Software and Hardware Control Robotic Lawnmowers

The article presents a method for forming the trajectory of an automatic lawnmower, describes the architecture of mobile robot control and suggests a method for estimating the productivity of its work

Extension of the operational lifetime of the proportional chambers in the HERMES spectrometer

Abstract The experience of the extension of the proportional chambers lifetime at the HERMES (DESY) experiment is presented. A non-invasive technique against the aging process while continuously operating the detectors in the gap of the HERMES spectrometer magnet was performed. It was found that adding 0.14% water to the 65%Ar+30%CO2+5%CF4 gas mixture perfectly cancelled the appearance of self-sustained current (Malter effect). The studies of the remedy for the lifetime extension were performed with the test prototypes of the original proportional chambers. For the complete recovery of the aged test proportional chambers a special training method was developed as well. Training of the aged proportional chamber at 80%CF4+20%CO2 mixture glow discharge with reversed high voltage demonstrated a complete recovery of the detector

Air entrainment through free-surface cusps

In many industrial processes, such as pouring a liquid or coating a rotating cylinder, air bubbles are entrapped inside the liquid. We propose a novel mechanism for this phenomenon, based on the instability of cusp singularities that generically form on free surfaces. The air being drawn into the narrow space inside the cusp destroys its stationary shape when the walls of the cusp come too close. Instead, a sheet emanates from the cusp's tip, through which air is entrained. Our analytical theory of this instability is confirmed by experimental observation and quantitative comparison with numerical simulations of the flow equations

Domain wall effects in ferromagnet-superconductor structures

We investigate how domain structure of the ferromagnet in superconductor-ferromagnet heterostructures may change their transport properties. We calculate the distribution of current in the superconductor induced by magnetic field of Bloch domain walls, find the ``lower critical'' magnetization of the ferromagnet that provides vortices in the superconductor

Microwave-induced pi-junction transition in a superconductor / quantum-dot / superconductor structure

Using the nonequilibrium Green function, we show that microwave irradiation can reverse the supercurrent flowing through a superconductor / quantum-dot / superconductor structure. In contrast with the conventional sideband effect in normal-metal / quantum-dot / normal-metal junctions, the photon-assisted structures appear near $E_{0}=\frac{n}{2}\hbar \omega (n=\pm 1,\pm 2...)$, where $E_{0}$ is the resonant energy level of the quantum dot and $\omega$ is the frequency of microwave field. Each photon-assisted structure is composed of a negative and a positive peak, with an abrupt jump from the negative peak to the positive peak around $E_{0}=\frac{n}{2}\hbar \omega$. The microwave-induced $\pi$-junction transition is interpreted in the picture of photon-assisted Andreev bound states, which are formed due to multiple photon-assisted Andreev reflection between the two superconductors. Moreover, the main resonance located at $E_{0}=0$ can also be reversed with proper microwave strength and frequency.Comment: 10 pagres, 3 figure

Dynamics of gravity driven three-dimensional thin films on hydrophilic-hydrophobic patterned substrates

We investigate numerically the dynamics of unstable gravity driven three-dimensional thin liquid films on hydrophilic-hydrophobic patterned substrates of longitudinal stripes and checkerboard arrangements. The thin film can be guided preferentially on hydrophilic longitudinal stripes, while fingers develop on adjacent hydrophobic stripes if their width is large enough. On checkerboard patterns, the film fingering occurs on hydrophobic domains, while lateral spreading is favoured on hydrophilic domains, providing a mechanism to tune the growth rate of the film. By means of kinematical arguments, we quantitatively predict the growth rate of the contact line on checkerboard arrangements, providing a first step towards potential techniques that control thin film growth in experimental setups.Comment: 30 pages, 12 figure

Spontaneous Spin Polarized Currents in Superconductor-Ferromagnetic Metal Heterostructures

