Loading of a surface-electrode ion trap from a remote, precooled source

We demonstrate loading of ions into a surface-electrode trap (SET) from a remote, laser-cooled source of neutral atoms. We first cool and load $\sim$ $10^6$ neutral $^{88}$Sr atoms into a magneto-optical trap from an oven that has no line of sight with the SET. The cold atoms are then pushed with a resonant laser into the trap region where they are subsequently photoionized and trapped in an SET operated at a cryogenic temperature of 4.6 K. We present studies of the loading process and show that our technique achieves ion loading into a shallow (15 meV depth) trap at rates as high as 125 ions/s while drastically reducing the amount of metal deposition on the trap surface as compared with direct loading from a hot vapor. Furthermore, we note that due to multiple stages of isotopic filtering in our loading process, this technique has the potential for enhanced isotopic selectivity over other loading methods. Rapid loading from a clean, isotopically pure, and precooled source may enable scalable quantum information processing with trapped ions in large, low-depth surface trap arrays that are not amenable to loading from a hot atomic beam

Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework

Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be satisfied with a set/range of values can be addressed in a rigorous manner within a priority framework. In addition, optimization tasks, driven by the gradient of a proper function, may be considered as well, usually as lower priority tasks. In this paper the proper design of the tasks, their priority and the use of a Set-Based Multi-Task Priority framework is proposed in order to handle several constraints simultaneously in real-time. It is shown that safety related tasks such as, e.g., joint limits or kinematic singularity, may be properly handled by consider them both at an higher priority as set-based task and at a lower within a proper optimization functional. Experimental results on a 7DOF Jaco$^2

On the manipulability of dual cooperative robots

The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed

Reduction of trapped ion anomalous heating by in situ surface plasma cleaning

Anomalous motional heating is a major obstacle to scalable quantum information processing with trapped ions. While the source of this heating is not yet understood, several previous studies suggest that surface contaminants may be largely responsible. We demonstrate an improvement by a factor of four in the room-temperature heating rate of a niobium surface electrode trap by in situ plasma cleaning of the trap surface. This surface treatment was performed with a simple homebuilt coil assembly and commercially-available matching network and is considerably gentler than other treatments, such as ion milling or laser cleaning, that have previously been shown to improve ion heating rates. We do not see an improvement in the heating rate when the trap is operated at cryogenic temperatures, pointing to a role of thermally-activated surface contaminants in motional heating whose activity may freeze out at low temperatures.Comment: 5 pages, 4 figure

Safety-related Tasks within the Set-Based Task-Priority Inverse Kinematics Framework

In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that allows the manipulator's motion while respecting constraints defined either in the joint or in the operational space in the form of equality-based or set-based tasks. This gives the possibility to define, among the others, tasks as joint-limits, obstacle avoidance or limiting the workspace in the operational space. Additionally, an algorithm for the real-time computation of the minimum distance between the manipulator and other objects in the environment using depth measurements has been implemented, effectively allowing obstacle avoidance tasks. Experiments with a Jaco$^2$ manipulator, operating in an environment where an RGB-D sensor is used for the obstacles detection, show the effectiveness of the developed system