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When constructing the bridge crane control law, a two-pendulum model with a hook suspension, on which the transported load is suspended, and a load suspension is considered. This model more accurately describes the dynamics of cargo movement, which is especially critical in a number of crane operating modes, including cases when the mass-inertial parameters of the cargo are close to the hook. A mathematical model of the two-pendulum mechanical system of the crane suspension along one axis of its movement is described, taking into account the effect of friction forces when moving the crane trolley and wind disturbance acting on the transported cargo. Also, there is presented linearized model of hook movement with control action in the form of preset speed of crane trolley movement. The latter corresponds to the use of a servo motor or stepper motor to control the trolley. On the basis of the obtained linearized model, an adaptive control law is constructed using a scheme including an algorithm for current parametric identification, an implicit reference model, "simplified" adaptability conditions with direct tracking of hook movement (through it — cargo movement) by the properties of the assigned reference model. This control law allows you to build crane control under the current parametric uncertainty of the properties of the crane, the transported cargo and external disturbances (only approximate information about some parameters is assumed). It is shown that in the case when the natural frequency of the assigned reference model is less than that for the hook suspension, the proposed control law generates asymptotic movement of the hook (load) to the assigned point and damping of angular oscillations of the hook suspension and load suspension. For more efficient damping of angular oscillations in case of large values of load moment of inertia, it is proposed to supplement preset value of hook movement with damping movements based on angular movement of load suspension. Model examples supporting theoretical conclusions are given. It is shown that the proposed solution makes it possible to build a bridge crane control under the action of measurement noise and control signal delays.

The paper proposes a method of automated control of an overhead crane aimed at direct tracking of horizontal movement of the load at a set height to the designated position under the conditions of continuous a priori uncertainty of the load parameters and external disturbances. The latter include wind effects, friction changes in the crane trolley movement, etc. The approach replaces two conventional problems: tracking of the crane trolley movement to a set position and damping of angular oscillations of the load. In addition, the proposed control method is based on an adaptive control approach with an identifier and an implicit reference model using "simplified" adaptation conditions. The latter are reduced to the requirement of convergence of the identification residual at applying an algorithm for continuous identification and the selection in a certain range of constant evaluation of the control coefficient. The said evaluation is chosen sufficiently large in its absolute value to provide the largest margin of stability of the closed control system in amplitude with the required quality of control. In order to implement continuous parametric identification, it is proposed to apply recursive least squares method with a forgetting factor. The reference model is chosen in the form of an oscillatory link with an eigenfrequency not exceeding that of a controlled object with a fixed base and falling within an experimentally set range. For closer definition of the reference eigenfrequency, an evaluation of the load suspension length with an accuracy of at least 30 % is required. The simplest algorithm for obtaining such an estimate is proposed. It is based on the average velocity of the vertical movement of the load, which is generally approximately known. The paper proposes a simple algorithm for obtaining such an evaluation and provides the results of model studies of the efficiency of the proposed adaptive control system on the basis of the performance of the developed experimental overhead crane unit, taking into account the characteristics of standard data sensors and drives. The proposed method has demonstrated its high efficiency in a wide range of loads and disturbance conditions. It can serve as a basis for development of functional control systems for any type of cranes for moving suspended loads.

Measurements of γp→K+Λγp→K+Λ and γp→K+Σ0γp→K+Σ0 cross-sections have been obtained with the photon tagging facility and the Crystal Ball calorimeter at MAMI-C. The measurement uses a novel K+K+ meson identification technique in which the weak decay products are characterized using the energy and timing characteristics of the energy deposit in the calorimeter, a method that has the potential to be applied at many other facilities. The fine center-of-mass energy (W) resolution and statistical accuracy of the new data results in a significant impact on partial wave analyses aiming to better establish the excitation spectrum of the nucleon. The new analyses disfavor a strong role for quark–diquark dynamics in the nucleon.

The first measurement of the helicity dependence of the total inclusive 3He photo-absorption cross section and of the partial cross sections for several reaction channels was carried out at MAMI (Mainz) in the photon energy range between 150 and 500 MeV. The experiment used the large acceptance Crystal Ball spectrometer, complemented by charged particle and vertex detectors, a circularly polarised tagged photon beam and a longitudinally polarised high-pressure 3He gas target. The results obtained give information on the GDH integral on 3He and on the neutron and allow an investigation of the modifications of nucleon properties inside 3He.

