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Compared to a single-robot workstation, a multi-robot system offers several advantages: 1) it expands the system's workspace, 2) improves task efficiency, and, more importantly, 3) enables robots to achieve significantly more complex and…
We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a…
The intrinsic constraints in the amplitude of the accelerating fields sustainable by radio-frequency accelerators demand for the pursuit of alternative and more compact acceleration schemes. Among these, plasma-based accelerators are…
Achieving diffraction-limited focusing of high-power laser pulses to generate ultra-high intensities is crucial for developing compact laser-driven particle accelerators and exploring strong-field quantum electrodynamics. However,…
Laser wakefield acceleration modeling using the Lorentz-boosted frame technique in the particle-in-cell code has demonstrated orders of magnitude speedups. A convergence study was previously conducted in cases with external injection in the…
Plasma based acceleration is considered a promising concept for the next generation of linear electron-positron colliders. Despite the great progress achieved over last twenty years in laser technology, laser and beam driven particle…
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
We report on an experimental demonstration of efficient neutron generation based on direct laser acceleration in microwire-array targets irradiated by ultrashort (tens of femtoseconds) laser pulses. The optimal array period was identified,…
Laser-plasma accelerators can produce high quality electron beams, up to giga-electronvolts in energy, from a centimeter scale device. The properties of the electron beams and the accelerator stability are largely determined by the…
The experimental study of the plasma projectile acceleration in the laser-induced cavity pressure acceleration (LICPA) scheme is reported. In the experiment performed at the kilojoule PALS laser facility, the parameters of the projectile…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Laser powered dielectric structures achieve high-gradient particle acceleration by taking advantage of modern laser technology capable of producing electric fields in excess of 10GV/m. These fields can drive the bulk dielectric beyond its…
Background: Upright proton therapy with compact delivery systems has the potential to reduce costs for treatments but could also lead to broadening of the beam penumbra due to energy selection close to the patient. Purpose: This study aims…
We show the laser-driven acceleration of unprecedented, collimated ($ 2 \ \mathrm{mrad} $ divergence), and quasi-monoenergetic ($ 25 \ \% $ energy spread) electron beams with energy up to $ 50 \ \mathrm{MeV} $ at $ 1 \ \mathrm{kHz} $…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
A novel approach for positron injection and acceleration in laser driven plasma wakefield is proposed. A theoretical model is developed and confirmed through PIC simulation. One ring-shaped beam and one co-axially propagating Gaussian beam…
A laser ablation ion source (LAS) is a powerful tool by which diverse species of ions can be produced for mass spectrometer calibration, or surface study applications. It is necessary to frequently shift the laser position on the target to…
A short overview of laser-plasma acceleration of ions is presented. The focus is on some recent experimental results and related theoretical work on advanced regimes. These latter include in particular target normal sheath acceleration…
We discovered a simple regime where a near-critical plasma irradiated by a laser of experimentally available intensity can self-organize to produce positrons and accelerate them to ultra-relativistic energies. The laser pulse piles up…