The effective $\ensuremath{\Lambda}N$ potentials are derived from one-boson-exchange hyperon-nucleon interaction such as Juelich potentials, Juelich94a (Jul94) and Juelich05 (Jul05), within the relativistic Brueckner-Hartree-Fock theory. The Jul94 effective $\ensuremath{\Lambda}N$ potential ${U}_{\ensuremath{\Lambda}}$ (${p}_{\ensuremath{\Lambda}}$) with ${p}_{\ensuremath{\Lambda}}=0$ is $\ensuremath{-}27.63$ MeV at the nuclear saturation density, which is in good agreement with the observed data, whereas for the Jul05 effective $\ensuremath{\Lambda}N$ potential, ${U}_{\ensuremath{\Lambda}}$ is $\ensuremath{-}47.85$ MeV, which is bound more than the observed data. We then compare the effective $\ensuremath{\Lambda}N$ potential energies obtained in nonrelativistic and relativistic frameworks. With the $\ensuremath{\Lambda}$ momentum ${p}_{\ensuremath{\Lambda}}$ increasing, the relativistic effect becomes obvious and provides more repulsive contribution. We also derive the scalar and vector potentials of the $\ensuremath{\Lambda}$ hyperon from the effective $\ensuremath{\Lambda}N$ potential in the relativistic framework. With these potentials, the coupling constants between mesons and the $\ensuremath{\Lambda}$ hyperon are determined for each density in the framework of relativistic mean-field theory. Finally, we calculate the $\ensuremath{\Lambda}$ single-particle energies of hypernuclei with these density-dependent coupling constants in the relativistic mean-field theory. We find that the single $\ensuremath{\Lambda}$ binding energies of $\ensuremath{\Lambda}$ hypernuclei from $_{\ensuremath{\Lambda}}^{16}\mathrm{O}$ to $_{\ensuremath{\Lambda}}^{208}\mathrm{Pb}$ by using the Jul94 potential compare well with the experimental data.
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