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In this paper, a novel strategy is designed for trajectory control of a multi-section continuum robot in three-dimensional space to achieve accurate orientation, curvature, and section length tracking. The formulation connects the continuum manipulator dynamic behavior to a virtual discrete-jointed robot whose degrees-of-freedom are directly mapped to those of a continuum robot section. Based on this connection, a computed torque control architecture is developed for the virtual robot, for which inverse kinematics and dynamic equations are constructed and exploited, with appropriate transformations developed for implementation on the continuum robot. The control algorithm is implemented on a six degree-of-freedom two-section OctArm continuum manipulator. Experimental results show that the proposed method managed simultaneous extension/contraction, bending, and torsion actions on multi-section continuum robots with decent tracking performance (steady state arc length and curvature tracking error of merely 3.3mm and 0.13m-1, respectively). These results demonstrate that the proposed method can be applied to multi-section continuum manipulator and perform complex maneuvers within a nonlinear setting. 

Context.3C 84 is a nearby radio source with a complex total intensity structure, showing linear polarisation and spectral patterns. A detailed investigation of the central engine region necessitates the use of very-long-baseline interferometry (VLBI) above the hitherto available maximum frequency of 86 GHz.

Aims.Using ultrahigh resolution VLBI observations at the currently highest available frequency of 228 GHz, we aim to perform a direct detection of compact structures and understand the physical conditions in the compact region of 3C 84.

Methods.We used Event Horizon Telescope (EHT) 228 GHz observations and, given the limited (u, v)-coverage, applied geometric model fitting to the data. Furthermore, we employed quasi-simultaneously observed, ancillary multi-frequency VLBI data for the source in order to carry out a comprehensive analysis of the core structure.

Results.We report the detection of a highly ordered, strong magnetic field around the central, supermassive black hole of 3C 84. The brightness temperature analysis suggests that the system is in equipartition. We also determined a turnover frequency ofν_m = (113 ± 4) GHz, a corresponding synchrotron self-absorbed magnetic field ofB_SSA = (2.9 ± 1.6) G, and an equipartition magnetic field ofB_eq = (5.2 ± 0.6) G. Three components are resolved with the highest fractional polarisation detected for this object (m_net = (17.0 ± 3.9)%). The positions of the components are compatible with those seen in low-frequency VLBI observations since 2017–2018. We report a steeply negative slope of the spectrum at 228 GHz. We used these findings to test existing models of jet formation, propagation, and Faraday rotation in 3C 84.

Conclusions.The findings of our investigation into different flow geometries and black hole spins support an advection-dominated accretion flow in a magnetically arrested state around a rapidly rotating supermassive black hole as a model of the jet-launching system in the core of 3C 84. However, systematic uncertainties due to the limited (u, v)-coverage, however, cannot be ignored. Our upcoming work using new EHT data, which offer full imaging capabilities, will shed more light on the compact region of 3C 84.

 

The spectra for H5+ and D5+ are extended to cover the region between 4830 and 7300 cm−1. These spectra are obtained using mass-selected photodissociation spectroscopy. To understand the nature of the states that are accessed by the transitions in this and prior studies, we develop a four-dimensional model Hamiltonian. This Hamiltonian is expressed in terms of the two outer H2 stretches, the displacement of the shared proton from the center of mass of these two H2 groups, and the distance between the H2 groups. This choice is motivated by the large oscillator strength associated with the shared proton stretch and the fact that the spectral regions that have been probed correspond to zero, one, and two quanta of excitation in the H2 stretches. This model is analyzed using an adiabatic separation of the H2 stretches from the other two vibrations and includes the non-adiabatic couplings between H2 stretch states with the same number of quanta of excitation in the H2 stretches. Based on the analysis of the energies and wave functions obtained from this model, we find that when there are one or more quanta of excitation in the H2 stretches the states come in pairs that reflect tunneling doublets. The states accessed by the transitions in the spectrum with the largest intensity are assigned to the members of the doublets with requisite symmetry that are localized on the lowest-energy adiabat for a given level of H2 excitation. 

New control formulation for continuum robots via hybrid virtual rigid/soft robot model. 

A search for pair production of squarks or gluinos decaying via sleptons or weak bosons is reported. The search targets a final state with exactly two leptons with same-sign electric charge or at least three leptons without any charge requirement. The analysed data set corresponds to an integrated luminosity of 139 fb⁻¹of proton-proton collisions collected at a centre-of-mass energy of 13 TeV with the ATLAS detector at the LHC. Multiple signal regions are defined, targeting several SUSY simplified models yielding the desired final states. A single control region is used to constrain the normalisation of theWZ+ jets background. No significant excess of events over the Standard Model expectation is observed. The results are interpreted in the context of several supersymmetric models featuring R-parity conservation or R-parity violation, yielding exclusion limits surpassing those from previous searches. In models considering gluino (squark) pair production, gluino (squark) masses up to 2.2 (1.7) TeV are excluded at 95% confidence level.

 

The OH⁺cation is a well‐known diatomic for which the triplet (³Σ⁻) ground state is 50.5 kcal mol⁻¹more stable than its corresponding singlet (¹Δ) excited state. However, the singlet forms a strong donor–acceptor bond to argon with a bond energy of 66.4 kcal mol⁻¹at the CCSDT(Q)/CBS level, making the singlet ArOH⁺cation 3.9 kcal mol⁻¹more stable than the lowest energy triplet complex. Both singlet and triplet isomers of this molecular ion were prepared in a cold molecular beam using different ion sources. Infrared photodissociation spectroscopy in combination with messenger atom tagging shows that the two spin isomers exhibit completely different spectral signatures. The ground state of ArOH⁺is the predicted singlet with a covalent Ar−O bond.