Beam-helicity asymmetries have been measured at the MAMI accelerator in Mainz for the photoproduction of neutral pion pairs in the reactions γ → p → p π 0 π 0 and γ → d → ( n ) p π 0 π 0 , γ → d → ( p ) n π 0 π 0 off free protons and off quasi-free nucleons bound in the deuteron for incident photon energies up to 1.4 GeV. Circularly polarized photons were produced from bremsstrahlung of longitudinally polarized electrons and tagged with the Glasgow magnetic spectrometer. Decay photons from the π 0 mesons, recoil protons, and recoil neutrons were detected in the 4π covering electromagnetic calorimeter composed of the Crystal Ball and TAPS detectors. After kinematic reconstruction of the final state, excellent agreement was found between the results for free and quasi-free protons. This demonstrates that the free-nucleon behavior of such observables can be extracted from measurements with quasi-free nucleons, which is the only possibility for the neutron. Contrary to expectations, the measured asymmetries are very similar for reactions off protons and neutrons. The results are compared to the predictions from the Two-Pion MAID reaction model and (for the proton) also to the Bonn–Gatchina coupled channel analysis.

Differential and total cross sections for eta-meson production in the reaction π−p → ηn were measured within the experimental program eta-meson physics implemented in the pion channel of the synchrocyclotron of the Petersburg Nuclear Physics Institute (PNPI, Gatchina). These measurements were performed at incident-pion momenta (700, 710, 720, and 730 MeV/c) in the vicinity of the threshold for the process under study by using the neutral-meson spectrometer designed and created at the Meson Physics Laboratory of PNPI. It is shown that, in the immediate vicinity of the threshold (685 MeV/c), the process of eta-meson production proceeds predominantly via S11(1535)-resonance formation followed by the decay S11(1535) → ηn (the respective branching fraction is Br ≈ 60%), but that, as the momentum of incident pions increases, the role of the D wave becomes ever more important. A detailed analysis of this effect indicates that it is due to the increasing contribution of the D13(1520) resonance. Although the branching fraction of the decay of this resonance through the ηn channel is assumed to be very small (BR ≈ 0.24%), the effect is enhanced owing to the interference between the D wave and the dominant resonance S11(1535).

The Dalitz decay η→γe+e− has been measured using the combined Crystal Ball and TAPS photon detector setup at the electron accelerator MAMI-C. Compared to the most recent transition form-factor measurement in the e+e− channel, statistics have been improved by one order of magnitude. The e+e− invariant mass distribution shows a deviation from the QED prediction for a point-like particle, which can be described by a form-factor. Using the usual monopole transition form-factor parameterization, F(m2)=(1−m2/Λ2)−1, a value of Λ−2=(1.92±0.35(stat)±0.13(syst)) GeV−2 has been determined. This value is in good agreement with a recent measurement of the η Dalitz decay in the μ+μ− channel and with recent form-factor calculations. An improved value of the branching ratio BR(η→γe+e−)=(6.6±0.4(stat)±0.4(syst))⋅10−3 has been determined.

The circular photon asymmetry for π 0 η photoproduction on the proton was measured for the first time at the tagged photon facility of the MAMI C accelerator using the Crystal Ball/TAPS photon spectrometer. The experimental results are interpreted within a phenomenological isobar model that confirms the dominant role of the Δ ( 1700 ) D 33 resonance. The measured asymmetry allows us to identify small contributions from positive-parity resonances via interference terms with the dominant D 33 amplitude.

The differential cross-sections (DCS) of the η-production reaction π − p → ηn are measured at momenta of incident π − mesons (700, 710 and 720MeV/c) close to the threshold of this reaction. The experiment is carried out at the pion channel of the PNPI synchrocyclotron (with the momentum spread of the pion beam equal to 1.5%) using the Neutral Meson Spectrometer (NMS) designed and created at the Meson Physics Laboratory for detecting two photons from the decay η → 2γ. This spectrometer consisting of two electromagnetic total absorption calorimeter (24 CsI(Na) crystals in each calorimeter) allowed to obtain the DCS in the whole angular range from 0° to 180° in the c.m.s. It is shown that at 700MeV/c the DCS angular dependence is isotropic, indicating on the S-wave character of the η-production process while at higher momenta a significant contribution of the D-wave has led to the anisotropic angular dependence having a bowl-like shape.

