Anisotropic Dirac fermions in a Bi square net of SrMnBi2

We report the observation of highly anisotropic Dirac fermions in a Bi square net of SrMnBi(2), based on a first-principles calculation, angle-resolved photoemission spectroscopy, and quantum oscillations for high-quality single crystals. We found that the Dirac dispersion is generally induced in the (SrBi)(+) layer containing a double-sized Bi square net. In contrast to the commonly observed isotropic Dirac cone, the Dirac cone in SrMnBi(2) is highly anisotropic with a large momentum-dependent disparity of Fermi velocities of ~8. These findings demonstrate that a Bi square net, a common building block of various layered pnictides, provides a new platform that hosts highly anisotropic Dirac fermions.     

Experimental and computational studies of the phenyl radical reaction with propyne.

The kinetics for the gas-phase reaction of phenyl radical with propyne has been measured by cavity ring-down spectrometry (CRDS), and the mechanism and initial product branching have been elucidated with the help of quantum chemical calculations. Absolute rate constants measured by the CRDS technique can be expressed by the following Arrhenius equation: (k/cm(3) mol(-1) s(-1)): k(propyne)(T=301-428 K)=(3.68+/-0.92) x 10(11)exp[-(1685+/-80)/T]. The experiment is unable to distinguish between the possible reactive channels, but theory indicates that phenyl radicals preferably add to the unsaturated terminal carbon atom in propyne under our experimental conditions. Theoretical kinetic calculations, employing high-level G2M(RCC, RMP2) and G3 energetic and IRCMax(RCCSD(T)//B3LYP-DFT) molecular parameters, reproduce the total experimental rate constants within a factor of three. Calculated total and branching rate constants are provided for high-T kinetic modeling. Addition reactions of phenyl to C3H4 are estimated to be less important molecular-growth pathways in high-T conditions (T>1000 K) in comparison to the C6H5 + C2H2 reaction.     

A dynamic gait stabilization algorithm for quadrupedal locomotion through contact time modulation

In this paper, we propose a stabilization method for dynamic gaits of quadrupedal walking robots covering a wide range of speeds and various types of gait. Our stabilization method is based on adjusting the contact time between the four legs and ground. By modulating the contact time, the impact applied to the body can be controlled and stabilized. The stability provided by the proposed algorithm was proved in the sense of Lyapunov. The proposed algorithm also demonstrated robust performance under large external disturbances, and the performance was compared with other algorithms through simulations. Simulation results of bounding gaits under different ground conditions were compared, and the various types of stable gait implemented by the proposed algorithm are also presented.