Design of adaptive sliding mode control for spherical robot based on MR fluid actuator

Inner suspension platform of a spherical robot undergoes dynamic oscillation process when the robot is rolling ahead, which significantly reduces stability and precision of the motion. To suppress these vibrations, this study considers an adaptive sliding mode control method for a spherical robot based on application of magnetorheological (MR) fluid actuator. After analyzing the mechanical structure of the spherical robot, a dynamic model describing its rolling motion is derived. Considering the uncertainty of the disturbances introduced by modeling error and outside perturbation, an adaptive scheme is proposed to estimate the dynamic disturbances. Sliding mode technology is applied to construct system controller characterized by robustness and parameter insensibility. Simulations are performed in order to verify the effectiveness of the proposed control method

Exclusive B→PVB \to PV Decays and CP Violation in the General two-Higgs-doublet Model

We calculate all the branching ratios and direct CP violations of $B \to PV$ decays in a most general two-Higgs-doublet model with spontaneous CP violation. As the model has rich CP-violating sources, it is shown that the new physics effects to direct CP violations and branching ratios in some channels can be significant when adopting the generalized factorization approach to evaluate the hadronic matrix elements, which provides good signals for probing new physics beyond the SM in the future B experiments.Comment: 21 page

Large Component QCD and Theoretical Framework of Heavy Quark Effective Field Theory

Based on a large component QCD derived directly from full QCD by integrating over the small components of quark fields with $|{\bf p}| < E + m_Q$, an alternative quantization procedure is adopted to establish a basic theoretical framework of heavy quark effective field theory (HQEFT) in the sense of effective quantum field theory. The procedure concerns quantum generators of Poincare group, Hilbert and Fock space, anticommutations and velocity super-selection rule, propagator and Feynman rules, finite mass corrections, trivialization of gluon couplings and renormalization of Wilson loop. The Lorentz invariance and discrete symmetries in HQEFT are explicitly illustrated. Some new symmetries in the infinite mass limit are discussed. Weak transition matrix elements and masses of hadrons in HQEFT are well defined to display a manifest spin-flavor symmetry and $1/m_Q$ corrections. A simple trace formulation approach is explicitly demonstrated by using LSZ reduction formula in HQEFT, and shown to be very useful for parameterizing the transition form factors via $1/m_Q$ expansion. As the heavy quark and antiquark fields in HQEFT are treated on the same footing in a fully symmetric way, the quark-antiquark coupling terms naturally appear and play important roles for simplifying the structure of transition matrix elements, and for understanding the concept of `dressed heavy quark' - hadron duality. In the case that the `longitudinal' and `transverse' residual momenta of heavy quark are at the same order of power counting, HQEFT provides a consistent approach for systematically analyzing heavy quark expansion in terms of $1/m_Q$. Some interesting features in applications of HQEFT to heavy hadron systems are briefly outlined.Comment: 59 pages, RevTex, no figures, published versio

The scalars from the topcolor scenario and the spin correlations of the top pair production at the LHC

The topcolor scenario predicts the existences of some new scalars. In this paper, we consider the contributions of these new particles to the observables, which are related to the top quark pair ($t\bar{t}$) production at the LHC. It is found that these new particles can generate significant corrections to the $t\bar{t}$ production cross section and the $t\bar{t}$ spin correlations.Comment: 23 pages, 4 figures; discussions and references added; agrees with published versio

Effect of Peierls transition in armchair carbon nanotube on dynamical behaviour of encapsulated fullerene

The changes of dynamical behaviour of a single fullerene molecule inside an armchair carbon nanotube caused by the structural Peierls transition in the nanotube are considered. The structures of the smallest C20 and Fe@C20 fullerenes are computed using the spin-polarized density functional theory. Significant changes of the barriers for motion along the nanotube axis and rotation of these fullerenes inside the (8,8) nanotube are found at the Peierls transition. It is shown that the coefficients of translational and rotational diffusions of these fullerenes inside the nanotube change by several orders of magnitude. The possibility of inverse orientational melting, i.e. with a decrease of temperature, for the systems under consideration is predicted.Comment: 9 pages, 6 figures, 1 tabl

Identification of the white dwarf companion to millisecond pulsar J2317+1439

We report identification of the optical counterpart to the companion of the millisecond pulsar J2317+1439. At the timing position of the pulsar, we find an object with $g=22.96\pm0.05$, $r=22.86\pm0.04$ and $i=22.82\pm0.05$. The magnitudes and colors of the object are consistent with it being a white dwarf. By comparing with white dwarf cooling models, we estimate that it has a mass of $0.39^{+0.13}_{-0.10}$ M$_{\odot}$, an effective temperature of $8077^{+550}_{-470}$ K and a cooling age of $10.9\pm0.3$ Gyr. Combining our results with published constraints on the orbital parameters obtained through pulsar timing, we estimate the pulsar mass to be $3.4^{+1.4}_{-1.1}$ M$_{\odot}$. Although the constraint on the pulsar mass is still weak, there is a significant possibility that the pulsar could be more massive than two solar mass.Comment: 7 pages, 6 figures, accepted for publication in Ap