An information-theoretic on-line update principle for perception-action coupling

Inspired by findings of sensorimotor coupling in humans and animals, there has recently been a growing interest in the interaction between action and perception in robotic systems [Bogh et al., 2016]. Here we consider perception and action as two serial information channels with limited information-processing capacity. We follow [Genewein et al., 2015] and formulate a constrained optimization problem that maximizes utility under limited information-processing capacity in the two channels. As a solution we obtain an optimal perceptual channel and an optimal action channel that are coupled such that perceptual information is optimized with respect to downstream processing in the action module. The main novelty of this study is that we propose an online optimization procedure to find bounded-optimal perception and action channels in parameterized serial perception-action systems. In particular, we implement the perceptual channel as a multi-layer neural network and the action channel as a multinomial distribution. We illustrate our method in a NAO robot simulator with a simplified cup lifting task.Comment: 8 pages, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS

Pulsed force sequences for fast phase-insensitive quantum gates in trapped ions

We show how to create quantum gates of arbitrary speed between trapped ions, using a laser walking wave, with complete insensitivity to drift of the optical phase, and requiring cooling only to the Lamb-Dicke regime. We present pulse sequences that satisfy the requirements and are easy to produce in the laboratory.Comment: 11 pages, 3 figure

Quantum walk on a line for a trapped ion

We show that a multi-step quantum walk can be realized for a single trapped ion with interpolation between quantum and random walk achieved by randomizing the generalized Hadamard coin flip phase. The signature of the quantum walk is manifested not only in the ion's position but also its phonon number, which makes an ion trap implementation of the quantum walk feasible.Comment: 5 pages, 3 figure

Efficient Fiber Optic Detection of Trapped Ion Fluorescence

Integration of fiber optics may play a critical role in the development of quantum information processors based on trapped ions and atoms by enabling scalable collection and delivery of light and coupling trapped ions to optical microcavities. We trap 24Mg+ ions in a surface-electrode Paul trap that includes an integrated optical fiber for detecting 280-nm fluorescence photons. The collection numerical aperture is 0.37 and total collection efficiency is 2.1 %. The ion can be positioned between 80 \mum and 100 \mum from the tip of the fiber by use of an adjustable rf-pseudopotential.Comment: 4 pages, 3 figures

Dissipative production of a maximally entangled steady state

Entangled states are a key resource in fundamental quantum physics, quantum cryp-tography, and quantum computation [1].To date, controlled unitary interactions applied to a quantum system, so-called "quantum gates", have been the most widely used method to deterministically create entanglement [2]. These processes require high-fidelity state preparation as well as minimizing the decoherence that inevitably arises from coupling between the system and the environment and imperfect control of the system parameters. Here, on the contrary, we combine unitary processes with engineered dissipation to deterministically produce and stabilize an approximate Bell state of two trapped-ion qubits independent of their initial state. While previous works along this line involved the application of sequences of multiple time-dependent gates [3] or generated entanglement of atomic ensembles dissipatively but relied on a measurement record for steady-state entanglement [4], we implement the process in a continuous time-independent fashion, analogous to optical pumping of atomic states. By continuously driving the system towards steady-state, the entanglement is stabilized even in the presence of experimental noise and decoherence. Our demonstration of an entangled steady state of two qubits represents a step towards dissipative state engineering, dissipative quantum computation, and dissipative phase transitions [5-7]. Following this approach, engineered coupling to the environment may be applied to a broad range of experimental systems to achieve desired quantum dynamics or steady states. Indeed, concurrently with this work, an entangled steady state of two superconducting qubits was demonstrated using dissipation [8].Comment: 25 pages, 5 figure

Coupled quantized mechanical oscillators

The harmonic oscillator is one of the simplest physical systems but also one of the most fundamental. It is ubiquitous in nature, often serving as an approximation for a more complicated system or as a building block in larger models. Realizations of harmonic oscillators in the quantum regime include electromagnetic fields in a cavity [1-3] and the mechanical modes of a trapped atom [4] or macroscopic solid [5]. Quantized interaction between two motional modes of an individual trapped ion has been achieved by coupling through optical fields [6], and entangled motion of two ions in separate locations has been accomplished indirectly through their internal states [7]. However, direct controllable coupling between quantized mechanical oscillators held in separate locations has not been realized previously. Here we implement such coupling through the mutual Coulomb interaction of two ions held in trapping potentials separated by 40 um (similar work is reported in a related paper [8]). By tuning the confining wells into resonance, energy is exchanged between the ions at the quantum level, establishing that direct coherent motional coupling is possible for separately trapped ions. The system demonstrates a building block for quantum information processing and quantum simulation. More broadly, this work is a natural precursor to experiments in hybrid quantum systems, such as coupling a trapped ion to a quantized macroscopic mechanical or electrical oscillator [9-13].Comment: 5 pages, 4 figure

Quantum state preparation and control of single molecular ions

Preparing molecules at rest and in a highly pure quantum state is a long standing dream in chemistry and physics, so far achieved only for a select set of molecules in dedicated experimental setups. Here, a quantum-limited combination of mass spectrometry and Raman spectroscopy is proposed that should be applicable to a wide range of molecular ions. Excitation of electrons in the molecule followed by uncontrolled decay and branching into several lower energy states is avoided. Instead, the molecule is always connected to rotational states within the electronic and vibrational ground-state manifold, while a co-trapped atomic ion provides efficient entropy removal and allows for extraction of information on the molecule. The outlined techniques might enable preparation, manipulation and measurement of a large multitude of molecular ion species with the same instrument, with applications including, but not limited to, precise determination of molecular properties and fundamental tests of physics.Comment: 12 pages, 2 figures, reformatted for resubmissio

Discrete Wigner functions and the phase space representation of quantum teleportation

We present a phase space description of the process of quantum teleportation for a system with an $N$ dimensional space of states. For this purpose we define a discrete Wigner function which is a minor variation of previously existing ones. This function is useful to represent composite quantum system in phase space and to analyze situations where entanglement between subsystems is relevant (dimensionality of the space of states of each subsystem is arbitrary). We also describe how a direct tomographic measurement of this Wigner function can be performed.Comment: 8 pages, 1 figure, to appear in Phys Rev

Experiments towards quantum information with trapped Calcium ions

Ground state cooling and coherent manipulation of ions in an rf-(Paul) trap is the prerequisite for quantum information experiments with trapped ions. With resolved sideband cooling on the optical S1/2 - D5/2 quadrupole transition we have cooled one and two 40Ca+ ions to the ground state of vibration with up to 99.9% probability. With a novel cooling scheme utilizing electromagnetically induced transparency on the S1/2 - P1/2 manifold we have achieved simultaneous ground state cooling of two motional sidebands 1.7 MHz apart. Starting from the motional ground state we have demonstrated coherent quantum state manipulation on the S1/2 - D5/2 quadrupole transition at 729 nm. Up to 30 Rabi oscillations within 1.4 ms have been observed in the motional ground state and in the n=1 Fock state. In the linear quadrupole rf-trap with 700 kHz trap frequency along the symmetry axis (2 MHz in radial direction) the minimum ion spacing is more than 5 micron for up to 4 ions. We are able to cool two ions to the ground state in the trap and individually address the ions with laser pulses through a special optical addressing channel.Comment: Proceedings of the ICAP 2000, Firenz