An experimental study of omega photoproduction on the proton was conducted by using the Crystal Ball and TAPS multiphoton spectrometers together with the photon tagging facility at the Mainz Microtron MAMI. The gamma p -> omega p differential cross sections are measured from threshold to the incident-photon energy E-gamma = 1.40 GeV (W = 1.87 GeV for the center-of-mass energy) with 15-MeV binning in E-gamma and full production-angle coverage. The quality of the present data near threshold gives access to a variety of interesting physics aspects. As an example, an estimation of the omega N scattering length alpha(omega p) is provided.

A program of measurement of the polarization parameter P in elastic {pi}{sup +}p interaction in the resonance region of backward pion scattering is presented. This program is aimed at determining the bifurcation points of the trajectory of zeros of the pion-nucleon amplitude and, hence, at unambiguously reconstructing the amplitude of {pi}N scattering in the second resonance region. It is planned to perform a relevant experiment in a pion beam from the accelerator of the Institute of Experimental and Theoretical Physics (ITEP, Moscow)

The SPIN-P experimental setup was designed for measuring the P asymmetry during pion scattering into the backward hemisphere at a minimum differential cross section of elastic πpscattering. The physical grounds of the experiment and the results of its simulation by the Monte Carlo method are presented. The setup is composed of a polarized proton target in a superconducting solenoid with vertical polarization of free protons, wire track detectors, scintillation counters, electronics for data readout and processing, and an appropriate computer network. The experimental program has been under way since 2002 on the pion beam of the proton synchrotron at the Institute of Theoretical and Experimental Physics (Moscow).

The η → π 0 γγ rare decay was measured at the AGS with the Crystal Ball photon spectrometer and its relative branching ratio was extracted to be B 1 =(8.3±2.8±1.4)×10 −4 , based on the analysis of 3×10 7 detected η mesons. This leads to a lower partial width for this eta channel than past measurements and is in line with chiral perturbation theory calculations.

Precise new data for the reaction K−p→π0Λ are presented in the c.m. energy range 1565 to 1600 MeV. Our analysis of these data sheds new light on claims for the Σ(1580) 3 2 − resonance, which (if it exists with the specified quantum numbers) must be an exotic baryon because of its very low mass. Our results show no evidence for this state.

Differential cross sections for the reaction π−p → π0n were measured for nearly forward scattering angles. The experiment was performed at the pion channel of the synchrocyclotron installed at the Petersburg Nuclear Physics Institute (PNPI, Gatchina), the incident-pion momenta ranging between 417 and 710 MeV/c. The measurements, which involved recording both photons from the decay process π0 → 2γ, employed the neutral-pion spectrometer developed at the PNPI. A description of the experimental facility is given, and the results of the measurements are presented.

Experimental data on the spin-rotation parameters A and R in elasticπ+p interaction were obtained for the first time at a momentum of pπ = 1.62 GeV/c. These data are necessary for unambiguously reconstructing the amplitude of pion-nucleon scattering and, hence, for deducing a correct spectrum of nonstrange baryon resonances. In order to obtain results for the polarization parameters A and R with the minimum possible systematic error, the carbon polarimeter used was preliminarily calibrated in a dedicated experiment; that is, the analyzing power was measured in proton-carbon scattering for incidentproton energies in the range Tp=0.7–1.3 GeV. The experimental data reported in the present article were obtained by a collaboration of researchers from the Petersburg Nuclear Physics Institute and Institute of Theoretical and Experimental Physics (ITEP, Moscow) at the ITEP synchrotron.

Based on the physical control theory, comparison was carried out of two approaches to optimizing the dynamic controlled plant with the aim of achieving the desired performance of the closed loop formulated in engineering terms. The first approach is represented by the well-known method of analytical design of optimal controllers. The second approach makes use of an assembly of reference models pertaining to the given domain and of the conditional performance functional. It was shown to be more universal and efficient. Numerical examples were presented.

