Multi-ASV Collision Avoidance for Point-to-Point Transitions Based on Heading-Constrained Control Barrier Functions With Experiment

Dear Editor, Collision avoidance is critical for safe operations of multiple autonomous surface vehicles(ASVs). It is a challenging task to design collision-free control laws to ensure safety, especially in a crowded sea environment. This letter presents a collision-free pointto-point transition strategy for multiple ASVs subject to static obstacles, dynamic obstacles and neighboring ASVs based on control barrier functions(CBFs).

Signs of Phase Transition in High Energy Proton-Proton Collisions

The present work aims to study the possible states of matter and the location of phase boundaries between hadronic gas and the quark-gluon plasma QGP. The boundary at the hadron freeze-out is also considered. Proton-proton collisions at a wide range of center of mass energies are used to examine the phase transition (entropy-temperature) diagram. Local thermodynamic equilibrium is assumed at different intervals of rapidity space. The entropy of the system is expressed in terms of the multiplicity of hadron production in each interval. However, the local temperature is estimated using the average transverse momentum. The values of the critical temperatures are found at the boundaries of the phases with a quite clear description of the states.

Low-energy inelastic electron scattering from carbon monoxide:Excitation and de-excitation of the X^(1)Σ^(+),a^(3)Π,a'^(3)∑^(+),A^(1)Π,d^(3)Δ,e^(3)∑^(-),I^(1)∑^(-)and D^(1)Δelectronic states

Cross-sections for electronic excitation and de-excitation among the ground state and lowest-lying seven electronic excited states of carbon monoxide(CO)by low-energy electron impact are computed using the R-matrix method.The excitation cross-sections from the ground state to the electronic states a^(3)Π,a'^(3)Σ^(+)+and A^(1)Πagree with previous experimental and theoretical results.In addition,the cross-sections for the I^(1)Σ^(+)-and D^(1)Δstates of CO,which will cascade to CO a'^(3)Σ^(+)+and A^(1)Πstates,are calculated.Furthermore,in contrast to the typical increase in electronic excitation cross-sections with collision energy,the de-excitation cross-sections show a negative trend with increasing energy.

Measurement of very low-molecular weight metabolites by traveling wave ion mobility and its use in human urine samples

The collision cross-sections(CCS)measurement using ion mobility spectrometry(IMS)in combination with mass spectrometry(MS)offers a great opportunity to increase confidence in metabolite identification.However,owing to the lack of sensitivity and resolution,IMS has an analytical challenge in studying the CCS values of very low-molecular-weight metabolites(VLMs250 Da).Here,we describe an analytical method using ultrahigh-performance liquid chromatography(UPLC)coupled to a traveling wave ion mobility-quadrupole-time-of-flight mass spectrometer optimized for the measurement of VLMs in human urine samples.The experimental CCS values,along with mass spectral properties,were reported for the 174 metabolites.The experimental data included the mass-to-charge ratio(m/z),retention time(RT),tandem MS(MS/MS)spectra,and CCS values.Among the studied metabolites,263 traveling wave ion mobility spectrometry(TWIMS)-derived CCS values(TWCCSN2)were reported for the first time,and more than 70%of these were CCS values of VLMs.The TWCCSN2 values were highly repeatable,with inter-day variations of<1%relative standard deviation(RSD).The developed method revealed excellent TWCCSN2 accuracy with a CCS difference(DCCS)within±2%of the reported drift tube IMS(DTIMS)and TWIMS CCS values.The complexity of the urine matrix did not affect the precision of the method,as evidenced by DCCS within±1.92%.According to the Metabolomics Standards Initiative,55 urinary metabolites were identified with a confidence level of 1.Among these 55 metabolites,53(96%)were VLMs.The larger number of confirmed compounds found in this study was a result of the addition of TWCCSN2 values,which clearly increased metabolite identification confidence.

Mantle Driven Early Eocene Magmatic Flare-up of the Gangdese Arc, Tibet: A Case Study on the Nymo Intrusive Complex

