Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass

The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the sideways control during gait. The algorithm uses the extrapolated center of mass (XcoM) to achieve limit cycle stability. The algorithm is tested in simulation using a linear inverted pendulum and, then, experimentally applied to the TUlip robot. The result is an adaptive behavior of the TUlip robot, promising for future application to legged robot stability

Measured and projected beam backgrounds in the Belle II experiment at the SuperKEKB collider

The Belle II experiment at the SuperKEKB electron-positron collider aims to collect an unprecedented data set of $50~{\rm ab}^{-1}$ to study $CP$-violation in the $B$-meson system and to search for Physics beyond the Standard Model. SuperKEKB is already the world's highest-luminosity collider. In order to collect the planned data set within approximately one decade, the target is to reach a peak luminosity of $\rm 6 \times 10^{35}~cm^{-2}s^{-1}$ by further increasing the beam currents and reducing the beam size at the interaction point by squeezing the betatron function down to $\beta^{*}_{\rm y}=\rm 0.3~mm$. To ensure detector longevity and maintain good reconstruction performance, beam backgrounds must remain well controlled. We report on current background rates in Belle II and compare these against simulation. We find that a number of recent refinements have significantly improved the background simulation accuracy. Finally, we estimate the safety margins going forward. We predict that backgrounds should remain high but acceptable until a luminosity of at least $\rm 2.8 \times 10^{35}~cm^{-2}s^{-1}$ is reached for $\beta^{*}_{\rm y}=\rm 0.6~mm$. At this point, the most vulnerable Belle II detectors, the Time-of-Propagation (TOP) particle identification system and the Central Drift Chamber (CDC), have predicted background hit rates from single-beam and luminosity backgrounds that add up to approximately half of the maximum acceptable rates.Comment: 28 pages, 17 figures, 9 tables (revised

Belle II Vertex Detector Performance

The Belle II experiment at the SuperKEKB accelerator (KEK, Tsukuba, Japan) collected its first e+e− collision data in the spring 2019. The aim of accumulating a 50 times larger data sample than Belle at KEKB, a first generation B-Factory, presents substantial challenges to both the collider and the detector, requiring not only state-of-the-art hardware, but also modern software algorithms for tracking and alignment. The broad physics program requires excellent performance of the vertex detector, which is composed of two layers of DEPFET pixels and four layers of double sided-strip sensors. In this contribution, an overview of the vertex detector of Belle II and our methods to ensure its optimal performance, are described, and the first results and experiences from the first physics run are presented

Search for Axionlike Particles Produced in e⁺ e⁻ Collisions at Belle II

International audienceWe present a search for the direct production of a light pseudoscalar a decaying into two photons with the Belle II detector at the SuperKEKB collider. We search for the process e+e-→γa, a→γγ in the mass range 0.2

Search for Axionlike Particles Produced in e+e- Collisions at Belle II

We present a search for the direct production of a light pseudoscalar a decaying into two photons with the Belle II detector at the SuperKEKB collider. We search for the process e+e-→γa, a→γγ in the mass range 0.2<9.7 GeV/c2 using data corresponding to an integrated luminosity of (445±3) pb-1. Light pseudoscalars interacting predominantly with standard model gauge bosons (so-called axionlike particles or ALPs) are frequently postulated in extensions of the standard model. We find no evidence for ALPs and set 95% confidence level upper limits on the coupling strength gaγγ of ALPs to photons at the level of 10-3 GeV-1. The limits are the most restrictive to date for 0.2<1 GeV/c2

Measurement of the integrated luminosity of the Phase 2 data of the Belle II experiment

From April to July 2018, a data sample at the peak energy of the γ(4S) resonance was collected with the Belle II detector at the SuperKEKB electron-positron collider. This is the first data sample of the Belle II experiment. Using Bhabha and digamma events, we measure the integrated luminosity of the data sample to be (496.3 ± 0.3 ± 3.0) pb-1, where the first uncertainty is statistical and the second is systematic. This work provides a basis for future luminosity measurements at Belle II

Observation of B→D(∗)K−KS0{B\to D^{(*)} K^- K^{0}_S} decays using the 2019-2022 Belle II data sample

We present a measurement of the branching fractions of four $B^{0,-}\to D^{(*)+,0} K^- K^{0}_S$ decay modes. The measurement is based on data from SuperKEKB electron-positron collisions at the $\Upsilon(4S)$ resonance collected with the Belle II detector and corresponding to an integrated luminosity of ${362~\text{fb}^{-1}}$. The event yields are extracted from fits to the distributions of the difference between expected and observed $B$ meson energy to separate signal and background, and are efficiency-corrected as a function of the invariant mass of the $K^-K_S^0$ system. We find the branching fractions to be: $$\text{B}(B^-\to D^0K^-K_S^0)=(1.89\pm 0.16\pm 0.10)\times 10^{-4},$$ $$\text{B}(\overline B{}^0\to D^+K^-K_S^0)=(0.85\pm 0.11\pm 0.05)\times 10^{-4},$$ $$\text{B}(B^-\to D^{*0}K^-K_S^0)=(1.57\pm 0.27\pm 0.12)\times 10^{-4},$$ $$\text{B}(\overline B{}^0\to D^{*+}K^-K_S^0)=(0.96\pm 0.18\pm 0.06)\times 10^{-4},$$ where the first uncertainty is statistical and the second systematic. These results include the first observation of $\overline B{}^0\to D^+K^-K_S^0$, $B^-\to D^{*0}K^-K_S^0$, and $\overline B{}^0\to D^{*+}K^-K_S^0$ decays and a significant improvement in the precision of $\text{B}(B^-\to D^0K^-K_S^0)$ compared to previous measurements