Simulating Nonholonomic Dynamics

This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two different families of nonholonomic integrators are developed and examined numerically: the geometric nonholonomic integrator (GNI) and the reduced d'Alembert-Pontryagin integrator (RDP). As a result, the paper provides a general tool for engineering applications, i.e. for automatic derivation of numerically accurate and stable dynamics integration schemes applicable to a variety of robotic vehicle models

Abundant Z-cyanomethanimine in the interstellar medium: paving the way to the synthesis of adenine

We report the first detection in the interstellar medium of the Z-isomer of cyanomethanimine (HNCHCN), an HCN dimer proposed as precursor of adenine. We identified six transitions of Z-cyanomethanimine, along with five transitions of E-cyanomethanimine, using IRAM 30m observations towards the Galactic Center quiescent molecular cloud G+0.693. The Z-isomer has a column density of (2.0$\pm$0.6)$\times$10$^{14}$ cm$^{-2}$ and an abundance of 1.5$\times$10$^{-9}$. The relative abundance ratio between the isomers is [Z/E]$\sim$6. This value cannot be explained by the two chemical formation routes previously proposed (gas-phase and grain surface), which predicts abundances ratios between 0.9 and 1.5. The observed [Z/E] ratio is in good agreement with thermodynamic equilibrium at the gas kinetic temperature (130$-$210 K). Since isomerization is not possible in the ISM, the two species may be formed at high temperature. New chemical models, including surface chemistry on dust grains and gas-phase reactions, should be explored to explain our findings. Whatever the formation mechanism, the high abundance of Z-HNCHCN shows that precursors of adenine are efficiently formed in the ISM.Comment: Accepted in Monthly Notices of the Royal Astronomical Society Letter

Complex organic molecules in the Galactic Centre: the N-bearing family

We present an unbiased spectral line survey toward the Galactic Centre (GC) quiescent giant molecular cloud (QGMC), G+0.693 using the GBT and IRAM 30$\,$ telescopes. Our study highlights an extremely rich organic inventory of abundant amounts of nitrogen (N)-bearing species in a source without signatures of star formation. We report the detection of 17 N-bearing species in this source, of which 8 are complex organic molecules (COMs). A comparison of the derived abundances relative to H$_2$ is made across various galactic and extragalactic environments. We conclude that the unique chemistry in this source is likely to be dominated by low-velocity shocks with X-rays/cosmic rays also playing an important role in the chemistry. Like previous findings obtained for O-bearing molecules, our results for N-bearing species suggest a more efficient hydrogenation of these species on dust grains in G+0.693 than in hot cores in the Galactic disk, as a consequence of the low dust temperatures coupled with energetic processing by X-ray/cosmic ray radiation in the GC.Comment: 24 pages, 23 figures, 7 tables, accepted for publication in MNRA

Organic Molecules in the Galactic Center. Hot Core Chemistry without Hot Cores

We study the origin of large abundances of complex organic molecules in the Galactic center (GC). We carried out a systematic study of the complex organic molecules CH3OH, C2H5OH, (CH3)2O, HCOOCH3, HCOOH, CH3COOH, H2CO, and CS toward 40 GC molecular clouds. Using the LTE approximation, we derived the physical properties of GC molecular clouds and the abundances of the complex molecules.The CH3OH abundance between clouds varies by nearly two orders of magnitude from 2.4x10^{-8} to 1.1x10^{-6}. The abundance of the other complex organic molecules relative to that of CH3OH is basically independent of the CH3OH abundance, with variations of only a factor 4-8. The abundances of complex organic molecules in the GC are compared with those measured in hot cores and hot corinos, in which these complex molecules are also abundant. We find that both the abundance and the abundance ratios of the complex molecules relative to CH3OH in hot cores are similar to those found in the GC clouds. However, hot corinos show different abundance ratios than observed in hot cores and in GC clouds. The rather constant abundance of all the complex molecules relative to CH3OH suggests that all complex molecules are ejected from grain mantles by shocks. Frequent (similar 10^{5}years) shocks with velocities >6km/s are required to explain the high abundances in gas phase of complex organic molecules in the GC molecular clouds. The rather uniform abundance ratios in the GC clouds and in Galactic hot cores indicate a similar average composition of grain mantles in both kinds of regions. The Sickle and the Thermal Radio Arches, affected by UV radiation, show different relative abundances in the complex organic molecules due to the differentially photodissociation of these molecules.Comment: 18 pages, 10 Postscript figures, uses aa.cls, aa.bst, 10pt.rtx, natbib.sty, revsymb.sty revtex4.cls, aps.rtx and aalongtabl.sty. Accepted in A&A 2006. version 2. relocated figures and tables. Language editor suggestions. added reference

