other Koopman variants in targeting accuracy and efficiency. These results highlight the potential of the proposed framework for advancing soft robotic catheter systems and improving catheter-based interventions.

cs.RO↗

arXiv2025

The NANOGrav 15-year Gravitational-Wave Background Methods

Pulsar timing arrays (PTAs) use an array of millisecond pulsars to search for gravitational waves in the nanohertz regime in pulse time of arrival data. This paper presents rigorous tests of PTA methods, examining their consistency across the relevant parameter space. We discuss updates to the 15-year isotropic gravitational-wave background analyses and their corresponding code representations. Descriptions of the internal structure of the flagship algorithms Enterprise and PTMCMCSampler are given to facilitate understanding of the PTA likelihood structure, how models are built, and what methods are currently used in sampling the high-dimensional PTA parameter space. We introduce a novel version of the PTA likelihood that uses a two-step marginalization procedure that performs much faster in gravitational wave searches, reducing the required resources facilitating the computation of Bayes factors via thermodynamic integration and sampling a large number of realizations for computing Bayesian false-alarm probabilities. We perform stringent tests of consistency and correctness of the Bayesian and frequentist analysis methods. For the Bayesian analysis, we test prior recovery, simulation recovery, and Bayes factors. For the frequentist analysis, we test that the optimal statistic, when modified to account for a non-negligible gravitational-wave background, accurately recovers the amplitude of the background. We also summarize recent advances and tests performed on the optimal statistic in the literature from both GWB detection and parameter estimation perspectives. The tests presented here validate current analyses of PTA data.

astro-ph.HE↗

arXiv2024

The NANOGrav 15 yr Data Set: Harmonic Analysis of the Pulsar Angular Correlations

Pulsar timing array observations have found evidence for an isotropic gravitational wave background with the Hellings-Downs angular correlations, expected from general relativity. This interpretation hinges on the measured shape of the angular correlations, which is predominately quadrupolar under general relativity. Here we explore a more flexible parameterization: we expand the angular correlations into a sum of Legendre polynomials and use a Bayesian analysis to constrain their coefficients with the 15-year pulsar timing data set collected by the North American Nanohertz Observatory for Gravitational Waves (NANOGrav). When including Legendre polynomials with multipoles $\ell \geq 2$, we only find a significant signal in the quadrupole with an amplitude consistent with general relativity and non-zero at the $\sim 95\%$ confidence level and a Bayes factor of 200. When we include multipoles $\ell \leq 1$, the Bayes factor evidence for quadrupole correlations decreases by more than an order of magnitude due to evidence for a monopolar signal at approximately 4 nHz which has also been noted in previous analyses of the NANOGrav 15-year data. Further work needs to be done in order to better characterize the properties of this monopolar signal and its effect on the evidence for quadrupolar angular correlations.

astro-ph.HE↗

arXiv2024

The NANOGrav 15 yr Data Set: Looking for Signs of Discreteness in the Gravitational-wave Background

The cosmic merger history of supermassive black hole binaries (SMBHBs) is expected to produce a low-frequency gravitational wave background (GWB). Here we investigate how signs of the discrete nature of this GWB can manifest in pulsar timing arrays through excursions from, and breaks in, the expected $f_{\mathrm{GW}}^{-2/3}$ power-law of the GWB strain spectrum. To do this, we create a semi-analytic SMBHB population model, fit to NANOGrav's 15 yr GWB amplitude, and with 1,000 realizations we study the populations' characteristic strain and residual spectra. Comparing our models to the NANOGrav 15 yr spectrum, we find two interesting excursions from the power-law. The first, at $2 \; \mathrm{nHz}$, is below our GWB realizations with $p$-value significance $p = 0.05$ to $0.06$ ($\approx 1.8 σ- 1.9 σ$). The second, at $16 \; \mathrm{nHz}$, is above our GWB realizations with $p = 0.04$ to $0.15$ ($\approx 1.4 σ- 2.1 σ$). We explore the properties of a loud SMBHB which could cause such an excursion. Our simulations also show that the expected number of SMBHBs decreases by three orders of magnitude, from $\sim 10^6$ to $\sim 10^3$, between $2\; \mathrm{nHz}$ and $20 \; \mathrm{nHz}$. This causes a break in the strain spectrum as the stochasticity of the background breaks down at $26^{+28}_{-19} \; \mathrm{nHz}$, consistent with predictions pre-dating GWB measurements. The diminished GWB signal from SMBHBs at frequencies above the $26~\mathrm{nHz}$ break opens a window for PTAs to detect continuous GWs from individual SMBHBs or GWs from the early universe.

