Magnetic skyrmion logic gates: conversion, duplication and merging of skyrmions

Magnetic skyrmions, which are topological particle-like excitations in ferromagnets, have attracted a lot of attention recently. Skyrmionics is an attempt to use magnetic skyrmions as information carriers in next generation spintronic devices. Proposals of manipulations and operations of skyrmions are highly desired. Here, we show that the conversion, duplication and merging of isolated skyrmions with different chirality and topology are possible all in one system. We also demonstrate the conversion of a skyrmion into another form of a skyrmion, i.e., a bimeron. We design spin logic gates such as the AND and OR gates based on manipulations of skyrmions. These results provide important guidelines for utilizing the topology of nanoscale spin textures as information carriers in novel magnetic sensors and spin logic devices.Comment: 17 pages, 6 figure

Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many state-of-the-art navigation approaches only operate locally instead of gaining a more conceptual understanding of the planning objective. This limits the complexity of tasks a robot can accomplish and makes it harder to deal with uncertainties that are present in the context of real-time robotics applications. In this work, we present Topomap, a framework which simplifies the navigation task by providing a map to the robot which is tailored for path planning use. This novel approach transforms a sparse feature-based map from a visual Simultaneous Localization And Mapping (SLAM) system into a three-dimensional topological map. This is done in two steps. First, we extract occupancy information directly from the noisy sparse point cloud. Then, we create a set of convex free-space clusters, which are the vertices of the topological map. We show that this representation improves the efficiency of global planning, and we provide a complete derivation of our algorithm. Planning experiments on real world datasets demonstrate that we achieve similar performance as RRT* with significantly lower computation times and storage requirements. Finally, we test our algorithm on a mobile robotic platform to prove its advantages.Comment: 8 page

Homological Region Adjacency Tree for a 3D Binary Digital Image via HSF Model

Given a 3D binary digital image I, we define and compute an edge-weighted tree, called Homological Region Tree (or Hom-Tree, for short). It coincides, as unweighted graph, with the classical Region Adjacency Tree of black 6-connected components (CCs) and white 26- connected components of I. In addition, we define the weight of an edge (R, S) as the number of tunnels that the CCs R and S “share”. The Hom-Tree structure is still an isotopic invariant of I. Thus, it provides information about how the different homology groups interact between them, while preserving the duality of black and white CCs. An experimentation with a set of synthetic images showing different shapes and different complexity of connected component nesting is performed for numerically validating the method.Ministerio de Economía y Competitividad MTM2016-81030-