Related papers: Efficient Optimization of a Permanent Magnet Array…
Reconfigurable arrays of trapped single atoms are an excellent platform for the simulation of many-body physics and the realisation of high-fidelity quantum gates. The confinement of atoms is often achieved with focussed laser beams acting…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
We present a scheme for creating tight and adiabatic time-averaged atom-traps through the piezoelectric actuation of nanomagnetic structures. We show that potentials formed by the circular translation of magnetic structures have several…
We trap atoms in versatile two-dimensional (2D) arrays of optical potentials, prepare flexible 2D spin configurations, perform site-selective coherent manipulation, and demonstrate the implementation of simultaneous measurements of…
We report the coherent manipulation of internal states of neutral atoms in a magnetic microchip trap. Coherence lifetimes exceeding 1 s are observed with atoms at distances of $5-130 \mu$m from the microchip surface. The coherence lifetime…
This article presents a new experiment aiming at BEC of metastable helium atoms. It describes the design of a high flux discharge source of atoms and a robust laser system using a DBR diode coupled with a high power Yb doped fiber amplifier…
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots to larger sizes. Electrothermal shape memory alloy (SMA)…
We report on the loading and trapping of ultracold atoms in a one dimensional permanent magnetic lattice of period 10 micron produced on an atom chip. The grooved structure which generates the magnetic lattice potential is fabricated on a…
Small-scale robots offer significant potential in minimally-invasive medical procedures. Due to the nature of soft biological tissues, however, robots are exposed to complex environments with various challenges in locomotion, which is…
This paper introduces a novel second-order splitting scheme for charged-particle dynamics in strong magnetic fields characterized by the maximal ordering. The proposed scheme is explicit and symmetric, which respectively ensure the…
Permanent magnet tracking using the external sensor array is crucial for the accurate localization of wireless capsule endoscope robots. Traditional tracking algorithms, based on the magnetic dipole model and Levenberg-Marquardt (LM)…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…
Finite element methods usually construct basis functions and quadrature rules for multidimensional domains via tensor products of one-dimensional counterparts. While straightforward, this approach results in integration spaces larger than…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Knowledge of the fundamental limitations on a magnetic trap for neutral particles is of paramount interest to designers as it allows for the rapid assessment of the feasibility of specific trap requirements or the quality of a given design.…
The Primal-Dual (PD) algorithm is widely used in convex optimization to determine saddle points. While the stability of the PD algorithm can be easily guaranteed, strict contraction is nontrivial to establish in most cases. This work…
We present a comparative investigation of two-dimensional tractor magnet configurations, analyzing both theoretical predictions and experimental results with a focus on the minimal tractor magnet. The minimal tractor magnet consists of a…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…