The spin rotation parameters A and R were measured for the elastic pion-proton scattering by the PNPI-ITEP collaboration in the D13 (1700), ΔS31(1900), ΔP33(1920) and ΔD33 (1940) resonances region. These resonances were absent in the set of partial wave analysis (PWA) of the Virginia Polytechnic Institute group (VPI), but was included in the tables of the Review of Particle Physics. The main goal of the experimental program was to resolve the current PWA’s disagreement in spin rotation parameters value predictions. Simultaneously with A and R the polarization parameter P was measured with the purpose to improve the experimental data base and estimate the experimental systematic errors. Our results for spin rotation parameters A and |R| are in agreement with PWA VPI predictions.

New experimental data on the spin-rotation parameters A and R measured for elastic π ± p scattering in the resonance region and on the asymmetry in pC scattering at primary momenta in the range 1.35–2.02 GeV/c, as well as in quasielastic proton scattering on nuclei in the same momentum range, are summarized. All these data were recently obtained by using the proton synchrotron installed at the Institute of Theoretical and Experimental Physics (ITEP, Moscow). The spectrum and features of seven isospin-3/2 baryon resonances that form a peak in the total cross section at a c.m. energy of 1.9 GeV are analyzed on the basis of new data on the parameters A and R, and the results of this analysis are presented. The experiments surveyed in this article were performed by a collaboration of researchers from ITEP and the Petersburg Nuclear Physics Institute (PNPI, Gatchina), the ITEP-PNPI collaboration.

The convergence properties of the mismatch in identification in a closed-loop control system are used to formulate additional simplified adaptability conditions for improving the well-known conditions for control systems with an identifier and reference model. These conditions admit considerable variations for the estimates of the control effectiveness matrix in the neighborhood of their exact values, thereby corroborating the possibility of using the adaptation scheme for a wide class of objects. An illustrative example is given.

A new measurement of the rare, doubly radiative decay eta->pi^0 gamma gamma was conducted with the Crystal Ball and TAPS multiphoton spectrometers together with the photon tagging facility at the Mainz Microtron MAMI. New data on the dependence of the partial decay width, Gamma(eta->pi^0 gamma gamma), on the two-photon invariant mass squared, m^2(gamma gamma), as well as a new, more precise value for the decay width, Gamma(eta->pi^0 gamma gamma) = (0.33+/-0.03_tot) eV, are based on analysis of 1.2 x 10^3 eta->pi^0 gamma gamma decays from a total of 6 x 10^7 eta mesons produced in the gamma p -> eta p reaction. The present results for dGamma(eta->pi^0 gamma gamma)/dm^2(gamma gamma) are in good agreement with previous measurements and recent theoretical calculations for this dependence.

The Dalitz decay eta -> e(+) e(-) gamma has been measured in the gamma p -> eta p reaction with the Crystal Ball and TAPS multiphoton spectrometers, together with the photon-tagging facility at the Mainz Microtron MAMI. The experimental statistic used in this work is one order of magnitude greater than in any previous measurement of eta -> e(+) e(-) gamma. The value obtained for the slope parameter Lambda(-2) of the eta transition form factor, Lambda(-2) = (1.95 +/- 0.15(stat) +/- 0.10(syst)) GeV-2, is in good agreement with recent measurements conducted in eta -> e(+) e(-) gamma and eta -> mu(+) mu(-) gamma decays, as well as with recent form-factor calculations. The uncertainty obtained in the value of Lambda(-2) is lower compared to results from previous measurements of the eta -> e(+) e(-) gamma decay. (Less)

Precise angular distributions have been measured for the first time for the photoproduction of π0 mesons off neutrons bound in the deuteron. The effects from nuclear Fermi motion have been eliminated by a complete kinematic reconstruction of the final state. The influence of final-state-interaction effects has been estimated by a comparison of the reaction cross section for quasifree protons bound in the deuteron to the results for free protons and then applied as a correction to the quasifree neutron data. The experiment was performed at the tagged photon facility of the Mainz Microtron MAMI with the Crystal Ball and TAPS detector setup for incident photon energies between 0.45 and 1.4 GeV. The results are compared to the predictions from reaction models and partial-wave analyses based on data from other isospin channels. The model predictions show large discrepancies among each other and the present data will provide much tighter constraints. This is demonstrated by the results of a new analysis in the framework of the Bonn-Gatchina coupled-channel analysis which included the present data.

