Fast visual tracking and localization in multi-agent systems

In this paper an implementation of an algorithm for fast visual tracking and localization of mobile agents has been described. Based on an extremely rapid method for visual detection of an object, described localization strategy provides a real time solution suitable for the design of multi-agent control schemes. The agents tracking and localization is carried out through five differently trained cascades of classifiers that process images captured by cameras mounted on agents. In this way, each agent is able to determine relative positions and orientations of all other agents performing tasks in its field of view. The described localization method is suitable for applications involving robot formations. Performance of the proposed method has been demonstrated on a laboratory setup composed of two mobile robot platforms

Quantum dynamics of the Neel vector in the antiferromagnetic molecular wheel CsFe8

The inelastic neutron scattering (INS) spectrum is studied for the antiferromagnetic molecular wheel CsFe8, in the temperature range 2 - 60 K, and for transfer energies up 3.6 meV. A qualitative analysis shows that the observed peaks correspond to the transitions between the L-band states, from the ground state up to the S = 5 multiplet. For a quantitative analysis, the wheel is described by a microscopic spin Hamiltonian (SH), which includes the nearest-neighbor Heisenberg exchange interactions and uniaxial easy-axis single-ion anisotropy, characterized by the constants J and D, respectively. For a best-fit determination of J and D, the L band is modeled by an effective SH, and the effective SH concept extended such as to facilitate an accurate calculation of INS scattering intensities, overcoming difficulties with the dimension of the Hilbert space. The low-energy magnetism in CsFe8 is excellently described by the generic SH used. The two lowest states are characterized by a tunneling of the Neel vector, as found previously, while the higher-lying states are well described as rotational modes of the Neel vector.Comment: 12 pages, 10 figures, REVTEX4, to appear in PR

Magnetic relaxation studies on a single-molecule magnet by time-resolved inelastic neutron scattering

Time-resolved inelastic neutron scattering measurements on an array of single-crystals of the single-molecule magnet Mn12ac are presented. The data facilitate a spectroscopic investigation of the slow relaxation of the magnetization in this compound in the time domain.Comment: 3 pages, 4 figures, REVTEX4, to appear in Appl. Phys. Lett., for an animation see also http://www.dcb.unibe.ch/groups/guedel/members/ow2/trins.ht

Quantum statistics of interacting dimer spin systems

The compound TlCuCl3 represents a model system of dimerized quantum spins with strong interdimer interactions. We investigate the triplet dispersion as a function of temperature by inelastic neutron scattering experiments on single crystals. By comparison with a number of theoretical approaches we demonstrate that the description of Troyer, Tsunetsugu, and Wurtz [Phys. Rev. B 50, 13 515 (1994)] provides an appropriate quantum statistical model for dimer spin systems at finite temperatures, where many-body correlations become particularly important

Pressure Dependence of the Magnetic Anisotropy in the "Single-Molecule Magnet" [Mn4O3Br(OAc)3(dbm)3]

The anisotropy splitting in the ground state of the single-molecule magnet [Mn4O3Br(OAc)3(dbm)3] is studied by inelastic neutron scattering as a function of hydrostatic pressure. This allows a tuning of the anisotropy and thus the energy barrier for slow magnetisation relaxation at low temperatures. The value of the negative axial anisotropy parameter $D_{\rm cluster}$ changes from -0.0627(1) meV at ambient to -0.0603(3) meV at 12 kbar pressure, and in the same pressure range the height of the energy barrier between up and down spins is reduced from 1.260(5) meV to 1.213(9) meV. Since the $\rm Mn-Br$ bond is significantly softer and thus more compressible than the $\rm Mn-O$ bonds, pressure induces a tilt of the single ion Mn$^{3+}$ anisotropy axes, resulting in the net reduction of the axial cluster anisotropy.Comment: 4 pages, 3 figure

Metamagnetism and soliton excitations in the modulated ferromagnetic Ising chain CoV2O6

We report a combination of physical property and neutron scattering measurements for polycrystalline samples of the one-dimensional spin chain compound CoV2O6. Heat capacity measurements show that an effective S = 1/2 state is found at low temperatures and that magnetic fluctuations persist up to 6.Tn. Above Tn = 6.3 K, measurements of the magnetic susceptibility as a function of T and H show that the nearest neighbour exchange is ferromagnetic. In the ordered state, we have discovered a crossover from a metamagnet with strong fluctuations between 5 K and Tn to a state with a 1/3 magnetisation plateau at 2 < T < 5 K. We use neutron powder diffraction measurements to show that the AFM state has incommensurate long range order and inelastic time of flight neutron scattering to examine the magnetic fluctuations as a function of temperature. Above Tn, we find two broad bands between 3.5 and 5 meV and thermally activated low energy features which correspond to transitions within these bands. These features show that the excitations are deconfined solitons rather than the static spin reversals predicted for a uniform FM Ising spin chain. Below Tn, we find a ladder of states due to the confining effect of the internal field. A region of weak confinement below Tn, but above 5 K, is identified which may correspond to a crossover between 2D and 3D magnetic ordering.Comment: Expanded version, includes results from arXiv:0804.2966 and neutron powder diffraction. To appear in PR

Observation of magnetic fragmentation in spin ice

Fractionalised excitations that emerge from a many body system have revealed rich physics and concepts, from composite fermions in two-dimensional electron systems, revealed through the fractional quantum Hall effect, to spinons in antiferromagnetic chains and, more recently, fractionalisation of Dirac electrons in graphene and magnetic monopoles in spin ice. Even more surprising is the fragmentation of the degrees of freedom themselves, leading to coexisting and a priori independent ground states. This puzzling phenomenon was recently put forward in the context of spin ice, in which the magnetic moment field can fragment, resulting in a dual ground state consisting of a fluctuating spin liquid, a so-called Coulomb phase, on top of a magnetic monopole crystal. Here we show, by means of neutron scattering measurements, that such fragmentation occurs in the spin ice candidate Nd$_2$Zr$_2$O$_7$. We observe the spectacular coexistence of an antiferromagnetic order induced by the monopole crystallisation and a fluctuating state with ferromagnetic correlations. Experimentally, this fragmentation manifests itself via the superposition of magnetic Bragg peaks, characteristic of the ordered phase, and a pinch point pattern, characteristic of the Coulomb phase. These results highlight the relevance of the fragmentation concept to describe the physics of systems that are simultaneously ordered and fluctuating.Comment: accepted in Nature Physic