Magmatic periodicity is recognized in continental arcs worldwide, but the mechanism responsible for punctuated arc magmatism is controversial. Continental arcs in the Trans-Himalayan orogenic system display episodic magmatism and the most voluminous flare-up in this system was in early Eocene during the transition from subduction to collision. The close association of the flare-up with collision is intriguing. Our study employs zircon Lu-Hf and bulk rock Sr-Nd isotopes, along with mineral geochemistry, to track the melt sources of the Nymo intrusive complex and the role of mantle magma during the early Eocene flare-up of the Gangdese arc, Tibet. The Nymo intrusive complex is composed of gabbronorite, diorite, quartz diorite, and granodiorite which define an arc-related calc-alkaline suite. Zircon U-Pb ages reveal that the complex was emplaced between ~50–47 Ma. Zircon Hf isotopes yield εHf(t) values of 8.2–13.1, while whole-rock Sr and Nd isotopes yield εNd(t) values of 2.7–6.5 indicative of magmatism dominated by melting of a juvenile mantle source with only minor crustal assimilation(~15%–25%) as indicated by assimilation and fractional crystallization modeling. Together with published data, the early Eocene magmatic flare-up was likely triggered by slab breakoff of subducted oceanic lithosphere at depths shallower than the overriding plate. The early Eocene magmatic flare-up may have contributed to crustal thickening of the Gangdese arc. This study provides important insights into the magmatic flare-up and its significant role in the generation of large batholiths during the transition from subduction to collision.

Single-and-double electron loss of O^(2+) in collisions with argon and helium

This paper reports that the ratios of double to single electron loss cross-section （R） of O^2＋ in collision with Ar and He at the velocity of 1 -4 vo（vo is the Bohr velocity） have been obtained by the coincidence technique. The trend of R - V in the experiment indicates that the effective charge varies with injected velocity. The effective charge can be obtained by the n-body classical trajectory Monte Carlo method, which is interpreted by the molecular Coulomb over barrier model.

Investigation of transfer ionization in collisions of partially stripped carbon ions with helium at low to intermediate velocities

The ratios of transfer ionization （TI） to single-electron capture （SC） cross sections have been measured for the collisions of partially stripped C^q＋ ions （q = 1-4） with He. The collision velocity ranges from 0.7 to 4.4 vo （vo is the Bohr velocity）. The projectile-ion and recoil-ion coincidence technique is used to separate the processes of TI and SC. The ratios reach the maximum when the velocity is about 3.7 vo. This can be explained qualitatively based on the two-step mechanism. The experimental results are also compared with the results calculated using the classical trajectory Monte Carlo （CTMC） method. The CTMC results are in agreement with the experimental data basically. The discrepancies in higher velocity region are interpreted by the effective charge effect.

SELF-FOCUSING AND SELF-DEFOCUSING DUE TO COLLISION-INDUCED ZEEMAN COHERENCE

The continuous wave self-focusing and self-defocusing in sodium vapor have been observed at zero magnetic field.The effects are enhanced by collisions and can be observed in low light intensity and large frequency detuning from the resonance transition.All experimental results can be well explained by collision-induced Zeeman coherence.

On the Nature of the Average Transverse Momenta of the Low-<i>pT</i>Secondaries in Some High Energy Nuclear Collisions

That the values of average transverse momenta ( ) of the secondaries produced in high energy collisions rise very slowly with energy is modestly well-known and accepted. We would like to probe into this aspect of the problem for production of the main variety of the 'soft' secondaries in two high energy symmetric nuclear collisions with the help of two non-QCD models. Our model-based results are found to be quite consistent with the anticipated behaviours and also with the observations.

Study of the 6.x nm short wavelength radiation spectra of laser-produced erbium plasmas for BEUV lithography

Beyond extreme ultraviolet(BEUV)radiation with a wavelength of 6.x nm for lithography is responsible for reducing the source wavelength to enable continued miniaturization of semiconductor devices.In this work,the Required BEUV light at 6.x nm wavelength was generated in dense and hot Nd:YAG laser-produced Er plasmas.The spectral contributions from the 4p–4d and 4d–4f transitions of singly,doubly and triply excited states of Er XXIV–Er XXXII in the BEUV band were calculated using Cowan and the Flexible Atomic Code.It was also found that the radiative transitions between multiply excited states dominate the narrow wavelength window around 6.x nm.Under the assumption of collisional radiative equilibrium of the laser-produced Er plasmas,the relative ion abundance in the experiment was inferred.Using the Boltzmann quantum state energy level distribution and Gram–Charlier fitting function of unresolved transition arrays(UTAs),the synthetic spectrum around 6.x nm was finally obtained and compared with the experimental spectrum.The spatio-temporal distributions of electron density and electron temperature were calculated based on radiation hydrodynamic simulation in order to identify the contributions of various ionic states to the UTAs arising from the Er plasmas near 6.x nm.

