Recrystallization of epitaxial GaN under indentation

We report recrystallization of epitaxial (epi-) GaN(0001) film under indentation.Hardness value is measured close to 10 GPa, using a Berkovich indenter. Pop-in burst in the loading line indicates nucleation of dislocations setting in plastic motion of lattice atoms under stress field for the recrystallization process. Micro-Raman studies are used to identify the recrystallization process. Raman area mapping indicates the crystallized region. Phonon mode corresponding to E2(high) close to 570 cm-1 in the as-grown epi-GaN is redshifted to stress free value close to 567 cm-1 in the indented region. Evolution of A1(TO) and E1(TO) phonon modes are also reported to signify the recrystallization process.Comment: 10 pages, 3 figures

Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous improvement of modeling and control after deploying the robot to a dynamically-changing target environment. We develop a differentiable physics simulation framework that performs online system identification and optimal control simultaneously, using the incoming observations from the target environment in real time. To ensure robust system identification against noisy observations, we devise an algorithm to assess the confidence of our estimated parameters, using numerical analysis of the dynamic equations. To ensure real-time optimal control, we adaptively schedule the optimization window in the future so that the optimized actions can be replenished faster than they are consumed, while staying as up-to-date with new sensor information as possible. The constant re-planning based on a constantly improved model allows the robot to swiftly adapt to the changing environment and utilize real-world data in the most sample-efficient way. Thanks to a fast differentiable physics simulator, the optimization for both system identification and control can be solved efficiently for robots operating in real time. We demonstrate our method on a set of examples in simulation and show that our results are favorable compared to baseline methods

Measurement of branching fractions and CP-violating charge asymmetries for B-meson decays to D^(*)D^(*), and implications for the Cabibbo-Kobayashi-Maskawa angle γ

We present measurements of the branching fractions and charge asymmetries of B decays to all D^(*)D^(*) modes. Using 232×10^6 BB pairs recorded on the Υ(4S) resonance by the BABAR detector at the e^+e^- asymmetric B factory PEP-II at the Stanford Linear Accelerator Center, we measure the branching fractions B(B^0→D^(*+)D^(*-))=(8.1±0.6±1.0)×10^(-4), B(B^0→D^(*±)D^∓)=(5.7±0.7±0.7)×10^(-4), B(B^0→D^+D^-)=(2.8±0.4±0.5)×10^(-4), B(B^+→D^(*+)D^(*0))=(8.1±1.2±1.2)×10^(-4), B(B^+→D^*+D^0)=(3.6±0.5±0.4)×10^(-4), B(B^+→D^+D^(*0))=(6.3±1.4±1.0)×10^(-4), and B(B^+→D^+D^(0))=(3.8±0.6±0.5)×10^(-4), where in each case the first uncertainty is statistical and the second systematic. We also determine the limits B(B^0→D^(*0)D^(*0))<0.9×10^(-4), B(B^0→D^(*0)D^0)<2.9×10^(-4), and B(B^0→D^0D^0)<0.6×10^(-4), each at 90% confidence level. All decays above denote either member of a charge-conjugate pair. We also determine the CP-violating charge asymmetries A(B^0→D^(*±)D^∓)=0.03±0.10±0.02, A(B^+→D^(*+)D^(*0))=-0.15±0.11±0.02, A(B^+→D^(*+)D^0)=-0.06±0.13±0.02, A(B^+→D^+D^(*0))=0.13±0.18±0.04, and A(B^+→D^+D^0)=-0.13±0.14±0.02. Additionally, when we combine these results with information from time-dependent CP asymmetries in B^0→D^((*)+)D^((*)-) decays and world-averaged branching fractions of B decays to D_s^(*)D^(*) modes, we find the Cabibbo-Kobayashi-Maskawa phase γ is favored to lie in the range (0.07–2.77) radians (with a +0 or +π radians ambiguity) at 68% confidence level

