Capture of free-flying payloads with flexible space manipulators

A recently developed control system for capturing free-flying payloads with flexible manipulators is discussed. Three essential points in this control system are, calculating optimal path, using a vision sensor for an external sensor, and controlling active vibration. Experimental results are shown using a planar flexible manipulator

Thermal conductivity of quantum magnetic monopoles in the frustrated pyrochlore Yb2Ti2O7

We report low-temperature thermal conductivity $\kappa$ of pyrochlore Yb$_2$Ti$_2$O$_7$, which contains frustrated spin-ice correlations with significant quantum fluctuations. In the disordered spin-liquid regime, $\kappa(H)$ exhibits a nonmonotonic magnetic field dependence, which is well explained by the strong spin-phonon scattering and quantum monopole excitations. We show that the excitation energy of quantum monopoles is strongly suppressed from that of dispersionless classical monopoles. Moreover, in stark contrast to the diffusive classical monopoles, the quantum monopoles have a very long mean free path. We infer that the quantum monopole is a novel heavy particle, presumably boson, which is highly mobile in a three-dimensional spin liquid.Comment: 8 pages, 9 figure

Role of magnetic dopants in the phase diagram of Sm1111 pnictides: The Mn case

The deliberate insertion of magnetic Mn dopants in the Fe sites of the optimally-doped SmFeAsO0.88-F0.12 iron-based superconductor can modify in a controlled way its electronic properties. The resulting phase diagram was investigated across a wide range of manganese contents (x) by means of muon-spin spectroscopy (muSR), both in zero- and in transverse fields, respectively, to probe the magnetic and the superconducting order. The pure superconducting phase (at x < 0.03) is replaced by a crossover region at intermediate Mn values (0.03 =< x < 0.08), where superconductivity coexists with static magnetic order. After completely suppressing superconductivity for x = 0.08, a further increase in Mn content reinforces the natural tendency towards antiferromagnetic correlations among the magnetic Mn ions. The sharp drop of Tc and the induced magnetic order in the presence of magnetic disorder/dopants, such as Mn, are both consistent with a recent theoretical model of unconventional superconductors [M. Gastiasoro et al., ArXiv 1606.09495], which includes correlation-enhanced RKKY-couplings between the impurity moments.Comment: 10 pages, 13 figures. Accepted on Physical Review

Magnetic and Transport Properties in CoSr2Y1−xCaxCu2O7CoSr_2Y_{1-x}Ca_xCu_2O_7 (xx=0∼\sim0.4)

Magnetic and transport properties of $Co Sr_2 Y_{1-x} Ca_x Cu_2 O_7$ ($x=0 \sim 0.4$) system have been investigated. A broad maximum in M(T) curve, indicative of low-dimensional antiferromagnetic ordering originated from $CoO_{1+\delta}$ layers, is observed in Ca-free sample. With increasing Ca doping level up to 0.2, the M(T) curve remains almost unchanged, while resistivity is reduced by three orders. Higher Ca doping level leads to a drastic change of magnetic properties. In comparison with the samples with $x=0.0 \sim 0.2$, the temperature corresponding to the maximum of M(T) is much lowered for the sample $x$=0.3. The sample $x$=0.4 shows a small kink instead of a broad maximum and a weak ferromagnetic feature. The electrical transport behavior is found to be closely related to magnetic properties for the sample $x$=0.2, 0.25, 0.3, 0.4. It suggests that $CoO_{1+\delta}$ layers are involved in charge transport in addition to conducting $CuO_2$ planes to interpret the correlation between magnetism and charge transport. X-ray photoelectron spectroscopy studies give an additional evidence of the the transfer of the holes into the $CoO_{1+\delta}$ charge reservoir

Conveyance of texture signals along a rat whisker

Neuronal activities underlying a percept are constrained by the physics of sensory signals. In the tactile sense such constraints are frictional stick-slip events, occurring, amongst other vibrotactile features, when tactile sensors are in contact with objects. We reveal new biomechanical phenomena about the transmission of these microNewton forces at the tip of a rat’s whisker, where they occur, to the base where they engage primary afferents. Using high resolution videography and accurate measurement of axial and normal forces at the follicle, we show that the conical and curved rat whisker acts as a sign-converting amplification filter for moment to robustly engage primary afferents. Furthermore, we present a model based on geometrically nonlinear Cosserat rod theory and a friction model that recreates the observed whole-beam whisker dynamics. The model quantifies the relation between kinematics (positions and velocities) and dynamic variables (forces and moments). Thus, only videographic assessment of acceleration is required to estimate forces and moments measured by the primary afferents. Our study highlights how sensory systems deal with complex physical constraints of perceptual targets and sensors

Lyapunov exponent and natural invariant density determination of chaotic maps: An iterative maximum entropy ansatz

We apply the maximum entropy principle to construct the natural invariant density and Lyapunov exponent of one-dimensional chaotic maps. Using a novel function reconstruction technique that is based on the solution of Hausdorff moment problem via maximizing Shannon entropy, we estimate the invariant density and the Lyapunov exponent of nonlinear maps in one-dimension from a knowledge of finite number of moments. The accuracy and the stability of the algorithm are illustrated by comparing our results to a number of nonlinear maps for which the exact analytical results are available. Furthermore, we also consider a very complex example for which no exact analytical result for invariant density is available. A comparison of our results to those available in the literature is also discussed.Comment: 16 pages including 6 figure

Evidence for Nodal superconductivity in Sr2_{2}ScFePO3_{3}

Point contact Andreev reflection spectra have been taken as a function of temperature and magnetic field on the polycrystalline form of the newly discovered iron-based superconductor Sr2ScFePO3. A zero bias conductance peak which disappears at the superconducting transition temperature, dominates all of the spectra. Data taken in high magnetic fields show that this feature survives until 7T at 2K and a flattening of the feature is observed in some contacts. Here we inspect whether these observations can be interpreted within a d-wave, or nodal order parameter framework which would be consistent with the recent theoretical model where the height of the P in the Fe-P-Fe plane is key to the symmetry of the superconductivity. However, in polycrystalline samples care must be taken when examining Andreev spectra to eliminate or take into account artefacts associated with the possible effects of Josephson junctions and random alignment of grains.Comment: Published versio