Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary

The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor stream in the form of a histogram of deformable model features. These histogram features serve as high-level representations of the state of the deformable material. Next, we collect manipulation data and use a visual feedback dictionary that maps the velocity in the high-dimensional feature space to the velocity of the robotic end-effectors for manipulation. We have evaluated our approach on a set of complex manipulation tasks and human-robot manipulation tasks on different cloth pieces with varying material characteristics.Comment: The video is available at goo.gl/mDSC4

Macroscopic quantum coherence in antiferromagnetic molecular magnets

The macroscopic quantum coherence in a biaxial antiferromagnetic molecular magnet in the presence of magnetic field acting parallel to its hard anisotropy axis is studied within the two-sublattice model. On the basis of instanton technique in the spin-coherent-state path-integral representation, both the rigorous Wentzel-Kramers-Brillouin exponent and preexponential factor for the ground-state tunnel splitting are obtained. We find that the quantum fluctuations around the classical paths can not only induce a new quantum phase previously reported by Chiolero and Loss (Phys. Rev. Lett. 80, 169 (1998)), but also have great influnence on the intensity of the ground-state tunnel splitting. Those features clearly have no analogue in the ferromagnetic molecular magnets. We suggest that they may be the universal behaviors in all antiferromagnetic molecular magnets. The analytical results are complemented by exact diagonalization calculation.Comment: 6 pages, 1 figur

Effects of arbitrarily directed field on spin phase oscillations in biaxial molecular magnets

Quantum phase interference and spin-parity effects are studied in biaxial molecular magnets in a magnetic field at an arbitrarily directed angle. The calculations of the ground-state tunnel splitting are performed on the basis of the instanton technique in the spin-coherent-state path-integral representation, and complemented by exactly numerical diagonalization. Both the Wentzel-Kramers-Brillouin exponent and the preexponential factor are obtained for the entire region of the direction of the field. Our results show that the tunnel splitting oscillates with the field for the small field angle, while for the large field angle the oscillation is completely suppressed. This distinct angular dependence, together with the dependence of the tunnel splitting on the field strengh, provide an independent test for spin-parity effects in biaxial molecular magnets. The analytical results for the molecular Fe$_{8}$ magnet, are found to be in good areement with the numerical simulations, which suggests that even the molecular magnet with total spin S=10 is large enough to be treated as a giant spin system.Comment: 19 pages, 5 figure