Quantum repeaters with imperfect memories: cost and scalability

Memory dephasing and its impact on the rate of entanglement generation in quantum repeaters is addressed. For systems that rely on probabilistic schemes for entanglement distribution and connection, we estimate the maximum achievable rate per employed memory for our optimized partial nesting protocol. We show that, for any given distance $L$, the polynomial scaling of rate with distance can only be achieved if quantum memories with coherence times on the order of $L/c$ or longer, with $c$ being the speed of light in the channel, are available. The above rate degrades as a power of $\exp[-\sqrt{(L/c)/ \tau_c}]$ with distance when the coherence time $\tau_c \ll L/c$.Comment: Extended version with 5 figure

Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes the swing dynamics into account. Suggested adjustments are added to the Cartesian 3LP gaits and converted to joint-space trajectories through inverse kinematics. Fixed and adaptive foot lift strategies also ensure enough ground clearance in perturbed walking conditions. The proposed structure is robust, yet uses very simple state estimation and basic position tracking. We rely on the physical series elastic actuators to absorb impacts while introducing simple laws to compensate their tracking bias. Extensive experiments demonstrate the functionality of different control blocks and prove the effectiveness of time-projection in extreme push recovery scenarios. We also show self-produced and emergent walking gaits when the robot is subject to continuous dragging forces. These gaits feature dynamic walking robustness due to relatively soft springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our proposed architecture.Comment: 20 pages journal pape

Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots

Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded co-dimension one submanifold in the continuous state space of the robot, called the switching surface, and a reset map that provides a new initial condition when a solution of the continuous component intersects the switching surface. The aim of this paper is to identify a low-dimensional submanifold of the switching surface, which, when it can be rendered invariant by the closed-loop dynamics, leads to asymptotically stable periodic gaits. The paper begins this process by studying the well-known 3D Linear Inverted Pendulum (LIP) model, where analytical results are much easier to obtain. A key contribution here is the notion of \textit{self-synchronization}, which refers to the periods of the pendular motions in the sagittal and frontal planes tending to a common period. The notion of invariance resulting from the study of the 3D LIP model is then extended to a 9-DOF 3D biped. A numerical study is performed to illustrate that asymptotically stable walking may be obtained.Comment: Conferenc

Specific Heat of the Ca-Intercalated Graphite Superconductor CaC6_6

The superconducting state of Ca-intercalated graphite CaC6 has been investigated by specific heat measurements. The characteristic anomaly at the superconducting transition (Tc = 11.4 K) indicates clearly the bulk nature of the superconductivity. The temperature and magnetic field dependence of the electronic specific heat are consistent with a fully-gapped superconducting order parameter. The estimated electron-phonon coupling constant is lambda = 0.60 - 0.74 suggesting that the relatively high Tc of CaC6 can be explained within the weak-coupling BCS approach.Comment: 4 pages, 4 figs, submitted to Phys. Rev. Let

Superconductivity in Heavy Alkaline-Earths Intercalated Graphites

We report the discovery of superconductivity below 1.65(6) K in Sr-intercalated graphite SrC6, by susceptibility and specific heat (Cp) measurements. In comparison with CaC6, we found that the anisotropy of the upper critical fields for SrC6 is much reduced. The Cp anomaly at Tc is smaller than the BCS prediction indicating an anisotropic superconducting gap for SrC6 similar to CaC6. The significantly lower Tc of SrC6 as compared to CaC6 can be understood in terms of "negative" pressure effects, which decreases the electron-phonon coupling for both in-plane intercalant and the out-of-plane C phonon modes. We observed no superconductivity for BaC6 down to 0.3 K.Comment: 4 pages, 4 figures, submitted to Phys. Rev. Let

Confinement interaction in nonlinear generalizations of the Wick-Cutkosky model

We consider nonlinear-mediating-field generalizations of the Wick-Cutkosky model. Using an iterative approach and eliminating the mediating field by means of the covariant Green function we arrive at a Lagrangian density containing many-point time-nonlocal interaction terms. In low-order approximations of $\phi^3{+}\phi^4$ theory we obtain the usual two-current interaction as well as a three-current interaction of a confining type. The same result is obtained without approximation for a version of the dipole model. The transition to the Hamiltonian formalism and subsequent canonical quantization is performed with time non-locality taken into account approximately. A relativistic three-particle wave equation is derived variationally by using a three-particle Fock space trial state. The non-relativistic limit of this equation is obtained and its properties are analyzed and discussed.Comment: 15 pages, 1 figure, LaTe

On the finite-volume Lattice Boltzmann modeling of thermo-hydrodynamics

AbstractIn this paper, Thermal Finite-Volume Lattice Boltzmann Method is developed. To demonstrate the temperature field, the Double Distribution Function (DDF) of thermal lattice Boltzmann equation is used. The upwind biasing factors based on pressure and temperature are defined and applied as flux corrector in the thermo-hydrodynamic lattice Boltzmann equations. A consistent open and solid boundary treatment of flow is also addressed. The unknown energy distribution at the boundary cells are decomposed into its equilibrium and non-equilibrium parts. Then the non-equilibrium part is approximated with extrapolation of the non-equilibrium part of the populations at the neighboring nodes. This treatment enlarges the domain stability and led up to faster convergence. Two test cases namely, thermo-hydrodynamic in a backward-facing step and around a circular cylinder inserted within a backward-facing step are carried out. The results are compared with the available solutions in the technical literature