  Over the moduli space of smooth curves, the double ramification cycle can be
defined by pulling back the unit section of the universal jacobian along the
Abel-Jacobi map. This breaks down over the boundary since the Abel-Jacobi map
fails to extend. We construct a `universal' resolution of the Abel-Jacobi map,
and thereby extend the double ramification cycle to the whole of the moduli of
stable curves. In the non-twisted case, we show that our extension coincides
with the cycle constructed by Li, Graber, Vakil via a virtual fundamental class
on a space of rubber maps.
