2,675 research outputs found
First results in terrain mapping for a roving planetary explorer
To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain
Flow Measurements via Two-particle Azimuthal Correlations in Au + Au Collisions at sqrt(s_NN) = 130 GeV
Two particle azimuthal correlation functions are presented for charged
hadrons produced in Au + Au collisions at RHIC sqrt(s_NN) = 130 GeV. The
measurements permit determination of elliptic flow without event-by-event
estimation of the reaction plane. The extracted elliptic flow values v_2 show
significant sensitivity to both the collision centrality and the transverse
momenta of emitted hadrons, suggesting rapid thermalization and relatively
strong velocity fields. When scaled by the eccentricity of the collision zone,
epsilon, the scaled elliptic flow shows little or no dependence on centrality
for charged hadrons with relatively low p_T. A breakdown of this epsilon
scaling is observed for charged hadrons with p_T > 1.0 GeV/c for the most
central collisions.Comment: 6 pages, RevTeX 3, 4 figures, 307 authors, submitted to Phys. Rev.
Lett. on 11 April 2002. Plain text data tables for the points plotted in
figures for this and previous PHENIX publications are (will be made) publicly
available at http://www.phenix.bnl.gov/phenix/WWW/run/phenix/papers.htm
Net Charge Fluctuations in Au + Au Interactions at sqrt(s_NN) = 130 GeV
Data from Au + Au interactions at sqrt(s_NN) = 130 GeV, obtained with the
PHENIX detector at RHIC, are used to investigate local net charge fluctuations
among particles produced near mid-rapidity. According to recent suggestions,
such fluctuations may carry information from the Quark Gluon Plasma. This
analysis shows that the fluctuations are dominated by a stochastic distribution
of particles, but are also sensitive to other effects, like global charge
conservation and resonance decays.Comment: 6 pages, RevTeX 3, 3 figures, 307 authors, submitted to Phys. Rev.
Lett. on 21 March, 2002. Plain text data tables for the points plotted in
figures for this and previous PHENIX publications are (will be made) publicly
available at http://www.phenix.bnl.gov/phenix/WWW/run/phenix/papers.htm
Centrality dependence of pi^[+/-], K^[+/-], p and p-bar production from sqrt(s_NN)=130 GeV Au + Au collisions at RHIC
Identified pi^[+/-] K^[+/-], p and p-bar transverse momentum spectra at
mid-rapidity in sqrt(s_NN)=130 GeV Au-Au collisions were measured by the PHENIX
experiment at RHIC as a function of collision centrality. Average transverse
momenta increase with the number of participating nucleons in a similar way for
all particle species. The multiplicity densities scale faster than the number
of participating nucleons. Kaon and nucleon yields per participant increase
faster than the pion yields. In central collisions at high transverse momenta
(p_T greater than 2 GeV/c), anti-proton and proton yields are comparable to the
pion yields.Comment: 6 pages, 3 figures, 1 table, 307 authors, accepted by Phys. Rev.
Lett. on 9 April 2002. This version has minor changes made in response to
referee Comments. Plain text data tables for the points plotted in figures
for this and previous PHENIX publications are publicly available at
http://www.phenix.bnl.gov/phenix/WWW/run/phenix/papers.htm
Event-by-event fluctuations in Mean and Mean in sqrt(s_NN) = 130 GeV Au+Au Collisions
Distributions of event-by-event fluctuations of the mean transverse momentum
and mean transverse energy near mid-rapidity have been measured in Au+Au
collisions at sqrt(s_NN) = 130 GeV at RHIC. By comparing the distributions to
what is expected for statistically independent particle emission, the magnitude
of non-statistical fluctuations in mean transverse momentum is determined to be
consistent with zero. Also, no significant non-random fluctuations in mean
transverse energy are observed. By constructing a fluctuation model with two
event classes that preserve the mean and variance of the semi-inclusive p_T or
e_T spectra, we exclude a region of fluctuations in sqrt(s_NN) = 130 GeV Au+Au
collisions.Comment: 10 pages, RevTeX 3, 7 figures, 4 tables, 307 authors, submitted to
Phys. Rev. C on 22 March 2002. Plain text data tables for the points plotted
in figures for this and previous PHENIX publications are (will be made)
publicly available at
http://www.phenix.bnl.gov/phenix/WWW/run/phenix/papers.htm