Tracing high density gas in M 82 and NGC 4038

We present the first detection of CS in the Antennae galaxies towards the NGC 4038 nucleus, as well as the first detections of two high-J (5-4 and 7-6) CS lines in the center of M 82. The CS(7-6) line in M 82 shows a profile that is surprisingly different to those of other low-J CS transitions we observed. This implies the presence of a separate, denser and warmer molecular gas component. The derived physical properties and the likely location of the CS(7-6) emission suggests an association with the supershell in the centre of M 82.Comment: 10 pages, 3 figures, ApJ Letter - ACCEPTE

Mechanical systems subjected to generalized nonholonomic constraints

We study mechanical systems subject to constraint functions that can be dependent at some points and independent at the rest. Such systems are modelled by means of generalized codistributions. We discuss how the constraint force can transmit an impulse to the motion at the points of dependence and derive an explicit formula to obtain the ``post-impact'' momentum in terms of the ``pre-impact'' momentum.Comment: 24 pages, no figure

Global controllability tests for geometric hybrid control systems

Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using this framework we describe some new global controllability tests for hybrid control systems exploiting the geometry and the topology of the set of jump points, where the instantaneous change of dynamics take place. Controllability is understood as the existence of a feasible trajectory for the system joining any two given points. As a result we describe examples where none of the continuous control systems are controllable, but the associated hybrid system is controllable because of the characteristics of the jump set.Comment: 27 pages, 5 figure

Multiplicity of very low-mass objects in the Upper Scorpius OB association: a possible wide binary population

We report the initial results of a VLT/NACO high spatial resolution imaging survey for multiple systems among 58 M-type members of the nearby Upper Scorpius OB association. Nine pairs with separations below 100 have been resolved. Their small angular separations and the similarity in the brightness of the components (DMagK <1 for all of them), indicate there is a reasonable likelihood several of them are true binaries rather than chance projections. Follow-up imaging observations with WHT/LIRIS of the two widest binaries confirm that their near-infrared colours are consistent with physical very low mass binaries. For one of these two binaries, WHT/LIRIS spectra of each component were obtained. We find that the two components have similar M6-M7 spectral types and signatures of low-gravity, as expected for a young brown dwarf binary in this association. Our preliminary results indicate a possible population of very low-mass binaries with semimajor axis in the range 100 AU 150 AU, which has not been seen in the Pleiades open cluster. If these candidates are confirmed (one is confirmed by this work), these results would indicate that the binary properties of very low-mass stars and brown dwarfs may depend on the environment where they form.Comment: 11 pages, 1 table, 7 figures, request high resolution copies to [email protected]

Physical qubits from charged particles: IR divergences in quantum information

We consider soft photons effects (IR structure of QED) on the construction of physical qubits. Soft-photons appear when we build charged qubits from the asymptotic states of QED. This construction is necessary in order to include the effect of soft photons on entanglement measures. The nonexistence of free charged particles (due to the long range of QED interactions) lead us to question the sense of the very concept of free charged qubit. In this letter, using the "dressing" formalism, we build physical charged qubits from dressed fields which have the correct asymptotic behavior, are gauge invariant, their propagators have a particle pole structure and are free from infrared divergences. Finally, we discuss the impact of the soft corrections on the entanglement measures.Comment: 4 pages, 2 figures, RevTeX. Version 2: Some references update

Memory effect in triglycine sulfate induced by a transverse electric field: specific heat measurement

The influence of a transverse electric field in the specific heat of triglycine sulphate (TGS) has been studied. The specific heat of TGS has been measured heating the sample from ferroelectric to paraelectric phase after prolonged transverse electric field (i.e. perpendicular to the ferroelectric axis). It is shown that the specific heat of TGS can remember the temperature $T_s$ at which the transverse field was previously applied.Comment: ReVTeX4 Twocolumn 4 pages, 4 figure