北阿尔金早古生代同碰撞花岗质岩浆记录及其对增生造山过程的启示

本文对出露在北阿尔金的喀腊大湾似斑状花岗岩、沟口泉似斑状二长花岗岩、卓尔布拉克花岗岩和木孜萨依白云母花岗岩进行了详细的岩相学、岩石地球化学、锆石U-Pb年代学和Hf同位素研究。地球化学特征显示喀腊大湾似斑状花岗岩具有高硅和钠,低铁、镁和钙的特征,铝饱和指数(A/CNK)为1.03~1.04,属弱过铝质I-S过渡型花岗岩;沟口泉似斑状二长花岗岩和卓尔布拉克花岗岩具有相对高的钠含量和准铝质-弱过铝质特征,表现为I型花岗岩;木孜萨依白云母花岗岩具有高硅、富碱、富集Rb、Th和LREE,亏损Ba、Sr、Ti和Eu特征,铝饱和指数大于1.1,属过铝质S型花岗岩。锆石U-Pb定年结果显示4个岩体的年龄分别为432.4±4.9Ma、432.8±4.1Ma、439.6±3.5Ma和437.3±2.4Ma。结合区域地质资料和构造判别图解,揭示这4个岩体均形成于同碰撞构造背景下,表明北阿尔金洋最终关闭以及洋陆转换的时间节点应为445~440Ma。锆石Hf同位素结果显示沟口泉似斑状二长花岗岩和卓尔布拉克花岗岩岩浆起源于新生地壳物质的部分熔融;喀腊大湾似斑状花岗岩起源于变杂砂岩部分熔融,木孜萨依白云母花岗岩起源于变泥质岩石的低程度部分熔融;但喀腊大湾似斑状花岗岩和木孜萨依白云母花岗岩ε_(Hf)(t)值分别为+0.18~+5.88和-6.47~+4.52,反映二者的岩浆源区也均有新生地壳物质的加入。上述这些特征与北祁连早古生代同碰撞花岗岩体具有良好的可对比性,进一步支持二者曾作为统一的整体经历了洋盆裂解-扩张-俯冲-闭合造山等构造演化过程。

星际A型CH_3CH－H_2含超精细能级的碰撞跃迁速率系数的理论计算

本文作者利用ＩＯＳ近似模型，计算了星际分子云条件下Ａ型ＣＨ３ＣＮ－Ｈ２含超精细能级的碰撞跃迁速率系数。温度范围是２０Ｋ－１４０Ｋ。为研究分子云与恒星形成区的物理、化学性质提供了有用的基础分子数据。

东天山香山镁铁-超镁铁岩中富CH_4流体包裹体的特征及其意义

香山岩体是东天山镁铁-超镁铁杂岩带的一个典型岩体,相带发育。各相带都含有韭闪石质普通角闪石巨晶,后者环绕橄榄石和拉长石生长,构成包橄结构和包含结构,表明母岩浆富水,本研究的样品采自于香山岩体中岩体。拉长石和橄榄石中的流体包裹体孤立分布,或者成群分布,大小不等,无明显方向性,或者成串分布,平行于寄主矿物的颗粒边界和生长晶面流体包裹体主要为原生,一部分为次生或假次生,是在以角闪石结晶为标志的岩浆流体大量出溶期间捕获的,因而代表了岩浆源区的流体运用显微激光拉曼光谱仪,在100-4000cm-1全波段范围内对拉长石和橄榄石中的50多个流体包裹体的气泡进行了分析。结果表明,流体包裹体的气体成分分为4类:a)富CH4气体;b)富H2O气体;c)H2O+CH4混合气体;d)多组分(C2H6+N2+CH4,C2H6+CH4+N2+C4H6)混合气体。因而,香山岩体所携带的流体是一种富CH4等还原性挥发份和富H2O的流体。由于上地幔处于相对氧化状态,上地幔的挥发份以CO2为主。因而,香山岩体的母岩浆和流体应该来自于地幔过渡带或者软流圈,这同时也表明新疆北部晚古生代的地幔过渡带或者软流圈可能是未被氧化的、含C-H系列流体的圈层。俯冲板片的再循环,为地幔深处的H2O提供了来源。富CH4还原性C-H流体和富H2O流体,为地幔深处的熔融发挥了重要作用,进而产生了新疆北部造山后广泛分布的镁铁-超镁铁岩浆以及铜镍硫化物矿床。

星际型CH_3CN－H_2含超精细能级的碰撞跃迁速率系数的理论计算

利用ＩＯＳ近似模型，计算了星际分子云条件下Ｅ型ＣＨ３ＣＮ－Ｈ２含超精细能级的的碰撞跃迁速率系数。其温度范围是２０Ｋ－１４０Ｋ。为研究分子云与恒星形成区的物理、化学性质提供了大量有用的基础分子数据。

星际E型CH_3CN与H_2的碰撞跃迁速率系数的理论计算

继本文作者对星际Ａ型ＣＨ３ＣＮ与Ｈ２含超精细能级的碰撞过程的研究之后，又计算了星际分子云条件下Ｅ型ＣＨ３ＣＮ与Ｈ２的碰撞跃迁速率系数．为研究分子云与恒星形成区的物理、化学性质提供了有用的基础分子数据．