astro-ph.HE↗

arXiv2024

The NANOGrav 12.5-year data set: A computationally efficient eccentric binary search pipeline and constraints on an eccentric supermassive binary candidate in 3C 66B

The radio galaxy 3C 66B has been hypothesized to host a supermassive black hole binary (SMBHB) at its center based on electromagnetic observations. Its apparent 1.05-year period and low redshift ($\sim0.02$) make it an interesting testbed to search for low-frequency gravitational waves (GWs) using Pulsar Timing Array (PTA) experiments. This source has been subjected to multiple searches for continuous GWs from a circular SMBHB, resulting in progressively more stringent constraints on its GW amplitude and chirp mass. In this paper, we develop a pipeline for performing Bayesian targeted searches for eccentric SMBHBs in PTA data sets, and test its efficacy by applying it on simulated data sets with varying injected signal strengths. We also search for a realistic eccentric SMBHB source in 3C 66B using the NANOGrav 12.5-year data set employing PTA signal models containing Earth term-only as well as Earth+Pulsar term contributions using this pipeline. Due to limitations in our PTA signal model, we get meaningful results only when the initial eccentricity $e_0<0.5$ and the symmetric mass ratio $η>0.1$. We find no evidence for an eccentric SMBHB signal in our data, and therefore place 95% upper limits on the PTA signal amplitude of $88.1\pm3.7$ ns for the Earth term-only and $81.74\pm0.86$ ns for the Earth+Pulsar term searches for $e_0<0.5$ and $η>0.1$. Similar 95% upper limits on the chirp mass are $(1.98 \pm 0.05) \times 10^9\,M_{\odot}$ and $(1.81 \pm 0.01) \times 10^9\,M_{\odot}$. These upper limits, while less stringent than those calculated from a circular binary search in the NANOGrav 12.5-year data set, are consistent with the SMBHB model of 3C 66B developed from electromagnetic observations.

astro-ph.HE↗

arXiv2023

How to Detect an Astrophysical Nanohertz Gravitational-Wave Background

Analysis of pulsar timing data have provided evidence for a stochastic gravitational wave background in the nHz frequency band. The most plausible source of such a background is the superposition of signals from millions of supermassive black hole binaries. The standard statistical techniques used to search for such a background and assess its significance make several simplifying assumptions, namely: i) Gaussianity; ii) isotropy; and most often iii) a power-law spectrum. However, a stochastic background from a finite collection of binaries does not exactly satisfy any of these assumptions. To understand the effect of these assumptions, we test standard analysis techniques on a large collection of realistic simulated datasets. The dataset length, observing schedule, and noise levels were chosen to emulate the NANOGrav 15-year dataset. Simulated signals from millions of binaries drawn from models based on the Illustris cosmological hydrodynamical simulation were added to the data. We find that the standard statistical methods perform remarkably well on these simulated datasets, despite their fundamental assumptions not being strictly met. They are able to achieve a confident detection of the background. However, even for a fixed set of astrophysical parameters, different realizations of the universe result in a large variance in the significance and recovered parameters of the background. We also find that the presence of loud individual binaries can bias the spectral recovery of the background if we do not account for them.

gr-qc↗

arXiv2023

The NANOGrav 15-year data set: Search for Transverse Polarization Modes in the Gravitational-Wave Background

