Multi-scale path planning for a planetary exploration vehicle with multiple locomotion modes

Planetary exploration vehicles (rovers) can encounter with a great variety of situations. Most of them are related to the terrain, which can cause the end of the mission if these vehicles are not able to traverse it. It was the case of Spirit rover, which got stuck in loose sand, making it impossible to continue advancing. A solution to this is to make rovers capable of modifying their locomotion to traverse terrains with particular terramechanic parameters.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Strain analysis of multiferroic BiFeO3-CoFe2O4 nanostructures by Raman scattering

We report a Raman scattering investigation of columnar BiFeO3-CoFe2O4 (BFO-CFO) epitaxial thin film nanostructures, where BFO pillars are embedded in a CFO matrix. The feasibility of a strain analysis is illustrated through an investigation of two nanostructures with different BFO-CFO ratios. We show that the CFO matrix presents the same strain state in both nanostructures, while the strain state of the BFO pillars depends on the BFO/CFO ratio with an increasing tensile strain along the out-of-plane direction with decreasing BFO content. Our results demonstrate that Raman scattering allows monitoring strain states in complex 3D multiferroic pillar/matrix composites.Comment: revised version submitted to Appl. Phys. Let

Absence of charge backscattering in the nonequilibrium current of normal-superconductor structures

We study the nonequilibrium transport properties of a normal-superconductor-normal structure, focussing on the effect of adding an impurity in the superconducting region. Current conservation requires the superfluid velocity to be nonzero, causing a distortion of the quasiparticle dispersion relation within the superconductor. For weakly reflecting interfaces we find a regime of intermediate voltages in which Andreev transmission is the only permitted mechanism for quasiparticles to enter the superconductor. Impurities in the superconductor can only cause Andreev reflection of these quasiparticles and thus cannot degrade the current. At higher voltages, a state of gapless superconductivity develops which is sensitive to the presence of impurities.Comment: Latex file, 11 pages, 2 figures available upon request [email protected], to be published in Journal of Physics: Condensed Matte

Relationship between Hubble type and spectroscopic class in local galaxies

We compare the Hubble type and the spectroscopic class of the galaxies with spectra in SDSS/DR7. As it is long known, elliptical galaxies tend to be red whereas spiral galaxies tend to be blue, however, this relationship presents a large scatter, which we measure and quantify in detail. We compare the Automatic Spectroscopic K-means based classification (ASK) with most of the commonly used morphological classifications. All of them provide consistent results. Given a spectral class, the morphological type wavers with a standard deviation between 2 and 3 T types, and the same large dispersion characterizes the variability of spectral classes fixed the morphological type. The distributions of Hubble types given an ASK class are very skewed -- they present long tails that go to the late morphological types for the red galaxies, and to the early morphological types for the blue spectroscopic classes. The scatter is not produced by problems in the classification, and it remains when particular subsets are considered. A considerable fraction of the red galaxies are spirals (40--60 %), but they never present very late Hubble types (Sd or later). Even though red spectra are not associated with ellipticals, most ellipticals do have red spectra: 97 % of the ellipticals in the morphological catalog by Nair & Abraham, used here for reference, belong to ASK 0, 2 or 3. It contains only a 3 % of blue ellipticals. The galaxies in the green valley class (ASK~5) are mostly spirals, and the AGN class (ASK 6) presents a large scatter of Hubble types from E to Sd. From redshift 0.25 to now the galaxies redden from ASK 2 to ASK 0, as expected from the passive evolution of their stellar populations. Two of the ASK classes (1 and 4) gather edge-on spirals, a property of interest in studies requiring knowing the intrinsic shape of a galaxy (e.g., weak lensing calibration).Comment: Accepted for publication in ApJ. 16 pages. 12 Figs. 2 summary table

Optimizing omnidirectional reflection by multilayer mirrors

Periodic layered media can reflect strongly for all incident angles and polarizations in a given frequency range. Quarter-wave stacks at normal incidence are commonplace in the design of such omnidirectional reflectors. We discuss alternative design criteria to optimize these systems.Comment: 9 pages, 6 figures. To be published in J. Opt. A: Pure and Applied Optic

Solar Intranetwork Magnetic Elements: bipolar flux appearance

The current study aims to quantify characteristic features of bipolar flux appearance of solar intranetwork (IN) magnetic elements. To attack such a problem, we use the Narrow-band Filter Imager (NFI) magnetograms from the Solar Optical Telescope (SOT) on board \emph{Hinode}; these data are from quiet and an enhanced network areas. Cluster emergence of mixed polarities and IN ephemeral regions (ERs) are the most conspicuous forms of bipolar flux appearance within the network. Each of the clusters is characterized by a few well-developed ERs that are partially or fully co-aligned in magnetic axis orientation. On average, the sampled IN ERs have total maximum unsigned flux of several 10^{17} Mx, separation of 3-4 arcsec, and a lifetime of 10-15 minutes. The smallest IN ERs have a maximum unsigned flux of several 10^{16} Mx, separations less than 1 arcsec, and lifetimes as short as 5 minutes. Most IN ERs exhibit a rotation of their magnetic axis of more than 10 degrees during flux emergence. Peculiar flux appearance, e.g., bipole shrinkage followed by growth or the reverse, is not unusual. A few examples show repeated shrinkage-growth or growth-shrinkage, like magnetic floats in the dynamic photosphere. The observed bipolar behavior seems to carry rich information on magneto-convection in the sub-photospheric layer.Comment: 26 pages, 14 figure

Self-consistent scattering description of transport in normal-superconductor structures

We present a scattering description of transport in several normal-superconductor structures. We show that the related requirements of self-consistency and current conservation introduce qualitative changes in the transport behavior when the current in the superconductor is not negligible. The energy thresholds for quasiparticle propagation in the superconductor are sensitive to the existence of condensate flow ($v_s\neq 0$). This dependence is responsible for a rich variety of transport regimes, including a voltage range in which only Andreev transmission is possible at the interfaces, and a state of gapless superconductivity which may survive up to high voltages if temperature is low. The two main effects of current conservation are a shift towards lower voltages of the first peak in the differential conductance and an enhancement of current caused by the greater availability of charge transmitting scattering channels.Comment: 31 pages, 10 PS figures, Latex file, psfig.sty file is added. To appear in Phys. Rev. B (Jan 97