$\alpha$ cluster structure in nuclei has been long understood based on the geometrical configuration picture. By using the spatially localized Brink $\alpha$ cluster model in the generator coordinate method, it is shown that the $\alpha$ cluster structure has the apparently opposing duality of crystallinity and condensation, a property of supersolids. To study the condensation aspects of the $\alpha$ cluster structure a field theoretical superfluid cluster model (SCM) is introduced, in which the order parameter of condensation is incorporated by treating rigorously the Nambu-Goldstone mode due to spontaneous symmetry breaking of the global phase. The $\alpha$ cluster structure of $^{40}$Ca, which has been understood in the crystallinity picture, is studied by the SCM with ten $\alpha$ clusters. It is found that the $\alpha$ cluster structure of $^{40}$Ca is reproduced by the SCM in addition to $^{12}$C reported in a previous paper, which gives support to the duality of the $\alpha$ cluster structure. The emergence of the mysterious $0^+$ state at the lowest excitation energy near the $\alpha$ threshold energy is understood to be a manifestation of the Nambu-Goldstone zero mode, a soft mode, due to the condensation aspect of the duality similar to the Hoyle state in $^{12}$C. The duality of $\alpha$ cluster structure with incompatible crystallinity and coherent wave nature due to condensation is the consequence of the Pauli principle, which causes clustering.
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