Recently we found compelling evidence for a gravitational wave background with Hellings and Downs (HD) correlations in our 15-year data set. These correlations describe gravitational waves as predicted by general relativity, which has two transverse polarization modes. However, more general metric theories of gravity can have additional polarization modes which produce different interpulsar correlations. In this work we search the NANOGrav 15-year data set for evidence of a gravitational wave background with quadrupolar Hellings and Downs (HD) and Scalar Transverse (ST) correlations. We find that HD correlations are the best fit to the data, and no significant evidence in favor of ST correlations. While Bayes factors show strong evidence for a correlated signal, the data does not strongly prefer either correlation signature, with Bayes factors $\sim 2$ when comparing HD to ST correlations, and $\sim 1$ for HD plus ST correlations to HD correlations alone. However, when modeled alongside HD correlations, the amplitude and spectral index posteriors for ST correlations are uninformative, with the HD process accounting for the vast majority of the total signal. Using the optimal statistic, a frequentist technique that focuses on the pulsar-pair cross-correlations, we find median signal-to-noise-ratios of 5.0 for HD and 4.6 for ST correlations when fit for separately, and median signal-to-noise-ratios of 3.5 for HD and 3.0 for ST correlations when fit for simultaneously. While the signal-to-noise-ratios for each of the correlations are comparable, the estimated amplitude and spectral index for HD are a significantly better fit to the total signal, in agreement with our Bayesian analysis.

gr-qc↗

arXiv2023

The NANOGrav 12.5-year Data Set: Search for Gravitational Wave Memory

We present the results of a Bayesian search for gravitational wave (GW) memory in the NANOGrav 12.5-yr data set. We find no convincing evidence for any gravitational wave memory signals in this data set (Bayes factor = 2.8). As such, we go on to place upper limits on the strain amplitude of GW memory events as a function of sky location and event epoch. These upper limits are computed using a signal model that assumes the existence of a common, spatially uncorrelated red noise in addition to a GW memory signal. The median strain upper limit as a function of sky position is approximately $3.3 \times 10^{-14}$. We also find that there are some differences in the upper limits as a function of sky position centered around PSR J0613$-$0200. This suggests that this pulsar has some excess noise which can be confounded with GW memory. Finally, the upper limits as a function of burst epoch continue to improve at later epochs. This improvement is attributable to the continued growth of the pulsar timing array.

gr-qc↗

arXiv2023

The NANOGrav 15-year Data Set: Search for Anisotropy in the Gravitational-Wave Background

The North American Nanohertz Observatory for Gravitational Waves (NANOGrav) has reported evidence for the presence of an isotropic nanohertz gravitational wave background (GWB) in its 15 yr dataset. However, if the GWB is produced by a population of inspiraling supermassive black hole binary (SMBHB) systems, then the background is predicted to be anisotropic, depending on the distribution of these systems in the local Universe and the statistical properties of the SMBHB population. In this work, we search for anisotropy in the GWB using multiple methods and bases to describe the distribution of the GWB power on the sky. We do not find significant evidence of anisotropy, and place a Bayesian $95\%$ upper limit on the level of broadband anisotropy such that $(C_{l>0} / C_{l=0}) < 20\%$. We also derive conservative estimates on the anisotropy expected from a random distribution of SMBHB systems using astrophysical simulations conditioned on the isotropic GWB inferred in the 15-yr dataset, and show that this dataset has sufficient sensitivity to probe a large fraction of the predicted level of anisotropy. We end by highlighting the opportunities and challenges in searching for anisotropy in pulsar timing array data.