We report the first large-acceptance measurement of polarization transfer from a polarized photon beam to a recoiling nucleon. The measurement pioneers a novel polarimetry technique, which can be applied to many other nuclear and hadron physics experiments. The commissioning reaction of $^{1}H(\mathrm{\ensuremath{\gamma}P\vec},\text{ }\mathrm{pP\vec}){\ensuremath{\pi}}^{0}$ in the range $0.4l{E}_{\ensuremath{\gamma}}l1.4\text{ }\text{ }\mathrm{GeV}$ validates the technique and provides essential new data to constrain the excitation spectrum of the nucleon.

The helicity dependences of the differential cross sections for the semi-inclusive γ 3He → π0 X and γ 3He → π± X reactions have been measured for the first time in the energy region 200 < E γ 450 MeV. The experiment was performed at the tagged photon beam facility of the MAMI accelerator in Mainz using a longitudinally polarised high-pressure 3He gas target. Hadronic products were measured with the large-acceptance Crystal Ball detector complemented with additional devices for charged-particle tracking and identification. Unpolarised differential cross sections and their helicity dependence are compared with theoretical calculations using the Fix-Arenhovel model. The effect of the intermediate excitation of the Δ(1232) resonance can be clearly seen from this comparison, especially for the polarised case, where nuclear effects are relatively small. The model provides a better theoretical description of the unpolarised charged pion photoproduction data than the neutral pion channel. It does significantly better in describing the helicity-dependent data in both channels. These comparisons provide new information on the mechanisms involved in pion photoproduction on 3He and suggest that a polarised 3He target can provide valuable information on the corresponding polarised quasi-free neutron reactions.

The spin rotation parameters A and R were measured for the elastic pion-proton scattering by the PNPI-ITEP collaboration in the D13(1700) resonance region. The main goal of the experimental program is to resolve the current partial-wave analyses (PWA) uncertainties. Simultaneously with A and R the polarization parameter P was measured with the purpose to improve the experimental database and estimate systematic errors. The constraint which demands a smooth energy dependence of all π-p transverse amplitude zeros in the complex plane together with the new experimental data on A parameter can lead to the conclusion that the Barrelet branch of “zero trajectories" is chosen improperly in PWA of the Carnegie-Mellon-Lawrence-Berkely-Laboratory groups at the range of the pion beam momentum near 1.0 GeV/c. The setup included a longitudinally polarized proton target with superconductive magnet, multiwire spark chambers and carbon polarimeter with thick filter. The experiment was performed at the ITEP proton synchrotron, Moscow.

Precise angular distributions have been measured for the first time for the photoproduction of π0 mesons off neutrons bound in the deuteron. The effects from nuclear Fermi motion have been eliminated by a complete kinematic reconstruction of the final state. The influence of final-state-interaction effects has been estimated by a comparison of the reaction cross section for quasifree protons bound in the deuteron to the results for free protons and then applied as a correction to the quasifree neutron data. The experiment was performed at the tagged photon facility of the Mainz Microtron MAMI with the Crystal Ball and TAPS detector setup for incident photon energies between 0.45 and 1.4 GeV. The results are compared to the predictions from reaction models and partial-wave analyses based on data from other isospin channels. The model predictions show large discrepancies among each other and the present data will provide much tighter constraints. This is demonstrated by the results of a new analysis in the framework of the Bonn-Gatchina coupled-channel analysis which included the present data.

The gamma p -> K-0 Sigma(+) reaction has been measured from threshold to E-gamma = 1.45 GeV (W-CM = 1.9 GeV) using the Crystal Ball and TAPS multiphoton spectrometers together with the photon tagging facility at the Mainz Microtron MAMI. In the present experiment, this reaction was searched for in the 3 pi(0)p final state, by assuming K-S(0) -> pi(0)pi(0) and Sigma(+) -> pi(0)p. The experimental results include total and differential cross sections as well as the polarization of the recoil hyperon. The new data significantly improve empirical knowledge about the gamma p -> K-0 Sigma(+) reaction in the measured energy range. The results are compared to previous measurements and model predictions. It is demonstrated that adding the present gamma p -> K-0 Sigma(+) results to existing data allowed a better description of this reaction with various models. (Less)

We report the first large-acceptance measurement of polarization transfer from a polarized photon beam to a recoiling nucleon. The measurement pioneers a novel polarimetry technique, which can be applied to many other nuclear and hadron physics experiments. The commissioning reaction of 1H(γ, p)π0 in the range 0.4Eγ1.4 GeV validates the technique and provides essential new data to constrain the excitation spectrum of the nucleon.

