Supercurrent-phase relationship of a Nb/InAs(2DES)/Nb Josephson junction in overlapping geometry

Superconductor/normal conductor/superconductor (SNS) Josephson junctions with highly transparent interfaces are predicted to show significant deviations from sinusoidal supercurrent-phase relationships (CPR) at low temperatures. We investigate experimentally the CPR of a ballistic Nb/InAs(2DES)/Nb junction in the temperature range from 1.3 K to 9 K using a modified Rifkin-Deaver method. The CPR is obtained from the inductance of the phase-biased junction. Transport measurements complement the investigation. At low temperatures, substantial deviations of the CPR from conventional tunnel-junction behavior have been observed. A theoretical model yielding good agreement to the data is presented.Comment: RevTex4, 4 pages including 3 figure

Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring

Regular inspection and monitoring of aging assets are crucial to safe operation in industrial facilities, with remote robotic monitoring being a particularly promising approach for asset inspection. However, vessels, pipework, and surfaces to be monitored can follow complex 3D surfaces, and frequently no 3D as-built models exist. In this paper, we present an end-to-end solution that uses an optimization method for coverage path planning of multiple complex surfaces for mobile robot manipulators. The system includes a two-layer hierarchical structure of optimization: mission planning and motion planning. The surface sequence is optimized with a mixed-integer linear programming formulation while motion planning solves a whole-body optimal control problem considering the robot as a floating-base system. The loco-manipulation system automatically plans a full-coverage trajectory over multiple surfaces for contact-based non-destructive monitoring after unrolling the 3D-mesh region-of-interest selected from the user interface and projects it back to the surface. Our pipeline aims at offshore asset inspection and remote monitoring in industrial applications, and is also applicable in manufacturing and maintenance where area coverage is critical. We demonstrate the generality and scalability of our solution in a variety of robotic coverage path planning applications, including for multi-surface asset inspection using a quadrupedal manipulator

Persistent holes in a fluid

We observe stable holes in a vertically oscillated 0.5 cm deep aqueous suspension of cornstarch for accelerations a above 10g. Holes appear only if a finite perturbation is applied to the layer. Holes are circular and approximately 0.5 cm wide, and can persist for more than 10^5 cycles. Above a = 17g the rim of the hole becomes unstable producing finger-like protrusions or hole division. At higher acceleration, the hole delocalizes, growing to cover the entire surface with erratic undulations. We find similar behavior in an aqueous suspension of glass microspheres.Comment: 4 pages, 6 figure

Localization in non-chiral network models for two-dimensional disordered wave mechanical systems

Scattering theoretical network models for general coherent wave mechanical systems with quenched disorder are investigated. We focus on universality classes for two dimensional systems with no preferred orientation: Systems of spinless waves undergoing scattering events with broken or unbroken time reversal symmetry and systems of spin 1/2 waves with time reversal symmetric scattering. The phase diagram in the parameter space of scattering strengths is determined. The model breaking time reversal symmetry contains the critical point of quantum Hall systems but, like the model with unbroken time reversal symmetry, only one attractive fixed point, namely that of strong localization. Multifractal exponents and quasi-one-dimensional localization lengths are calculated numerically and found to be related by conformal invariance. Furthermore, they agree quantitatively with theoretical predictions. For non-vanishing spin scattering strength the spin 1/2 systems show localization-delocalization transitions.Comment: 4 pages, REVTeX, 4 figures (postscript

Spectra of Harmonium in a magnetic field using an initial value representation of the semiclassical propagator

For two Coulombically interacting electrons in a quantum dot with harmonic confinement and a constant magnetic field, we show that time-dependent semiclassical calculations using the Herman-Kluk initial value representation of the propagator lead to eigenvalues of the same accuracy as WKB calculations with Langer correction. The latter are restricted to integrable systems, however, whereas the time-dependent initial value approach allows for applications to high-dimensional, possibly chaotic dynamics and is extendable to arbitrary shapes of the potential.Comment: 11 pages, 1 figur

Coherent current transport in wide ballistic Josephson junctions

We present an experimental and theoretical investigation of coherent current transport in wide ballistic superconductor-two dimensional electron gas-superconductor junctions. It is found experimentally that upon increasing the junction length, the subharmonic gap structure in the current-voltage characteristics is shifted to lower voltages, and the excess current at voltages much larger than the superconducting gap decreases. Applying a theory of coherent multiple Andreev reflection, we show that these observations can be explained in terms of transport through Andreev resonances.Comment: 4 pages, 4 figure

Field Theory of the Random Flux Model

The long-range properties of the random flux model (lattice fermions hopping under the influence of maximally random link disorder) are shown to be described by a supersymmetric field theory of non-linear sigma model type, where the group GL(n|n) is the global invariant manifold. An extension to non-abelian generalizations of this model identifies connections to lattice QCD, Dirac fermions in a random gauge potential, and stochastic non-Hermitian operators.Comment: 4 pages, 1 eps figur

Effective action of a 2+1 dimensional system of nonrelativistic fermions in the presence of a uniform magnetic field: dissipation effects

The effective action of nonrelativistic fermions in 2+1 dimensions is analyzed at finite temperature and chemical potential in the presence of a uniform magnetic field perpendicular to the plane. The method used is a generalization of the derivative expansion technique. The induced Chern-Simons term is computed and shown to exhibit the Hall quantization. Effects of dissipation due to collisions are also analyzed.Comment: 12 page

Probing the Shape of Quantum Dots with Magnetic Fields

A tool for the identification of the shape of quantum dots is developed. By preparing a two-electron quantum dot, the response of the low-lying excited states to a homogeneous magnetic field, i.e. their spin and parity oscillations, is studied for a large variety of dot shapes. For any geometric configuration of the confinement we encounter characteristic spin singlet - triplet crossovers. The magnetization is shown to be a complementary tool for probing the shape of the dot.Comment: 11 pages, 4 figure

Capacitance spectroscopy in quantum dots: Addition spectra and decrease of tunneling rates

A theoretical study of single electron capacitance spectroscopy in quantum dots is presented. Exact diagonalizations and the unrestricted Hartree-Fock approximation have been used to shed light over some of the unresolved aspects. The addition spectra of up to 15 electrons is obtained and compared with the experiment. We show evidence for understanding the decrease of the single electron tunneling rates in terms of the behavior of the spectral weight function. (To appear in Phys. Rev. B (Rapid Comm.))Comment: 10 pages, Revtex, hard copy or PostScript Figures upon request on [email protected]