astro-ph.HE↗

arXiv2023

The NANOGrav 15-Year Data Set: Detector Characterization and Noise Budget

Pulsar timing arrays (PTAs) are galactic-scale gravitational wave detectors. Each individual arm, composed of a millisecond pulsar, a radio telescope, and a kiloparsecs-long path, differs in its properties but, in aggregate, can be used to extract low-frequency gravitational wave (GW) signals. We present a noise and sensitivity analysis to accompany the NANOGrav 15-year data release and associated papers, along with an in-depth introduction to PTA noise models. As a first step in our analysis, we characterize each individual pulsar data set with three types of white noise parameters and two red noise parameters. These parameters, along with the timing model and, particularly, a piecewise-constant model for the time-variable dispersion measure, determine the sensitivity curve over the low-frequency GW band we are searching. We tabulate information for all of the pulsars in this data release and present some representative sensitivity curves. We then combine the individual pulsar sensitivities using a signal-to-noise-ratio statistic to calculate the global sensitivity of the PTA to a stochastic background of GWs, obtaining a minimum noise characteristic strain of $7\times 10^{-15}$ at 5 nHz. A power law-integrated analysis shows rough agreement with the amplitudes recovered in NANOGrav's 15-year GW background analysis. While our phenomenological noise model does not model all known physical effects explicitly, it provides an accurate characterization of the noise in the data while preserving sensitivity to multiple classes of GW signals.

astro-ph.HE↗

arXiv2023

The NANOGrav 15-year Data Set: Observations and Timing of 68 Millisecond Pulsars

We present observations and timing analyses of 68 millisecond pulsars (MSPs) comprising the 15-year data set of the North American Nanohertz Observatory for Gravitational Waves (NANOGrav). NANOGrav is a pulsar timing array (PTA) experiment that is sensitive to low-frequency gravitational waves. This is NANOGrav's fifth public data release, including both "narrowband" and "wideband" time-of-arrival (TOA) measurements and corresponding pulsar timing models. We have added 21 MSPs and extended our timing baselines by three years, now spanning nearly 16 years for some of our sources. The data were collected using the Arecibo Observatory, the Green Bank Telescope, and the Very Large Array between frequencies of 327 MHz and 3 GHz, with most sources observed approximately monthly. A number of notable methodological and procedural changes were made compared to our previous data sets. These improve the overall quality of the TOA data set and are part of the transition to new pulsar timing and PTA analysis software packages. For the first time, our data products are accompanied by a full suite of software to reproduce data reduction, analysis, and results. Our timing models include a variety of newly detected astrometric and binary pulsar parameters, including several significant improvements to pulsar mass constraints. We find that the time series of 23 pulsars contain detectable levels of red noise, 10 of which are new measurements. In this data set, we find evidence for a stochastic gravitational-wave background.

astro-ph.HE↗

arXiv2023

The NANOGrav 15-year Data Set: Bayesian Limits on Gravitational Waves from Individual Supermassive Black Hole Binaries

Evidence for a low-frequency stochastic gravitational wave background has recently been reported based on analyses of pulsar timing array data. The most likely source of such a background is a population of supermassive black hole binaries, the loudest of which may be individually detected in these datasets. Here we present the search for individual supermassive black hole binaries in the NANOGrav 15-year dataset. We introduce several new techniques, which enhance the efficiency and modeling accuracy of the analysis. The search uncovered weak evidence for two candidate signals, one with a gravitational-wave frequency of $\sim$4 nHz, and another at $\sim$170 nHz. The significance of the low-frequency candidate was greatly diminished when Hellings-Downs correlations were included in the background model. The high-frequency candidate was discounted due to the lack of a plausible host galaxy, the unlikely astrophysical prior odds of finding such a source, and since most of its support comes from a single pulsar with a commensurate binary period. Finding no compelling evidence for signals from individual binary systems, we place upper limits on the strain amplitude of gravitational waves emitted by such systems.

astro-ph.HE↗

arXiv2023

Redeveloping a CLEAN Deconvolution Algorithm for Scatter-Broadened Radio Pulsar Signals

