Dynamics of an Unbounded Interface Between Ordered Phases

We investigate the evolution of a single unbounded interface between ordered phases in two-dimensional Ising ferromagnets that are endowed with single-spin-flip zero-temperature Glauber dynamics. We examine specifically the cases where the interface initially has either one or two corners. In both examples, the interface evolves to a limiting self-similar form. We apply the continuum time-dependent Ginzburg-Landau equation and a microscopic approach to calculate the interface shape. For the single corner system, we also discuss a correspondence between the interface and the Young tableau that represents the partition of the integers.Comment: 9 pages, 11 figures, 2-column revtex4 format. V2: references added and discussion section expanded slightly. Final version for PRE. V3: A few small additional editorial change

Dexterous Manipulation Graphs

We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the end-effector. We use a dual arm robot with parallel grippers to test our method on a real system and show successful planning and execution of in-hand manipulation

Port-Hamiltonian modeling for soft-finger manipulation

In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach

Majorana bound states in hybrid 2D Josephson junctions with ferromagnetic insulators

We consider a Josephson junction consisting of superconductor/ferromagnetic insulator (S/FI) bilayers as electrodes which proximizes a nearby 2D electron gas. By starting from a generic Josephson hybrid planar setup we present an exhaustive analysis of the the interplay between the superconducting and magnetic proximity effects and the conditions under which the structure undergoes transitions to a non-trivial topological phase. We address the 2D bound state problem using a general transfer matrix approach that reduces the problem to an effective 1D Hamiltonian. This allows for straightforward study of topological properties in different symmetry classes. As an example we consider a narrow channel coupled with multiple ferromagnetic superconducting fingers, and discuss how the Majorana bound states can be spatially controlled by tuning the superconducting phases. Following our approach we also show the energy spectrum, the free energy and finally the multiterminal Josephson current of the setup.Comment: 8 pages; 5 figure

On Integrability and Exact Solvability in Deterministic and Stochastic Laplacian Growth

We review applications of theory of classical and quantum integrable systems to the free-boundary problems of fluid mechanics as well as to corresponding problems of statistical mechanics. We also review important exact results obtained in the theory of multi-fractal spectra of the stochastic models related to the Laplacian growth: Schramm-Loewner and Levy-Loewner evolutions