Shapes of leading tunnelling trajectories for single-electron molecular ionization

Based on the geometrical approach to tunnelling by P.D. Hislop and I.M. Sigal [Memoir. AMS 78, No. 399 (1989)], we introduce the concept of a leading tunnelling trajectory. It is then proven that leading tunnelling trajectories for single-active-electron models of molecular tunnelling ionization (i.e., theories where a molecular potential is modelled by a single-electron multi-centre potential) are linear in the case of short range interactions and "almost" linear in the case of long range interactions. The results are presented on both the formal and physically intuitive levels. Physical implications of the obtained results are discussed.Comment: 14 pages, 5 figure

Deep Functional Predictive Control (deep-FPC): Robot Pushing 3-D Cluster Using Tactile Prediction

This paper introduces a novel approach to address the problem of Physical Robot Interaction (PRI) during robot pushing tasks. The approach uses a data-driven forward model based on tactile predictions to inform the controller about potential future movements of the object being pushed, such as a strawberry stem, using a robot tactile finger. The model is integrated into a Deep Functional Predictive Control (d-FPC) system to control the displacement of the stem on the tactile finger during pushes. Pushing an object with a robot finger along a desired trajectory in 3D is a highly nonlinear and complex physical robot interaction, especially when the object is not stably grasped. The proposed approach controls the stem movements on the tactile finger in a prediction horizon. The effectiveness of the proposed FPC is demonstrated in a series of tests involving a real robot pushing a strawberry in a cluster. The results indicate that the d-FPC controller can successfully control PRI in robotic manipulation tasks beyond the handling of strawberries. The proposed approach offers a promising direction for addressing the challenging PRI problem in robotic manipulation tasks

PVC Membrane and Coated Graphite Potentiometric Sensors Based on Et4todit for Selective Determination of Samarium(III)

Solution studies on the binding properties of 4,5,6,7- tetrathiocino[1,2-b:3,4-b′]diimidazolyl-1,3,8,10-tetraethyl-2,9-dithione (Et4todit) toward a number of cationic spe- cies including some lanthanide ions revealed the occur- rence of a selective 1:1 complexation of the ligand with Sm3+ ion. Consequently, Et4todit was used as a suitable neutral ionophore for the preparation of novel polymeric membrane (PME) and coated graphite (CGE) Sm3+- selective electrodes. The electrodes exhibit a Nernstian behavior for Sm3+ ions over wide concentration ranges (1.0 × 10-5-1.0 × 10-1 M for PME and 1.0 × 10-7- 1.0 × 10-1 M for CGE) and very low limits of detection (8.0×10-6M for PME and 1.6×10-8 M for CGE).The proposed potentiometric sensors manifest advantages of relatively fast response, and, most importantly, good selectivities relative to wide variety of other cations, including other lanthanide ions. The selectivity behavior of the proposed Sm3+-selective electrodes revealed a great improvement compared to the best previously reported electrode for samarium(III) ion. The potentiometric re- sponses of the electrodes are independent of the pH of the test solution in the pH range 4.0-6.5. The electrodes were successfully applied to the recovery of Sm3+ ion from tap water samples and also, as an indicator electrode, in potentiometric titration of samarium(III) ions