Centrality Dependence of Charged Particle Multiplicity in Au-Au Collisions at sqrt(s_NN)=130 GeV
We present results for the charged-particle multiplicity distribution at
mid-rapidity in Au - Au collisions at sqrt(s_NN)=130 GeV measured with the
PHENIX detector at RHIC. For the 5% most central collisions we find
. The results,
analyzed as a function of centrality, show a steady rise of the particle
density per participating nucleon with centrality.Comment: 307 authors, 43 institutions, 6 pages, 4 figures, 1 table Minor
changes to figure labels and text to meet PRL requirements. One author added:
M. Hibino of Waseda Universit
Measurement of the mid-rapidity transverse energy distribution from GeV Au+Au collisions at RHIC
The first measurement of energy produced transverse to the beam direction at
RHIC is presented. The mid-rapidity transverse energy density per participating
nucleon rises steadily with the number of participants, closely paralleling the
rise in charged-particle density, such that E_T / N_ch remains relatively
constant as a function of centrality. The energy density calculated via
Bjorken's prescription for the 2% most central Au+Au collisions at
sqrt(s_NN)=130 GeV is at least epsilon_Bj = 4.6 GeV/fm^3 which is a factor of
1.6 larger than found at sqrt(s_NN)=17.2 GeV (Pb+Pb at CERN).Comment: 307 authors, 6 pages, 4 figures, 1 table, submitted to PRL 4/18/2001;
revised version submitted to PRL 5/24/200
Deuteron and antideuteron production in Au+Au collisions at sqrt(s_NN)=200 GeV
The production of deuterons and antideuterons in the transverse momentum
range 1.1 < p_T < 4.3 GeV/c at mid-rapidity in Au + Au collisions at
sqrt(s_NN)=200 GeV has been studied by the PHENIX experiment at RHIC. A
coalescence analysis comparing the deuteron and antideuteron spectra with those
of protons and antiprotons, has been performed. The coalescence probability is
equal for both deuterons and antideuterons and increases as a function of p_T,
which is consistent with an expanding collision zone. Comparing (anti)proton
yields p_bar/p = 0.73 +/- 0.01, with (anti)deuteron yields: d_bar/d = 0.47 +/-
0.03, we estimate that n_bar/n = 0.64 +/- 0.04.Comment: 326 authors, 6 pages text, 5 figures, 1 Table. Submitted to PRL.
Plain text data tables for the points plotted in figures for this and
previous PHENIX publications are (or will be) publicly available at
http://www.phenix.bnl.gov/papers.htm
Mid-Rapidity Direct-Photon Production in p+p Collisions at sqrt(s) = 200 GeV
A measurement of direct photons in p+p collisions at sqrt(s)=200 GeV is
presented. A photon excess above background from pi^0 --> gamma+gamma, eta -->
gamma+gamma, and other decays is observed in the transverse momentum range 5.5
< p_T < 7 GeV/c. The result is compared to a next-to-leading-order perturbative
QCD calculation. Within errors, good agreement is found between the QCD
calculation and the measured result.Comment: 330 authors, 7 pages text, RevTeX, 2 figures, 2 tables. Submitted to
Physical Review D. Plain text data tables for the points plotted in figures
for this and previous PHENIX publications are (or will be) publicly available
at http://www.phenix.bnl.gov/papers.htm
Scaling properties of proton and anti-proton production in sqrt(s_NN) = 200 GeV Au + Au collisions
We report on the yield of protons and anti-protons, as a function of
centrality and transverse momentum, in Au+Au collisions at sqrt(s_NN) = 200 GeV
measured at mid-rapidity by the PHENIX experiment at RHIC. In central
collisions at intermediate transverse momenta (1.5 < p_T < 4.5 GeV/c) a
significant fraction of all produced particles are protons and anti-protons.
They show a centrality-scaling behavior different from that of pions. The
p-bar/pion and p/pion ratios are enhanced compared to peripheral Au+Au, p+p,
and electron+positron collisions. This enhancement is limited to p_T < 5 GeV/c
as deduced from the ratio of charged hadrons to pi^0 measured in the range 1.5
< p_T < 9 GeV/c.Comment: 325 authors, 6 pages text, 4 figures, RevTeX 4. Minor changes to text
and figures to meet PRL length restrictions; no changes to figures;
resubmitted to PRL. Plain text data tables for the points plotted in figures
for this and previous PHENIX publications are (or will be) publicly available
at http://www.phenix.bnl.gov/papers.htm
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