An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR

A wall climbing inspection robot has been designed to climb on safety critical concrete structures by adhering to reinforcement steel bars (rebars) using permanent magnets to generate the adhesion forces. Simulation and experimental validation has been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30 to 35mm of concrete cover over rebars arranged in different patterns. The goal of adhesion force optimization is to be able to carry a ground penetrating radar (GPR) sensor which detects rebar corrosion, concrete delamination and concrete cover deterioration. The autonomous robot uses an ultra-wide band (UWB) localisation system and GPR data to control its motion trajectories to avoid regions where there is insufficient density of rebars. Non-destructive testing (NDT) inspection data acquired by GPR is transmitted wirelessly to a ground station for processing and monitoring by NDT technicians

Monografía histórico-descriptiva de la Catedral de Burgos

Ded. autógr. del autor.Extracto del Anuario Eclesiástico para 1928.Copia digital. Valladolid : Junta de Castilla y León. Consejería de Cultura y Turismo, 201

Probing the Efimov discrete scaling in atom-molecule collision

The discrete Efimov scaling behavior, well-known in the low-energy spectrum of three-body bound systems for large scattering lengths (unitary limit), is identified in the energy dependence of atom-molecule elastic cross-section in mass imbalanced systems. That happens in the collision of a heavy atom with mass $m_H$ with a weakly-bound dimer formed by the heavy atom and a lighter one with mass $m_L \ll m_H$. Approaching the heavy-light unitary limit the $s-$wave elastic cross-section $\sigma$ will present a sequence of zeros/minima at collision energies following closely the Efimov geometrical law. Our results open a new perspective to detect the discrete scaling behavior from low-energy scattering data, which is timely in view of the ongoing experiments with ultra-cold binary mixtures having strong mass asymmetries, such as Lithium and Caesium or Lithium and Ytterbium

A simple one-dimensional model of heat conduction which obeys Fourier's law

We present the computer simulation results of a chain of hard point particles with alternating masses interacting on its extremes with two thermal baths at different temperatures. We found that the system obeys Fourier's law at the thermodynamic limit. This result is against the actual belief that one dimensional systems with momentum conservative dynamics and nonzero pressure have infinite thermal conductivity. It seems that thermal resistivity occurs in our system due to a cooperative behavior in which light particles tend to absorb much more energy than the heavier ones.Comment: 5 pages, 4 figures, to be published in PR

Phasing of gravitational waves from inspiralling eccentric binaries

We provide a method for analytically constructing high-accuracy templates for the gravitational wave signals emitted by compact binaries moving in inspiralling eccentric orbits. By contrast to the simpler problem of modeling the gravitational wave signals emitted by inspiralling {\it circular} orbits, which contain only two different time scales, namely those associated with the orbital motion and the radiation reaction, the case of {\it inspiralling eccentric} orbits involves {\it three different time scales}: orbital period, periastron precession and radiation-reaction time scales. By using an improved `method of variation of constants', we show how to combine these three time scales, without making the usual approximation of treating the radiative time scale as an adiabatic process. We explicitly implement our method at the 2.5PN post-Newtonian accuracy. Our final results can be viewed as computing new `post-adiabatic' short period contributions to the orbital phasing, or equivalently, new short-period contributions to the gravitational wave polarizations, $h_{+,\times}$, that should be explicitly added to the `post-Newtonian' expansion for $h_{+,\times}$, if one treats radiative effects on the orbital phasing of the latter in the usual adiabatic approximation. Our results should be of importance both for the LIGO/VIRGO/GEO network of ground based interferometric gravitational wave detectors (especially if Kozai oscillations turn out to be significant in globular cluster triplets), and for the future space-based interferometer LISA.Comment: 49 pages, 6 figures, high quality figures upon reques

Bulk dynamics for interfacial growth models

We study the influence of the bulk dynamics of a growing cluster of particles on the properties of its interface. First, we define a {\it general bulk growth model} by means of a continuum Master equation for the evolution of the bulk density field. This general model just considers arbitrary addition of particles (though it can be easily generalized to consider substraction) with no other physical restriction. The corresponding Langevin equation for this bulk density field is derived where the influence of the bulk dynamics is explicitly shown. Finally, when it is assumed a well-defined interface for the growing cluster, the Langevin equation for the height field of this interface for some particular bulk dynamics is written. In particular, we obtain the celebrated Kardar-Parisi-Zhang (KPZ) equation. A Monte Carlo simulation illustrates the theoretical results.Comment: 6 pages, 2 figure

Lubrication of DLC Coatings with Two Tris(pentafluoroethyl)trifluorophosphate Anion-Based Ionic Liquids

The lubrication of a Cr-DLC coating with ethyl-dimethyl-2-methoxyethylammonium tris(pentafluoroethyl)trifluoropho-sphate [(NEMM)MOE][FAP] and 1-butyl-1-methylpyrro-lidinium tris(pentafluoroethyl)trifluorophosphate [BMP] [FAP] ionic liquids (ILs) as 1 wt% additives to a polyalphaolefin (PAO 6) was studied. Zinc dialkyldithiophosphate (ZDDP) was also used as reference in order to evaluate the effectiveness of the ILs. Reciprocating ball-on-plate tribological tests at loads of 20 and 40 N were performed. The results showed that both ILs exhibited a friction reduction, especially at the lowest load tested. Antiwear properties were also improved; the PAO 6 + 1% [BMP][FAP] mixture was slightly better, close to the values for PAO 6 + 1% ZDDP. Scanning electron microscopy (SEM) images and X-ray photoelectron spectroscopy (XPS) analysis indicated that the additive–surface interaction was responsible for the tribological improvement

Boundary Dissipation in a Driven Hard Disk System

A simulation is performed aiming at checking the existence of a well defined stationary state for a two dimensional system of driven hard disks when energy dissipation takes place at the system boundaries and no bulk impurities are presentComment: 5 pages, 7 figure