A precision measurement of the differential cross sections dσ/dΩ and the linearly polarized photon asymmetry Σ≡(dσ⊥-dσ∥)/(dσ⊥+dσ∥) for the γp→π0p reaction in the near-threshold region has been performed with a tagged photon beam and almost 4π detector at the Mainz Microtron. The Glasgow-Mainz photon tagging facility along with the Crystal Ball/TAPS multiphoton detector system and a cryogenic liquid hydrogen target were used. These data allowed for a precise determination of the energy dependence of the real parts of the S- and all three P-wave amplitudes for the first time and provide the most stringent test to date of the predictions of chiral perturbation theory and its energy region of agreement with experiment.

The ITEP-PNPI collaboration presents first results of the spin rotation parameter A+ measurements in the second resonance region. The experiment was performed on ITEP accelerator at positive pion beam momentum 1·43 GeV/c (√s= 1·90 GeV/c) for scattering angles 0cm = 127° and 133°. Main parts of the setup were a polarized proton target and a carbon-plate polarimeter. The results of measurements are in agreement with the predictions of the partial-wave analysis VPI and in contradiction with the predictions of PWA's KH and CMB.

The ITEP-PNPI collaboration presents the first results of the spin rotation parameter A+ measurements in the second resonance region. The experiment was performed at the ITEP accelerator at a positive pion beam momentum 1.43 GeV/c for scattering angles θcm = 127° and 133°. The setup was based on a polarized proton target and a carbon-plate polarimeter. The obtained data is compared with the predictions of the existing partial-wave analyses.

A phase shift analysis ofπN scattering has been carried out at 18 discrete energies in the region 160–600 MeV. Charge splitting of theP33 phase shift (∼-2 degree) is observed with a change of sign at ∼-350 MeV and vanishing at ∼-600 MeV. Marked deviations from an earlier analysis are found forS andP-amplitudes as a result of using new precision data and an untraditional method of the analysis.

The gamma p -> pi(0)pi(0) p reaction has been measured from threshold to 1.4 GeV using the Crystal Ball and TAPS photon spectrometers together with the photon tagging facility at the Mainz Microtron. The experimental results include total and differential cross sections as well as specific angular distributions, which were used to extract partial-wave amplitudes. In particular, the energy region below the D-13(1520) resonance was studied.

Coherent photoproduction of $\eta$-mesons off $^3$He, i.e. the reaction $\gamma ^3{He}\rightarrow \eta ^3{He}$, has been investigated in the near-threshold region. The experiment was performed at the Glasgow tagged photon facility of the Mainz MAMI accelerator with the combined Crystal Ball - TAPS detector. Angular distributions and the total cross section were measured using the $\eta\rightarrow \gamma\gamma$ and $\eta\rightarrow 3\pi^0\rightarrow 6\gamma$ decay channels. The observed extremely sharp rise of the cross section at threshold and the behavior of the angular distributions are evidence for a strong $\eta {^3{He}}$ final state interaction, pointing to the existence of a resonant state. The search for further evidence of this state in the excitation function of $\pi^0$-proton back-to-back emission in the $\gamma ^3{He}\rightarrow \pi^0 pX$ reaction revealed a very complicated structure of the background and could not support previous conclusions., Comment: accepted for publication in Phys. Lett. B

This paper presents the results of an experiment in which the spin rotation parameters R and Ain π − p elastic scattering have been measured at energies 450, 530, 560 and 600 MeV. The experiment was performed on a pion channel of the PNPI synchrocyclotron. The main parts of the setup were a polarized proton target with horizontal spin orientation and a carbon-plate polarimeter consisting of multigap optical spark chambers with television read-out. A comparison of the obtained results with partial-wave analyses is given.