Broadband radio waves emitted from pulsars are distorted and delayed as they propagate toward the Earth due to interactions with the free electrons that compose the interstellar medium, with lower radio frequencies being more impacted than higher frequencies. Multipath propagation in the interstellar medium results in both later times of arrival for the lower frequencies and causes the observed pulse to arrive with a broadened tail described via the pulse broadening function. We employ the CLEAN deconvolution technique to recover both the intrinsic pulse shape and pulse broadening function. This work expands upon previous descriptions of CLEAN deconvolution used in pulse broadening analyses by parameterizing the efficacy on simulated data and developing a suite of tests to establish which of a set of figures of merit lead to an automatic and consistent determination of the scattering timescale and its uncertainty. We compare our algorithm to simulations performed on cyclic spectroscopy estimates of the scattering timescale. We test our improved algorithm on the highly scattered millisecond pulsar J1903+0327, showing the scattering timescale to change over years, consistent with estimates of the refractive timescale of the pulsar.

astro-ph.HE↗

arXiv2023

The NANOGrav 12.5-year Data Set: Bayesian Limits on Gravitational Waves from Individual Supermassive Black Hole Binaries

Pulsar timing array collaborations, such as the North American Nanohertz Observatory for Gravitational Waves (NANOGrav), are seeking to detect nanohertz gravitational waves emitted by supermassive black hole binaries formed in the aftermath of galaxy mergers. We have searched for continuous waves from individual circular supermassive black hole binaries using the NANOGrav's recent 12.5-year data set. We created new methods to accurately model the uncertainties on pulsar distances in our analysis, and we implemented new techniques to account for a common red noise process in pulsar timing array data sets while searching for deterministic gravitational wave signals, including continuous waves. As we found no evidence for continuous waves in our data, we placed 95\% upper limits on the strain amplitude of continuous waves emitted by these sources. At our most sensitive frequency of 7.65 nanohertz, we placed a sky-averaged limit of $h_0 < $ $(6.82 \pm 0.35) \times 10^{-15}$, and $h_0 <$ $(2.66 \pm 0.15) \times 10^{-15}$ in our most sensitive sky location. Finally, we placed a multi-messenger limit of $\mathcal{M} <$ $(1.41 \pm 0.02) \times 10^9 M_\odot$ on the chirp mass of the supermassive black hole binary candidate 3C~66B.

astro-ph.GA↗

arXiv2019

Non-detection of fast radio bursts from six gamma-ray burst remnants with possible magnetar engines

The analogy of the host galaxy of the repeating fast radio burst (FRB) source FRB 121102 and those of long gamma-ray bursts (GRBs) and super-luminous supernovae (SLSNe) has led to the suggestion that young magnetars born in GRBs and SLSNe could be the central engine of repeating FRBs. We test such a hypothesis by performing dedicated observations of the remnants of six GRBs with evidence of having a magnetar central engine using the Arecibo telescope and the Robert C. Byrd Green Bank Telescope (GBT). A total of $\sim 20$ hrs of observations of these sources did not detect any FRB from these remnants. Under the assumptions that all these GRBs left behind a long-lived magnetar and that the bursting rate of FRB 121102 is typical for a magnetar FRB engine, we estimate a non-detection probability of $8.9\times10^{-6}$. Even though these non-detections cannot exclude the young magnetar model of FRBs, we place constraints on the burst rate and luminosity function of FRBs from these GRB targets.

astro-ph.HE↗

arXiv2019

GBTrans: A commensal search for radio pulses with the Green Bank twenty metre telescope

We describe GBTrans, a real-time search system designed to find fast radio bursts (FRBs) using the 20-m radio telescope at the Green Bank Observatory. The telescope has been part of the Skynet educational program since 2015. We give details of the observing system and report on the non-detection of FRBs from a total observing time of 503 days. Single pulses from four known pulsars were detected as part of the commensal observing. The system is sensitive enough to detect approximately half of all currently known FRBs and we estimate that our survey probed redshifts out to about 0.3 corresponding to an effective survey volume of around 124,000~Mpc$^3$. Modeling the FRB rate as a function of fluence, $F$, as a power law with $F^{-α}$, we constrain the index $α< 2.5$ at the 90% confidence level. We discuss the implications of this result in the context of constraints from other FRB surveys.

astro-ph.HE↗