809 research outputs found

    An inverse Prandtl–Ishlinskii model based decoupling control methodology for a 3-DOF flexure-based mechanism

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    A modified Prandtl–Ishlinskii (P–I) hysteresis model is developed to form the feedforward controller for a 3-DOF flexure-based mechanism. To improve the control accuracy of the P–I hysteresis model, a hybrid structure that includes backlash operators, dead-zone operators and a cubic polynomial function is proposed. Both the rate-dependent hysteresis modeling and adaptive dead-zone thresholds selection method are investigated. System identification was used to obtain the parameters of the newly-developed hysteresis model. Closed-loop control was added to reduce the influence from external disturbances such as vibration and noise, leading to a combined feedforward/feedback control strategy. The cross-axis coupling motion of the 3-DOF flexure-based mechanism has been explored using the established controller. Accordingly, a decoupling feedforward/feedback controller is proposed and implemented to compensate the coupled motion of the moving platform. Experimental tests are reported to examine the tracking capability of the whole system and features of the controller. It is demonstrated that the proposed decoupling control methodology can distinctly reduce the coupling motion of the moving platform and thus improve the positioning accuracy and trajectory tracking capability

    Active Brownian Particles. From Individual to Collective Stochastic Dynamics

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    We review theoretical models of individual motility as well as collective dynamics and pattern formation of active particles. We focus on simple models of active dynamics with a particular emphasis on nonlinear and stochastic dynamics of such self-propelled entities in the framework of statistical mechanics. Examples of such active units in complex physico-chemical and biological systems are chemically powered nano-rods, localized patterns in reaction-diffusion system, motile cells or macroscopic animals. Based on the description of individual motion of point-like active particles by stochastic differential equations, we discuss different velocity-dependent friction functions, the impact of various types of fluctuations and calculate characteristic observables such as stationary velocity distributions or diffusion coefficients. Finally, we consider not only the free and confined individual active dynamics but also different types of interaction between active particles. The resulting collective dynamical behavior of large assemblies and aggregates of active units is discussed and an overview over some recent results on spatiotemporal pattern formation in such systems is given.Comment: 161 pages, Review, Eur Phys J Special-Topics, accepte

    Exploring the PowerDAC : an asymmetric multilevel approach for high-precision power amplification

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    Thermal stability of metastable magnetic skyrmions

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    Magnetic skyrmions are two-dimensional, localized, particle-like, topologically non-trivial magnetic spin textures. In recent years, they have attracted a lot of interest as potential candidates for novel spintronics applications. Isolated skyrmions are metastable excitations of the ferromagnetic ground state. They are separated from it by an activation energy, which may be overcome at finite temperature under the effect of thermal fluctuations. In this thesis, we study the thermal stability of metastable magnetic skyrmions on the two-dimensional square lattice, for which we use an atomistic spin model. This task is firstly carried out via a numerical implementation of Langer's statistical theory for the decay of metastable states. The paths of minimum energy that lead to the skyrmion annihilation are computed via the geodesic nudged elastic band method. The transition state at the barrier top, which is a saddle point (SP), is precisely identified by a climbing image algorithm. We focus on chiral magnetic skyrmions and we look at two types of annihilation mechanisms: collapse, in which the skryrmion progressively shrinks in size until it annihilates, and escape through a boundary. We find that the thermally significant modes are the modes localized to the skyrmion, in contrast to the rest of the collective spin-wave modes, which extend to the entire lattice and contribute weakly. Important variations of the attempt frequency over several orders of magnitude are found, depending on the mechanism and on the value of the external magnetic field. They originate from strong entropic effects which come from the difference in configurational entropy between the metastable skyrmion state and the saddle point. In the cases we studied, the configurational entropy decreases at the SP (Delta S < 0), which results in lowered attempt frequencies, and enhanced skyrmion stability. We refer to this effect as entropic narrowing in the SP region. The strong entropic contribution mainly originates from the skyrmion's internal modes, and is generally more pronounced for collapse mechanisms. Next, we use forward flux sampling (FFS) to compute skyrmion collapse rates as a function of the applied field, and compare them with the previous results from Langer's theory. This is an important step, because the use of Langer's theory is based on many assumptions. We obtain a good agreement between both methods, thus confirming the strong dependence of the attempt frequency on the external field. While in magnetism, it is common practice to only focus on activation barriers and assume a characteristic value of the prefactor in the gigahertz regime, we conclude that due to a strong entropic contribution, internal energy barriers are not enough in order to correctly predict the lifetime of magnetic skyrmions, and it is essential to also evaluate a rate prefactor. Lastly, we look at paths to annihilation of first- and second-order skyrmions and antiskyrmions on the frustrated square lattice. Frustrated exchange has been found to arise from interface effects in certain systems where nanoscale interface skyrmions have been observed. We find that, in certain regions of parameter space, the annihilation of skyrmionic solutions no longer occurs through an isotropic type of collapse, and instead involves the injection of the opposite topological charge into the system, by means of the nucleation of merons and antimerons. Alternatively, the second-order (anti)skyrmion may split into a bound (anti)skyrmion pair, which involves no change in the total topological charge