Study of the decay B^0→D^(*+)ωπ^-

We report on a study of the decay B^0→D^(*+)ωπ^- with the BABAR detector at the PEP-II B-factory at the Stanford Linear Accelerator Center. Based on a sample of 232×10^6 BB decays, we measure the branching fraction B(B^0→D^(*+)ωπ^-)=(2.88±0.21(stat.)±0.31(syst.))×10^(-3). We study the invariant mass spectrum of the ωπ^- system in this decay. This spectrum is in good agreement with expectations based on factorization and the measured spectrum in τ-→ωπ-ν_τ. We also measure the polarization of the D^(*+) as a function of the ωπ^- mass. In the mass region 1.1 to 1.9 GeV we measure the fraction of longitudinal polarization of the D^(*+) to be ΓL/Γ=0.654±0.042(stat.)±0.016(syst.). This is in agreement with the expectations from heavy-quark effective theory and factorization assuming that the decay proceeds as B^(-0)→D^(*+)ρ(1450)-, ρ(1450)^-→ωπ^-

Search for the decay τ-→3π^-2π^+2π^0ν_τ

A search for the decay of the τ lepton to five charged and two neutral pions is performed using data collected by the BABAR detector at the PEP-II asymmetric-energy e^+e^- collider. The analysis uses 232  fb^(-1) of data at center-of-mass energies on or near the Υ(4S) resonance. We observe 10 events with an expected background of 6.5_(-1.4)^(+2.0) events. In the absence of a signal, we set the limit on the branching ratio B(τ-→3π^-2π^+2π^0ν_τ)<3.4×10^(-6) at the 90% confidence level. This is a significant improvement over the previously established limit. In addition, we search for the decay mode τ-→2ωπ-ν_τ. We observe 1 event with an expected background of 0.4+1.0/-0.4 events and calculate the upper limit B(τ-→2ωπ-ν_τ)<5.4×10^(-7) at the 90% confidence level. This is the first upper limit for this mode

Measurements of branching fractions, rate asymmetries, and angular distributions in the rare decays B→Kℓ^+ℓ^- and B→K^*ℓ^+ℓ^-

We present measurements of the flavor-changing neutral current decays B→Kℓ^+ℓ^- and B→K^*ℓ^+ℓ^-, where ℓ^+ℓ^- is either an e^+e^- or μ^+μ^- pair. The data sample comprises 229×10^6  Υ(4S)→BB decays collected with the BABAR detector at the PEP-II e^+e^- storage ring. Flavor-changing neutral current decays are highly suppressed in the standard model and their predicted properties could be significantly modified by new physics at the electroweak scale. We measure the branching fractions B(B→Kℓ^+ℓ^-)=(0.34±0.07±0.02)×10^(-6), B(B→K^*ℓ^+ℓ^-)=(0.78-0.17^(+0.19)±0.11)×10^(-6), the direct CP asymmetries of these decays, and the relative abundances of decays to electrons and muons. For two regions in ℓ^+ℓ^- mass, above and below m_(J/ψ), we measure partial branching fractions and the forward-backward angular asymmetry of the lepton pair. In these same regions we also measure the K^* longitudinal polarization in B→K^*ℓ^+ℓ^- decays. Upper limits are obtained for the lepton-flavor-violating decays B→Keμ and B→K^*eμ. All measurements are consistent with standard model expectation

Search for the charmed pentaquark candidate Θ_c(3100)^0 in e^+e^- annihilations at √s=10.58 GeV

We search for the charmed pentaquark candidate reported by the H1 collaboration, the Θ_c(3100)^0, in e^+e^- interactions at a center-of-mass (c.m.) energy of 10.58 GeV, using 124  fb^(-1) of data recorded with the BABAR detector at the PEP-II e^+e^- facility at SLAC. We find no evidence for such a state in the same pD^(*-) decay mode reported by H1, and we set limits on its production cross section times branching fraction into pD^(*-) as a function of c.m. momentum. The corresponding limit on its total rate per e^+e^-→qq event, times branching fraction, is about 3 orders of magnitude lower than rates measured for the charmed Λ_c and Σ_c baryons in such events