Driven diffusive system with non-local perturbations

We investigate the impact of non-local perturbations on driven diffusive systems. Two different problems are considered here. In one case, we introduce a non-local particle conservation along the direction of the drive and in another case, we incorporate a long-range temporal correlation in the noise present in the equation of motion. The effect of these perturbations on the anisotropy exponent or on the scaling of the two-point correlation function is studied using renormalization group analysis.Comment: 11 pages, 2 figure

A Type II Singularity Avoidance Algorithm for Parallel Manipulators using Output Twist Screws

Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the end-effector movements. Type II singularities are a problem for applications where complete control of the end-effector is essential. Trajectory planning produces accurate movements of a PR by avoiding Type II singularities. Generally, singularity avoidance is achieved by optimising a geometrical path with a velocity profile considering singular configurations as obstacles. This research presents an algorithm that avoids Type II singularities by modifying the trajectory of a subset of the actuators. The subset of actuators represents the limbs responsible for a Type II singularity, and they are identified by the angle between two Output Twist Screws. The proposed avoidance algorithm does not require optimisation procedures, which reduces the computational cost for offline trajectory planning and makes it suitable for online trajectory planning. The avoidance algorithm is implemented in offline trajectory planning for a pick and place planar PR and a spatial knee rehabilitation P

Magnetic Flux Periodic Response of Nano-perforated Ultrathin Superconducting Films

We have patterned a hexagonal array of nano-scale holes into a series of ultrathin, superconducting Bi/Sb films with transition temperatures 2.65 K $<T_{co} <$5 K. These regular perforations give the films a phase-sensitive periodic response to an applied magnetic field. By measuring this response in their resistive transitions, $R(T)$, we are able to distinguish regimes in which fluctuations of the amplitude, both the amplitude and phase, and the phase of the superconducting order parameter dominate the transport. The portion of $R(T)$ dominated by amplitude fluctuations is larger in lower $T_{co}$ films and thus, grows with proximity to the superconductor to insulator transition.Comment: Revised title, abstract, text, figure

Energy Gap Induced by Impurity Scattering: New Phase Transition in Anisotropic Superconductors

It is shown that layered superconductors are subjected to a phase transition at zero temperature provided the order parameter (OP) reverses its sign on the Fermi-surface but its angular average is finite. The transition is regulated by an elastic impurity scattering rate $1/\tau$. The excitation energy spectrum, being gapless at the low level of scattering, develops a gap as soon as the scattering rate exceeds some critical value of $1/\tau_\star$.Comment: Revtex, 11 page

Weak Localization Effect in Superconductors

We study the effect of weak localization on the transition temperatures of superconductors using time-reversed scattered state pairs, and find that the weak localization effect weakens electron-phonon interactions. With solving the BCS $T_{c}$ equation, the calculated values for $T_c$ are in good agreement with experimental data for various two- and three-dimensional disordered superconductors. We also find that the critical sheet resistance for the suppression of superconductivity in thin films does not satisfy the universal behavior but depends on sample, in good agreement with experiments. but depends on sample, in good agreement with experiments.Comment: 14 pages, Revtex, 5 ps figure

Coulomb Zero-Bias Anomaly: A Semiclassical Calculation

Effective action is proposed for the problem of Coulomb blocking of tunneling. The approach is well suited to deal with the ``strong coupling'' situation near zero bias, where perturbation theory diverges. By a semiclassical treatment, we reduce the physics to that of electrodynamics in imaginary time, and express the anomaly through exact conductivity of the system $\sigma(\omega, q)$ and exact interaction. For the diffusive anomaly, we compare the result with the perturbation theory of Altshuler, Aronov, and Lee. For the metal-insulator transition we derive exact relation of the anomaly and critical exponent of conductivity.Comment: 9 pages, RevTeX 3.

Admittance Controller Complemented with Real-time Singularity Avoidance for Rehabilitation Parallel Robots

Rehabilitation tasks demand robust and accurate trajectory-tracking performance, mainly achieved with parallel robots. In this field, limiting the value of the force exerted on the patient is crucial, especially when an injured limb is involved. In human-robot interaction studies, the admittance controller modifies the location of the robot according to the user efforts driving the end-effector to an arbitrary location within the workspace. However, a parallel robot has singularities within the workspace, making implementing a conventional admittance controller unsafe. Thus, this study proposes an admittance controller that overcomes the limitations of singular configurations by using a real-time singularity avoidance algorithm. The singularity avoidance algorithm modifies the original trajectory based on the actual location of the parallel robot. The complemented admittance controller is applied to a 4 degrees of freedom parallel robot for knee rehabilitation. In this case, the actual location is measured by a 3D tracking system because the location calculated by the forward kinematics is inaccurate in the vicinity of a singularity. The experimental results verify the effectiveness of the proposed admittance controller for safe knee rehabilitation exercise

Sustainable recovery of critical elements from seawater saltworks bitterns by integration of high selective sorbents and reactive precipitation and crystallisation: Developing the probe of concept with on-site produced chemicals and energy

The availability of raw mineral resources containing elements included in the Critical Raw Materials (CRMs) list is a growing concern for the European Union. Sea mining has been identified as a promising secondary source. In particular, brines obtained in solar saltworks (bitterns) contain relevant amounts of valuable CRMs such as Mg(II), B(III), other alkaline/alkaline earth metals (Rb(I), Cs(I), Sr(II)) and transition/post-transition elements (Co(II), Ga(III), Ge(IV)). However, the low concentration of some of these elements (µg/L) requires an effort to develop recovery routes that are sustainable and economically feasible where the required chemicals and energy are produced on-site from the saltworks bitterns (i.e. HCl and NaOH). Even the conventional recovery processes such as ion exchange, sorption and precipitation, which have proved to be competitive for metals recovery, are challenged in the case of Trace Elements (TEs). This work studies the recovery of TEs included in the CRMs list from saltworks bitterns after ion exchange processes. First, batch crystallisation and reactive precipitation were tested for some target elements in single-component solutions: Sr(II), Co(II), Ga(III), Ge(IV) and B(III). Then, the experiments were carried out with multi-component synthetic solutions assuming different scenarios of bittern streams coming out a selective extraction stage using sorption and ion exchange processes. The targeted elements were recovered except for Ge(IV), where alternative routes need to be evaluated, as its precipitation involves the use of tannic acid or sulphide solutions that could not be produced from the bitterns. However, a further concentration step would be necessary to achieve element concentrations closer to the mineral phases saturation. Moreover, model simulations were performed using the PHREEQC program, which provided a good prediction of the experimental trends obtained in most cases

Suppression of \bbox{T_c} in superconducting amorphous wires

The suppression of the mean field temperature of the superconducting transition, $T_c$, in homogeneous amorphous wires is studied. We develop a theory that gives $T_c$ in situations when the dynamically enhanced Coulomb repulsion competes with the contact attraction. The theory accurately describes recent experiments on $T_c$--suppression in superconducting wires, after a procedure that minimizes the role of nonuniversal mechanisms influencing $T_c$ is applied.Comment: RevTeX, 4 pages, 3 figure