A Terradynamics of Legged Locomotion on Granular Media

The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on interactions with solid ground, many animals move on substrates that flow in response to intrusion. However, locomotor-ground interaction models on such flowable ground are often unavailable. We developed a force model for arbitrarily-shaped legs and bodies moving freely in granular media, and used this "terradynamics" to predict a small legged robot's locomotion on granular media using various leg shapes and stride frequencies. Our study reveals a complex but generic dependence of stresses in granular media on intruder depth, orientation, and movement direction and gives insight into the effects of leg morphology and kinematics on movement

Rate of Convergence in Nonlinear Hartree Dynamics with Factorized Initial Data

The mean field dynamics of an $N$-particle weekly interacting Boson system can be described by the nonlinear Hartree equation. In this paper, we present estimates on the 1/N rate of convergence of many-body Schr\"{o}dinger dynamics to the one-body nonlinear Hartree dynamics with factorized initial data with two-body interaction potential $V$ in $L^3 (\mathbb{R}^3)+ L^{\infty} (\mathbb{R}^3)$.Comment: AMS LaTex, 21 page

Early Time Dynamics of Gluon Fields in High Energy Nuclear Collisions

Nuclei colliding at very high energy create a strong, quasi-classical gluon field during the initial phase of their interaction. We present an analytic calculation of the initial space-time evolution of this field in the limit of very high energies using a formal recursive solution of the Yang-Mills equations. We provide analytic expressions for the initial chromo-electric and chromo-magnetic fields and for their energy-momentum tensor. In particular, we discuss event-averaged results for energy density and energy flow as well as for longitudinal and transverse pressure of this system. For example, we find that the ratio of longitudinal to transverse pressure very early in the system behaves as $p_L/p_T = -[1-\frac{3}{2a}(Q\tau)^2]/[1-\frac{1}{a}(Q\tau)^2]+\mathcal{O}(Q\tau)^4$ where $\tau$ is the longitudinal proper time, $Q$ is related to the saturation scales $Q_s$ of the two nuclei, and $a = \ln (Q^2/\hat{m}^2)$ with $\hat m$ a scale to be defined later. Our results are generally applicable if $\tau \lesssim 1/Q$. As already discussed in a previous paper, the transverse energy flow $S^i$ of the gluon field exhibits hydrodynamic-like contributions that follow transverse gradients of the energy density $\nabla^i \varepsilon$. In addition, a rapidity-odd energy flow also emerges from the non-abelian analog of Gauss' Law and generates non-vanishing angular momentum of the field. We will discuss the space-time picture that emerges from our analysis and its implications for observables in heavy ion collisions.Comment: 26 pages, 9 figure

A Comprehensive Four-Quark Interpretation of D_s(2317), D_s(2457) and D_s(2632)

The recently observed new member of the charm-strange family D_s(2632) which has a surprisingly narrow width is challenging our theory. D_s(2317) and D_s(2457) which were observed earlier have similar behaviors and receive various theoretical explanations. Some authors use the heavy hadron chiral effective theory to evaluate heavy-light quark systems and obtain a reasonable evaluation on the masses of D_s(2317) and D_s(2457). An alternative picture is to interpret them as four-quark or molecular states. In this work, we are following the later and propose a unitive description for all the three new members D_s(2632), D_s(2317) and D_s(2457) and at least, so far our picture is consistent with the data.Comment: 6 page

Nuclear matter symmetry energy and the neutron skin thickness of heavy nuclei

Correlations between the thickness of the neutron skin in finite nuclei and the nuclear matter symmetry energy are studied in the Skyrme Hartree-Fock model. From the most recent analysis of the isospin diffusion data in heavy-ion collisions based on an isospin- and momentum-dependent transport model with in-medium nucleon-nucleon cross sections, a value of $L=88\pm 25$ MeV for the slope of the nuclear symmetry energy at saturation density is extracted, and this imposes stringent constraints on both the parameters in the Skyrme effective interactions and the neutron skin thickness of heavy nuclei. Predicted thickness of the neutron skin is $0.22\pm 0.04$ fm for $$Pb, $0.29\pm 0.04$ fm for $^{132}$Sn, and $0.22\pm 0.04$ fm for $$Sn.Comment: 6 pages, 4 figures, 1 table, revised version, to appear in PR

Spectral and optical properties in the antiphase stripe phase of the cuprate superconductors

We investigate the superconducting order parameter, the spectral and optical properties in a stripe model with spin (charge) domain-derived scattering potential $V_{s}$ ($V_{c}$). We show that the charge domain-derived scattering is less effective than the spin scattering on the suppression of superconductivity. For $V_{s}\gg V_{c}$, the spectral weight concentrates on the ($\pi,0$) antinodal region, and a finite energy peak appears in the optical conductivity with the disappearance of the Drude peak. But for $V_{s}\approx V_{c}$, the spectral weight concentrates on the ($\pi/2,\pi/2$) nodal region, and a residual Drude peak exists in the optical conductivity without the finite energy peak. These results consistently account for the divergent observations in the ARPES and optical conductivity experiments in several high-$T_c$ cuprates, and suggest that the "insulating" and "metallic" properties are intrinsic to the stripe state, depending on the relative strength of the spin and charge domain-derived scattering potentials.Comment: 7 pages, 4 figure

Extremely sharp carbon nanocone probes for atomic force microscopy imaging

A simple and reliable catalyst patterning technique combined with electric-field-guided growth is utilized to synthesize a sharp and high-aspect-ratio carbon nanocone probe on a tipless cantilever for atomic force microscopy. A single carbon nanodot produced by an electron-beam-induced deposition serves as a convenient chemical etch mask for catalyst patterning, thus eliminating the need for complicated, resist-based, electron-beam lithography for a nanoprobe fabrication. A gradual, sputtering-induced size reduction and eventual removal of the catalyst particle at the probe tip during electric-field-guided growth creates a sharp probe with a tip radius of only a few nanometers. These fabrication processes are amenable for the wafer-scale synthesis of multiple probes. High resolution imaging of three-dimensional features and deep trenches, and mechanical durability enabling continuous operation for many hours without noticeable image deterioration have been demonstrated