Chaotic exploration and learning of locomotion behaviours

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage

Decoherence window and electron-nuclear cross-relaxation in the molecular magnet V 15

Rabi oscillations in the V_15 Single Molecule Magnet (SMM) embedded in the surfactant DODA have been studied at different microwave powers. An intense damping peak is observed when the Rabi frequency Omega_R falls in the vicinity of the Larmor frequency of protons w_N, while the damping time t_R of oscillations reaches values 10 times shorter than the phase coherence time t_2 measured at the same temperature. The experiments are interpreted by the N-spin model showing that t_R is directly associated with the decoherence via electronic/nuclear spin cross-relaxation in the rotating reference frame. It is shown that this decoherence is accompanied with energy dissipation in the range of the Rabi frequencies w_N - sigma_e < Omega_R < w_N, where sigma_e is the mean super-hyperfine field (in frequency units) induced by protons at SMMs. Weaker damping without dissipation takes place outside this dissipation window. Simple local field estimations suggest that this rapid cross-relaxation in resonant microwave field observed for the first time in SMMV_15 should take place in other SMMs like Fe_8 and Mn_12 containing protons, too

Superconductivity Near Ferromagnetism in MgCNi3

An unusual quasi-two-dimensional heavy band mass van Hove singularity (vHs) lies very near the Fermi energy in MgCNi3, recently reported to superconduct at 8.5 K. This compound is strongly exchange enhanced and is unstable to ferromagnetism upon hole doping with 12% Mg --> Na or Li. The 1/4-depleted fcc (frustrated) Ni sublattice and lack of Fermi surface nesting argues against competing antiferromagnetic and charge density wave instabilities. We identify an essentially infinite mass along the M-Gamma line, leading to quasi-two-dimensionality of this vHs may promote unconventional p-wave pairing that could coexist with superconductivity.Comment: 4 two-column pages, 4 figure

Spin-Orbit Interactions in Bilayer Exciton-Condensate Ferromagnets

Bilayer electron-hole systems with unequal electron and hole densities are expected to have exciton condensate ground states with spontaneous spin-polarization in both conduction and valence bands. In the absence of spin-orbit and electron-hole exchange interactions there is no coupling between the spin-orientations in the two quantum wells. In this article we show that Rashba spin-orbit interactions lead to unconventional magnetic anisotropies, whose strength we estimate, and to ordered states with unusual quasiparticle spectra.Comment: 36 pages, 12 figure

Financing irrigation services: A literature review and selected case studies from Asia

Irrigation managementIrrigation operationFinancingResource managementRehabilitationUser chargesMaintenance costsOperating costs

Non-Drude Optical Conductivity of (III,Mn)V Ferromagnetic Semiconductors

We present a numerical model study of the zero-temperature infrared optical properties of (III,Mn)V diluted magnetic semiconductors. Our calculations demonstrate the importance of treating disorder and interaction effects simultaneously in modelling these materials. We find that the conductivity has no clear Drude peak, that it has a broadened inter-band peak near 220 meV, and that oscillator weight is shifted to higher frequencies by stronger disorder. These results are in good qualitative agreement with recent thin film absorption measurements. We use our numerical findings to discuss the use of f-sum rules evaluated by integrating optical absorption data for accurate carrier-density estimates.Comment: 7 pages, 3 figure

Microstructural differences and their consequences on mechanical performance

JGL and MV acknowledge Funda\u00E7\u00E3o para a Ci\u00EAncia e a Tecnologia (FCT - MCTES) for its financial support via the project UID/00667/2020 (UNIDEMI). Publisher Copyright: © 2024 The AuthorsWith the current advancements in materials science, the development of high entropy alloys (HEAs) is progressively increasing. Hence, research on their processability is essential to make them competitive alternatives to common engineering alloys that are widely used in structural applications. One manufacturing technique commonly employed in this sector is gas tungsten arc welding (GTAW). This technique allows to obtain single monolithic parts from separate components, often at the cost of local microstructural and mechanical properties variation across the joint. As such, GTAW processing is capable of supplying relevant knowledge regarding the feasibility of joining new materials and their potential industry uptake. In this study, we present a comparative analysis on the use of GTAW on two distinct multiphase high entropy alloys: CoCu20FeMnNi and the CoCu30FeMnNi. Firstly, microstructural observations coupled with CalPhaD-based calculations and synchrotron X-ray diffraction analysis, allowed to delve, and compare, the microstructural evolution across both welds. It was possible to observe the dual phase nature of the microstructure throughout the welded joint alongside the nucleation of a B2 BCC phase in the heat affected zone (HAZ) of both HEAs. Considering the mechanical properties of the welded materials, results evidenced a poorer, yet still acceptable mechanical performance. The observed decrease in mechanical strength is attributed to the residual stress conditions and large grain size that developed owing to the process thermal cycle, which contrasted deeply with the microstructure of each base material.publishersversionpublishe