We use numerical simulations to examine the substructure within galactic and cluster mass halos that form within a hierarchical universe. Clusters are easily reproduced with a steep mass spectrum of thousands of substructure clumps that closely matches the observations. However, the survival of dark matter substructure also occurs on galactic scales, leading to the remarkable result that galaxy halos appear as scaled versions of galaxy clusters. The model predicts that the virialized extent of the Milky Way's halo should contain about 500 satellites with circular velocities larger than the Draco and Ursa Minor systems, i.e., bound masses տ10 8 M , and tidally limited sizes տ1 kpc. The substructure clumps are on orbits that take a large fraction of them through the stellar disk, leading to significant resonant and impulsive heating. Their abundance and singular density profiles have important implications for the existence of old thin disks, cold stellar streams, gravitational lensing, and indirect/ direct detection experiments.

We show that a universe dominated by cold dark matter fails to reproduce the rotation curves of dark matter dominated galaxies, one of the key problems that it was designed to resolve. We perform numerical simulations of the formation of dark matter halos, each containing \gsim 10^6 particles and resolved to 0.003 times the virial radius, allowing an accurate comparison with rotation curve data. A good fit to both galactic and cluster sized halos can be achieved using the density profile rho(r) \propto [(r/r_s)^1.5(1+(r/r_s)^1.5)]^-1, where r_s is a scale radius. This profile has a steeper asymptotic slope, rho(r) \propto r^-1.5, and a sharper turnover than found by lower resolution studies. The central structure of relaxed halos that form within a hierarchical universe has a remarkably small scatter (unrelaxed halos would not host disks). We compare the results with a sample of dark matter dominated, low surface brightness (LSB) galaxies with circular velocities in the range 100-300 km/s. The rotation curves of disks within cold dark matter halos rise too steeply to match these data which require a constant mass density in the central regions. The same conclusion is reached if we compare the scale free shape of observed rotation curves with the simulation data. It is important to confirm these results using stellar rather than HI rotation curves for LSB galaxies. We test the effects of introducing a cut-off in the power spectrum that may occur in a universe dominated by warm dark matter. In this case halos form by a monolithic collapse but the final density profile hardly changes, demonstrating that the merger history does not play a role in determining the halo structure.Comment: Latex 13 pages, 4 figures. Submitted to MNRAS. High resolution colour version of figure 4 and other N-body images here: http://star-www.dur.ac.uk:80/~moore/images

We investigate the mass profile of cold dark matter (ΛCDM) haloes using a suite of numerical simulations spanning five decades in halo mass, from dwarf galaxies to rich galaxy clusters. These haloes typically have a few million particles within the virial radius (r200), allowing robust mass profile estimates down to radii <1 per cent of r200. Our analysis confirms the proposal of Navarro, Frenk & White (NFW) that the shape of the ΛCDM halo mass profiles differs strongly from a power law and depends little on mass. The logarithmic slope of the spherically averaged density profile, as measured by β=−d ln ρ/d ln r, decreases monotonically towards the centre and becomes shallower than isothermal (β < 2) inside a characteristic radius, r−2. The fitting formula proposed by NFW provides a reasonably good approximation to the density and circular velocity profiles of individual haloes; circular velocities typically deviate from NFW best fits by <10 per cent over the radial range that is numerically well resolved. Alternatively, systematic deviations from the NFW best fits are also noticeable. Inside r−2, the profile of simulated haloes becomes shallower with radius more gradually than predicted and, as a result, NFW fits tend to underestimate the dark matter density in these regions. This discrepancy has been interpreted as indicating a steeply divergent cusp with asymptotic inner slope, β0≡β(r = 0) ∼ 1.5. Our results suggest a different interpretation. We use the density and enclosed mass at our innermost resolved radii to place strong constraints on β0: density cusps as steep as r−1.5 are inconsistent with most of our simulations, although β0= 1 is still consistent with our data. Our density profiles show no sign of converging to a well‐defined asymptotic inner power law. We propose a simple formula that reproduces the radial dependence of the slope better than the NFW profile, and so may minimize errors when extrapolating our results inward to radii not yet reliably probed by numerical simulations.

In cold dark matter cosmological models, structures form and grow through the merging of smaller units. Numerical simulations have shown that such merging is incomplete; the inner cores of haloes survive and orbit as 'subhaloes' within their hosts. Here we report a simulation that resolves such substructure even in the very inner regions of the Galactic halo. We find hundreds of very concentrated dark matter clumps surviving near the solar circle, as well as numerous cold streams. The simulation also reveals the fractal nature of dark matter clustering: isolated haloes and subhaloes contain the same relative amount of substructure and both have cusped inner density profiles. The inner mass and phase-space densities of subhaloes match those of recently discovered faint, dark-matter-dominated dwarf satellite galaxies, and the overall amount of substructure can explain the anomalous flux ratios seen in strong gravitational lenses. Subhaloes boost gamma-ray production from dark matter annihilation by factors of 4 to 15 relative to smooth galactic models. Local cosmic ray production is also enhanced, typically by a factor of 1.4 but by a factor of more than 10 in one per cent of locations lying sufficiently close to a large subhalo. (These estimates assume that the gravitational effects of baryons on dark matter substructure are small.).

We present a comprehensive set of convergence tests which explore the role of various numerical parameters on the equilibrium structure of a simulated dark matter halo. We report on results obtained with two independent, state-of-the-art, multi-stepping, parallel N-body codes: PKDGRAV and GADGET. We find that convergent mass profiles can be obtained for suitable choices of the gravitational softening, time-step, force accuracy, initial redshift, and particle number. For softenings chosen so that particle discreteness effects are negligible, convergence in the circular velocity is obtained at radii where the following conditions are satisfied: (i) the time-step is much shorter than the local orbital time-scale; (ii) accelerations do not exceed a characteristic acceleration imprinted by the gravitational softening; and (iii) enough particles are enclosed so that the collisional relaxation time-scale is longer than the age of the Universe. Convergence also requires sufficiently high initial redshift and accurate force computations. Poor spatial, time, or force resolution leads generally to systems with artificially low central density, but may also result in the formation of artificially dense central cusps. We have explored several adaptive time-stepping choices and we have obtained the best results when individual time-steps are chosen according to the local acceleration and the gravitational softening ( t i ∝ ( /a i ) 1/2 ), although further experimentation may yield better and more efficient criteria. The most stringent requirement for convergence is typically that imposed on the particle number by the collisional relaxation criterion. This implies that, in order to estimate accurate circular velocities at radii where the density contrast may reach ∼10 6 , the region must enclose of the order of 3000 particles (or more than a few times 10 6 within the virial radius). Applying these criteria to a galaxy-sized CDM halo, we find that the spherically averaged density profile becomes progressively shallower from the virial radius inwards, reaching a logarithmic slope shallower than −1.2 at the innermost resolved point, ∼0.005r 200 , with little evidence for convergence to a power-law behaviour in the inner regions.