高激发氢原子同稀有气体原子在均匀弱电场中碰撞跃迁截面公式

本文考虑了外电场引起的高激发氢原子能级的Stark移动和波函数的畸变两个因素,将零场下高Rydberg原子同稀有气体原子的碰撞跃迁理论推广到有均匀弱电场存在的情况;同时推导出抛物量子数本征态间的形状因子和跃迁截面公式。

CO(A^1 Π～e^3Σ^- )混合激发态碰撞传能过程的量子干涉效应——跃迁振幅和相位角的时间特性

从含时微扰的一级波恩近似出发 ,进一步研究了CO(A～e)混合态在以He或HCl为碰撞伴时其跃迁振幅和相位角的时间特性 .计算显示跃迁振幅随时间显现衰减的振荡 .其振荡周期反比于初末态的能量差而衰减时间则决定于碰撞体系的分子间相互作用势能 .对于给定的碰撞参数和碰撞速度 ,CO分子从初始转动态J到末态J′的跃迁可经过许多不同的通道 ,包括CO的不同量子数M和碰撞伴的各种J和M .所以实验的跃迁振幅及其实部和虚部是所有不同通道的平均结果 .当He为碰撞伴时 ,所有的单重态和三重态通道的跃迁振幅矢量都处于复平面的第一象限 ,而当HCl为碰撞伴时 ,则单重态和三重态通道的跃迁振幅矢量分别处在第四和第一象限 ,这就解释了以He为碰撞伴时干涉相位角小于 90°而以HCl为碰撞伴时则大于 90°的实验事实 .

Phenomenological study of the anisotropic quark matter in the two-flavor Nambu–Jona–Lasinio model

With the two-flavor Nambu–Jona–Lasinio (NJL) model, we carried out a phenomenological study on the chiral phase structure, mesonic properties, and transport properties of momentum-space anisotropic quark matter. To calculate the transport coefficients we utilized the kinetic theory in the relaxation time approximation, where the momentum anisotropy is embedded in the estimation of both the distribution function and relaxation time. It was shown that an increase in the anisotropy parameterξmay result in a catalysis of chiral symmetry breaking. The critical endpoint(CEP) is shifted to lower temperatures and larger quark chemical potentials asξincreases, and the impact of momentum anisotropy on the CEP temperature is almost the same as that on the quark chemical potential of the CEP. The meson masses and the associated decay widths also exhibit a significant ξ dependence. It was observed that the temperature behavior of the scaled shear viscosity η/T~3 and scaled electrical conductivity σ/T exhibited a similar dip structure, with the minima of both η/T~3 and σ/T shifting toward higher temperatures with increasing ξ. Furthermore,we demonstrated that the Seebeck coefficient S decreases when the temperature rises and its sign is positive, indicating that the dominant carriers for converting the temperature gradient to the electric field are up-quarks. The Seebeck coefficient S is significantly enhanced with a largeξfor a temperature below the critical temperature.

Production of recoil ions He^i＋ accompanied by single electron loss of 0.2-7 MeV C^q＋ and 0.25-5 MeV O^q＋ （q = 1- 4） ions

Target ionization accompanied with projectile electron loss is investigated for 0.2-7 MeV C^q＋ （q = 1 - 4） with He and 0.25-5 MeV O^q＋ （q = 1 - 4） with He collisions. For projectile single-electron loss channel, the He double-to-single ionization ratio R is nearly independent of projectile charge state but dependent on the nuclear charge of projectile Zp. The results are analysed with atomic structure qualitatively. So far there have not existed the experimental data comparable with our results, to our knowledge. The ratio R is interpreted in terms of the two-step mechanism. This analysis agrees well with similar experiments in the literature.

Polarization of Radiation Emitted after Electron Impact Excitation

A programme is developed to calculate the polarizations of the radiation emitted after electron impact excitation. The fully relativistic distorted-wave method is used in cross-section calculations. The programme is applied to He- and Li-like ions. The calculated values of line polarization are compared with other theoretical results and experimental values. For He-like U, at lower incident energy, the present polarization agrees with the other theoretical ones within 1%, while at higher energy, the differences increase up to about 10%. For He-like Fe and Ti, the present results of polarization degree for most of the lines agree with the experimental data within the experimental error bars. For the Li-like Ti line q （ls2s2p^2p3/2 to ls^22s）, the present value of the polarization agree excellently with another theoretical one, and both the values are consistent with the measured data within the experimental error bar.