Recursive dynamics for flexible multibody systems using spatial operators

Due to their structural flexibility, spacecraft and space manipulators are multibody systems with complex dynamics and possess a large number of degrees of freedom. Here the spatial operator algebra methodology is used to develop a new dynamics formulation and spatially recursive algorithms for such flexible multibody systems. A key feature of the formulation is that the operator description of the flexible system dynamics is identical in form to the corresponding operator description of the dynamics of rigid multibody systems. A significant advantage of this unifying approach is that it allows ideas and techniques for rigid multibody systems to be easily applied to flexible multibody systems. The algorithms use standard finite-element and assumed modes models for the individual body deformation. A Newton-Euler Operator Factorization of the mass matrix of the multibody system is first developed. It forms the basis for recursive algorithms such as for the inverse dynamics, the computation of the mass matrix, and the composite body forward dynamics for the system. Subsequently, an alternative Innovations Operator Factorization of the mass matrix, each of whose factors is invertible, is developed. It leads to an operator expression for the inverse of the mass matrix, and forms the basis for the recursive articulated body forward dynamics algorithm for the flexible multibody system. For simplicity, most of the development here focuses on serial chain multibody systems. However, extensions of the algorithms to general topology flexible multibody systems are described. While the computational cost of the algorithms depends on factors such as the topology and the amount of flexibility in the multibody system, in general, it appears that in contrast to the rigid multibody case, the articulated body forward dynamics algorithm is the more efficient algorithm for flexible multibody systems containing even a small number of flexible bodies. The variety of algorithms described here permits a user to choose the algorithm which is optimal for the multibody system at hand. The availability of a number of algorithms is even more important for real-time applications, where implementation on parallel processors or custom computing hardware is often necessary to maximize speed

Zero-energy peak of the density of states and localization properties of a one-dimensional Frenkel exciton: Off-diagonal disorder

We study a one-dimensional Frenkel Hamiltonian with off-diagonal disorder, focusing our attention on the physical nature of the zero-energy peak of the density of states. The character of excitonic states (localized or delocalized) is also examined in the vicinity of this peak. It is shown that the state being responsible for the peak is localized. A detailed comparison of the nearest-neighbor approach with the long-range dipole-dipole coupling is performed.Comment: 15 pages with 7 figures (REVTeX). To appear in Physical Review

The Non-Mesonic Weak Decay of Double-Lambda Hypernuclei: A Microscopic Approach

The non--mesonic weak decay of double--$\Lambda$ hypernuclei is studied within a microscopic diagrammatic approach. Besides the nucleon--induced mechanism, $\Lambda N\to nN$, widely studied in single--$\Lambda$ hypernuclei, additional hyperon--induced mechanisms, $\Lambda \Lambda\to \Lambda n$, $\Lambda \Lambda\to \Sigma^0 n$ and $\Lambda \Lambda\to \Sigma^-p$, are accessible in double--$\Lambda$ hypernuclei and are investigated here. As in previous works on single--$\Lambda$ hypernuclei, we adopt a nuclear matter formalism extended to finite nuclei via the local density approximation and a one--meson exchange weak transition potential (including the ground state pseudoscalar and vector octets mesons) supplemented by correlated and uncorrelated two--pion--exchange contributions. The weak decay rates are evaluated for hypernuclei in the region of the experimentally accessible light hypernuclei $^{10}_{\Lambda\Lambda}$Be and $^{13}_{\Lambda\Lambda}$B. Our predictions are compared with a few previous evaluations. The rate for the $\Lambda \Lambda\to \Lambda n$ decay is dominated by $K$--, $K^*$-- and $\eta$--exchange and turns out to be about 2.5\% of the free $\Lambda$ decay rate, $\Gamma_{\Lambda}^{\rm free}$, while the total rate for the $\Lambda \Lambda\to \Sigma^0 n$ and $\Lambda \Lambda\to \Sigma^- p$ decays, dominated by $\pi$--exchange, amounts to about 0.25\% of $\Gamma_{\Lambda}^{\rm free}$. The experimental measurement of these decays would be essential for the beginning of a systematic study of the non--mesonic decay of strangeness $-2$ hypernuclei. This field of research could also shed light on the possible existence and nature of the $H$--dibaryon.Comment: 17 pages, 2 figure