Base reaction optimization of redundant manipulators for space applications

One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space structure. It is therefore necessary to minimize the magnitudes of the forces and moments transmitted to the base. It is shown that kinematic redundancy can be used to solve the dynamic problem of minimizing the magnitude of the base reactions. The methodology described is applied to a four degree-of-freedom spatial manipulator with one redundant degree-of-freedom

Finger-gate array quantum pumps:pumping characteristics and mechanisms

We study the pumping effects, in both the adiabatic and nonadiabatic regimes, of a pair of \QTR{it}{finite} finger-gate array (FGA) on a narrow channel. Connection between the pumping characteristics and associated mechanisms is established. The pumping potential is generated by ac biasing the FGA pair. For a single pair (N=1) of finger gates (FG's), the pumping mechanism is due to the coherent inelastic scattering of the traversing electron to its subband threshold. For a pair of FGA with pair number $N>2$, the dominant pumping mechanism becomes that of the time-dependent Bragg reflection. The contribution of the time-dependent Bragg reflection to the pumping is enabled by breaking the symmetry in the electron transmission when the pumping potential is of a predominant propagating type. This propagating wave condition can be achieved both by an appropriate choice of the FGA pair configuration and by the monitoring of a phase difference $\phi$ between the ac biases in the FGA pair. The robustness of such a pumping mechanism is demonstrated by considering a FGA pair with only pair number N=4.Comment: 7 pages, 6 figure

Effective nucleon-nucleon interactions and nuclear matter equation of state

Nuclear matter equations of state based on Skyrme, Myers-Swiatecki and Tondeur interactions are written as polynomials of the cubic root of density, with coefficients that are functions of the relative neutron excess $\delta$. In the extrapolation toward states far away from the standard one, it is shown that the asymmetry dependence of the critical point ($\rho_c, \delta_c$) depends on the model used. However, when the equations of state are fitted to the same standard state, the value of $\delta_c$ is almost the same in Skyrme and in Myers-Swiatecki interactions, while is much lower in Tondeur interaction. Furthermore, $\delta_c$ does not depend sensitively on the choice of the parameter $\gamma$ in Skyrme interaction.Comment: 15 pages, 9 figure

Nuclear matter properties and relativistic mean-field theory

Nuclear matter properties are calculated in the relativistic mean field theory by using a number of different parameter sets. The result shows that the volume energy $a_1$ and the symmetry energy $J$ are around the acceptable values 16MeV and 30MeV respectively; the incompressibility $K_0$ is unacceptably high in the linear model, but assumes reasonable value if nonlinear terms are included; the density symmetry $L$ is around $100MeV$ for most parameter sets, and the symmetry incompressibility $K_s$ has positive sign which is opposite to expectations based on the nonrelativistic model. In almost all parameter sets there exists a critical point $(\rho_c, \delta_c)$, where the minimum and the maximum of the equation of state are coincident and the incompressibility equals zero, falling into ranges 0.014fm$^{-3}<\rho_c<0.039$fm$^{-3}$ and $0.74<\delta_c\le0.95$; for a few parameter sets there is no critical point and the pure neutron matter is predicted to be bound. The maximum mass $M_{NS}$ of neutron stars is predicted in the range 2.45M$_\odot\leq M_{NS}\leq 3.26$M$_\odot$, the corresponding neutron star radius $R_{NS}$ is in the range 12.2km$\leq R_{NS}\leq 15.1$km.Comment: 10 pages, 5 figure

Ising films with surface defects

The influence of surface defects on the critical properties of magnetic films is studied for Ising models with nearest-neighbour ferromagnetic couplings. The defects include one or two adjacent lines of additional atoms and a step on the surface. For the calculations, both density-matrix renormalization group and Monte Carlo techniques are used. By changing the local couplings at the defects and the film thickness, non-universal features as well as interesting crossover phenomena in the magnetic exponents are observed.Comment: 8 pages, 12 figures included, submitted to European Physical Journal

Quantum pump driven fermionic Mach-Zehnder interferometer

We have investigated the characteristics of the currents in a pump-driven fermionic Mach-Zehnder interferometer. The system is implemented in a conductor in the quantum Hall regime, with the two interferometer arms enclosing an Aharonov-Bohm flux $\Phi$. Two quantum point contacts with transparency modulated periodically in time drive the current and act as beam-splitters. The current has a flux dependent part $I^{(\Phi)}$ as well as a flux independent part $I^{(0)}$. Both current parts show oscillations as a function of frequency on the two scales determined by the lengths of the interferometer arms. In the non-adiabatic, high frequency regime $I^{(\Phi)}$ oscillates with a constant amplitude while the amplitude of the oscillations of $I^{(0)}$ increases linearly with frequency. The flux independent part $I^{(0)}$ is insensitive to temperature while the flux dependent part $I^{(\Phi)}$ is exponentially suppressed with increasing temperature. We also find that for low amplitude, adiabatic pumping rectification effects are absent for semitransparent beam-splitters. Inelastic dephasing is introduced by coupling one of the interferometer arms to a voltage probe. For a long charge relaxation time of the voltage probe, giving a constant probe potential, $I^{(\Phi)}$ and the part of $I^{(0)}$ flowing in the arm connected to the probe are suppressed with increased coupling to the probe. For a short relaxation time, with the potential of the probe adjusting instantaneously to give zero time dependent current at the probe, only $I^{(\Phi)}$ is suppressed by the coupling to the probe.Comment: 10 pages, 4 figure