    Cooperative quantum phenomena

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    Quantum cooperativity is evident in light-matter platforms where quantum emitter ensembles are interfaced with confined optical modes and are coupled via the ubiquitous electromagnetic quantum vacuum. Cooperative aspects such as dipole-dipole interactions and subradiance find applications in the design of nanoscale coherent light sources and highly-reflective quantum metasurfaces made up of hundreds of optically trapped atoms, in the implementation of topological quantum optics on subwavelength arrays of emitters, in quantum metrology and quantum information. The quick bursts of radiation from a collection of quasi-indistiguishable emitters provides an alternative approach to standard lasers by introducing superradiant lasers operating at extremely low intracavity power. This tutorial provides a set of theoretical tools to tackle the behavior responsible for the onset of cooperativity in light-matter systems by extending open quantum system dynamics methods, such as the master equation and quantum Langevin equations, to electron-photon interactions in strongly coupled and correlated quantum emitters ensembles. These analytical approaches are then also extended to frequency disordered or vibronically coupled quantum emitter ensembles with wide relevance ranging from atoms in optical lattices, quantum dots in solid state environments or molecular quantum systems

    Hydration, polymorphism and disorder in organic solids, including materials of pharmaceutical relevance

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    The studies described in this thesis are concerned with understanding and rationalising the inter-relationships between structural and other physical properties of organic solids encompassing hydrates, polymorphs and homologous series. This is achieved through assessment of the crystal packing arrangements and the nature of the intermolecular interactions, which may have a profound impact on the stability and physical properties of organic materials. Such an understanding is critically important when selecting or designing materials that demonstrate specific defined properties. The first part of the thesis describes the relationships between hydrate and anhydrate phases, exemplified by tetraphenyl phosphonium bromide as a model system. The relative inter-relationships between the two main phases of this material are rationalised by characterisation of both structural and dynamic properties. The second aspect is focused on the influence of short-range interactions on the long-range periodicity and subsequent properties of materials using 4-hydroxy benzoic acid esters as a homologous series to explore odd-even alternations, seen for other series containing long chain functionalities. In this study, the nature of short-range interactions is found to correlate with the observed odd-even alternation in material properties, with deviations from these observations shown to correspond to the presence of significant disorder in the structures. The third aspect concerns the properties of a polymorphic pharmaceutical material, AZD7140. The crystal structures for both polymorphs were solved and assessment of hydrogen bonding motifs and thermodynamic evaluation using phase diagrams allowed the selection of a robust polymorph as a suitable development material. The final aspect of the thesis concerns strategies that may be employed to solve structures of disordered systems directly from XRPD data using direct space methodology.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

    Dynamics of ion Coulomb crystals

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    The field of quantum simulations has achieved a remarkable success through the development of highly controllable and accessible quantum platforms, which pro- vide insights into the microscopic properties of complex large-scale systems that are otherwise difficult to analyze. Many of the platforms utilized in this pursuit are derived from the field of atomic, molecular, and optical physics. One particularly popular candidate is provided by trapped ions, whose vibrational and electronic degrees of freedom can be effectively combined through laser pulses to engineer desired model Hamiltonians or quantum circuits. Trapped ions constitute as well the basis for modern atomic clocks, the most precise frequency standards currently available. They find further applications in metrology, geodesy, and fundamental physics experiments. In this Thesis, we investigate the dynamics of vibrational modes in trapped ion crystals, utilizing them as a versatile platform to explore various many-body phenomena. We first focus on the expansion dynamics of local excitations and on heat transport within ion crystals hosting structural defects that undergo a sliding- to-pinned transition. We observe a significant reduction in conductivity when the crystal symmetry is spontaneously broken during the transition, and show that resonances between crystal eigenmodes lead to distinct softening signatures associated with energy localization. We then delve into the effects of thermal and quantum fluctuations on the vibrational modes of ion crystals near two distinct structural transitions. We observe the emergence of a prolonged symmetric phase stabilized by thermal and quantum fluctuations, and develop effective theories that reduce the degrees of freedom to the modes that drive the transitions. Finally, we discuss how to engineer spin-orbit coupling and on-site interaction energies for vibrational quantum excitations using two different external driving schemes. While the simulation of spin models with ions typically involves the use of two electronic states, we propose interpreting the two local oscillation modes in an ion crystal as a pseudospin. We show how using Floquet engineering ideas allows for spin flips in Coulomb-induced vibron hopping, resulting in a non-trivial coupling between spatial motion and spin evolution, that results in a markedly non-Abelian dynamics. Subsequently, we explore the simulation of Hubbard models in trapped ions by coupling the vibrational Fock states to an internal level system. Our findings include the observation of bound states in the strong interaction limit of the resulting Jaynes-Cummings-Hubbard model. By investigating these topics, we aim to contribute to the understanding of vibrational dynamics in trapped ion crystals, and shed light on their potential for simulating condensed matter systems, offering insights into phenomena that are otherwise challenging to explore.DFG/Sonderforschungsbereich 1227 DQ-mat/274200144/E
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