The metal-insulator transition in disordered solids: How theoretical prejudices influence its characterization. A critical review of analyses of experimental data

In a recent experiment, Siegrist et al. [Nature Materials 10, 202 (2011)] investigated the metal-insulator transition (MIT) of GeSb_2Te_4 on increasing annealing temperature. The authors conclude that this material exhibits a discontinuous MIT with a finite minimum metallic conductivity. The striking contrast to reports on other disordered substances motivates the present in-depth study of the influence of the MIT criterion used on the characterization of the MIT. First, we discuss in detail the inherent biases of the various available approaches to locating the MIT. Second, reanalyzing the GeSb_2Te_4 measurements, we show that this material resembles other disordered solids to a large extent: according to a widely-used approach, these data may also be interpreted in terms of a continuous MIT. Checking the justification of the respective fits, however, uncovers inconsistencies in the experimental data. Third, comparing with previous experimental studies of crystalline Si:As, Si:P, Si:B, Ge:Ga, CdSe:In, n-Cd_{0.95}Mn$_{0.05}Se, Cd_{0.95}Mn_{0.05}Te_{0.97}Se_{0.03}:In, disordered Gd, and nano-granular Pt-C, we show that such an inconclusive behavior occurs frequently: the analysis of the logarithmic temperature derivative of the conductivity highlights serious inconsistencies in the original interpretations in terms of a continuous MIT. In part, they are common to all these studies and seem to be generic, in part, they vary from experiment to experiment and may arise from measurement problems. Thus, the question for the character of the MIT of these materials has to be considered as yet open. The challenges now lie in improving the measurement precision and in developing a microscopic theory capable of explaining the seemingly generic features.Comment: Revtex-file + 23 figures -> 51 pages. Revisions: Some arguments completed; structure slightly modified: mathematical part of former Subsection II.E is now presented as Appendix B. This version was accepted for publ. by Critical Reviews in Solid State and Materials Sciences at July 18, 2017. It differs from this publication concerning citation style, abstract, and some very minor modification

Spacecraft Attitude Stabilization with Piecewise-constant Magnetic Dipole Moment

In actual implementations of magnetic control laws for spacecraft attitude stabilization, the time in which Earth magnetic field is measured must be separated from the time in which magnetic dipole moment is generated. The latter separation translates into the constraint of being able to genere only piecewise-constant magnetic dipole moment. In this work we present attitude stabilization laws using only magnetic actuators that take into account of the latter aspect. Both a state feedback and an output feedback are presented, and it is shown that the proposed design allows for a systematic selection of the sampling period.Comment: arXiv admin note: text overlap with arXiv:1411.275

Cooperative Adaptive Control for Cloud-Based Robotics

This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws to identify unknown inertial parameters. Through this development, we introduce a notion of Collective Sufficient Richness, wherein parameter convergence can be enabled through teamwork in the group. The introduction of this property and the analysis of stable adaptive controllers that benefit from it constitute the main new contributions of this work. Building on this original example, we then consider decentralized update laws, time-varying network topologies, and the influence of communication delays on this process. Perhaps surprisingly, these nonidealized networked conditions inherit the same benefits of convergence being determined through collective effects for the group. Simple simulations of a planar manipulator identifying an unknown load are provided to illustrate the central idea and benefits of Collective Sufficient Richness.Comment: ICRA 201

Nonlinear dynamics of phase separation in thin films

We present a long-wavelength approximation to the Navier-Stokes Cahn-Hilliard equations to describe phase separation in thin films. The equations we derive underscore the coupled behaviour of free-surface variations and phase separation. We introduce a repulsive substrate-film interaction potential and analyse the resulting fourth-order equations by constructing a Lyapunov functional, which, combined with the regularizing repulsive potential, gives rise to a positive lower bound for the free-surface height. The value of this lower bound depends on the parameters of the problem, a result which we compare with numerical simulations. While the theoretical lower bound is an obstacle to the rupture of a film that initially is everywhere of finite height, it is not sufficiently sharp to represent accurately the parametric dependence of the observed dips or `valleys' in free-surface height. We observe these valleys across zones where the concentration of the binary mixture changes sharply, indicating the formation of bubbles. Finally, we carry out numerical simulations without the repulsive interaction, and find that the film ruptures in finite time, while the gradient of the Cahn--Hilliard concentration develops a singularity.Comment: 26 pages, 20 figures, PDFLaTeX with RevTeX4 macros. A thorough analysis of the equations is presented in arXiv:0805.103