We study a simple microscopic model for thin, ferromagnetic, metallic layers on semi-infinite bulk superconductor. We find that for certain values of the exchange spliting, on the ferromagnetic side, the ground states of such structures feature spontaneously induced spin polarized currents. Using a mean-field theory, which is selfconsistent with respect to the pairing amplitude $\chi$, spin polarization $\vec{m}$ and the spontaneous current $\vec{j}_s$, we show that not only there are Andreev bound states in the ferromagnet but when their energies $E_n$ are near zero they support spontaneous currents parallel to the ferromagnetic-superconducting interface. Moreover, we demonstrate that the spin-polarization of these currents depends sensitively on the band filling.Comment: 4 pages, 5 Postscript figures (included

Hard Two-Photon Contribution to Elastic Lepton-Proton Scattering: Determined by the OLYMPUS Experiment

The OLYMPUS collaboration reports on a precision measurement of the positron-proton to electron-proton elastic cross section ratio, $R_{2\gamma}$, a direct measure of the contribution of hard two-photon exchange to the elastic cross section. In the OLYMPUS measurement, 2.01~GeV electron and positron beams were directed through a hydrogen gas target internal to the DORIS storage ring at DESY. A toroidal magnetic spectrometer instrumented with drift chambers and time-of-flight scintillators detected elastically scattered leptons in coincidence with recoiling protons over a scattering angle range of $\approx 20\degree$ to $80\degree$. The relative luminosity between the two beam species was monitored using tracking telescopes of interleaved GEM and MWPC detectors at $12\degree$, as well as symmetric M{\o}ller/Bhabha calorimeters at $1.29\degree$. A total integrated luminosity of 4.5~fb$^{-1}$ was collected. In the extraction of $R_{2\gamma}$, radiative effects were taken into account using a Monte Carlo generator to simulate the convolutions of internal bremsstrahlung with experiment-specific conditions such as detector acceptance and reconstruction efficiency. The resulting values of $R_{2\gamma}$, presented here for a wide range of virtual photon polarization $0.456<\epsilon<0.978$, are smaller than some hadronic two-photon exchange calculations predict, but are in reasonable agreement with a subtracted dispersion model and a phenomenological fit to the form factor data.Comment: 5 pages, 3 figures, 2 table

DETERMINATION OF THE ELECTRIC DRIVE POWER FOR LIGHTLY ARMORED CATERPILLAR AND WHEELED VEHICLES USING SINGLE- OR TWO-STAGE MECHANICAL GEARBOXES

When designing electromechanical transmissions (EMT) for lightly armored caterpillar and wheeled vehicles (LACWV), there is often a problem that the coefficient of adaptability of the traction motor (TM) at the minimum design power is not sufficient to meet the requirements for the power range of the transmission. In the literature, several ways have been worked out to solve this problem, however, there was not found a single algorithm allowing to formalize and step by step pass the process of choosing the most rational structure of the EMT. The purposeof the proposed work is the formation of scientifically based methodology for evaluating the possibility of using single-stage gearboxes in EMT for LACWV and calculation of the required TM power of the selected type for single- or two-stage mechanical gearboxes. Methodology. To carry out the research, the theory of motion of caterpillar and wheeled vehicles was used. Result. A formalized methodology for determining the required mechanical power of the electric drive for the LACWV is proposed, depending on the power capabilities of the motor-generator set, the torque characteristics of the selected TM and the number of stages in the mechanical gearboxes. Scientific novelty. For the first time, a formalized connection has been established between the tactical and technical requirements for LACWV, the characteristics of the selected TM, the structure and parameters of the mechanical gearboxes. Practical value. The toolkit for the engineering and design personnel developing the EMT for the LACWV was obtained. Work with the algorithm is illustrated by the example of power selection and gear ratios of mechanical gearboxes for the multi-purpose lightly armored caterpillar tractor MT-LB

Beam-helicity asymmetries for single-hadron production in semi-inclusive deep-inelastic scattering from unpolarized hydrogen and deuterium targets

A measurement of beam-helicity asymmetries for single-hadron production in deep-inelastic scattering is presented. Data from the scattering of 27.6 GeV electrons and positrons off gaseous hydrogen and deuterium targets were collected by the HERMES experiment. The asymmetries are presented separately as a function of the Bjorken scaling variable, the hadron transverse momentum, and the fractional energy for charged pions and kaons as well as for protons and anti-protons. These asymmetries are also presented as a function of the three aforementioned kinematic variables simultaneously