Reentrant nu = 1 quantum Hall state in a two-dimensional hole system

We report the observation of a reentrant quantum Hall state at the Landau level filling factor nu = 1 in a two-dimensional hole system confined to a 35-nm-wide (001) GaAs quantum well. The reentrant behavior is characterized by a weakening and eventual collapse of the nu = 1 quantum Hall state in the presence of a parallel magnetic field component B||, followed by a strengthening and reemergence as B|| is further increased. The robustness of the nu = 1 quantum Hall state during the transition depends strongly on the charge distribution symmetry of the quantum well, while the magnitude of B|| needed to invoke the transition increases with the total density of the system

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In contrast to most previous methods, we do not pre-specify contact switches, timings, points or gait patterns, but they are a direct outcome of the optimization. Furthermore, we optimize over the entire dynamics of the robot, which enables the optimizer to fully leverage the capabilities of the robot. To illustrate the spectrum of achievable motions, here we show eight different tasks, which would require very different control structures when solved with state-of-the-art methods. Using our trajectory Optimization approach, we are solving each task with a simple, high level cost function and without any changes in the control structure. Furthermore, we fully integrated our approach with the robot's control and estimation framework such that optimization can be run online. By demonstrating a rough manipulation task with multiple dynamic contact switches, we exemplarily show how optimized trajectories and control inputs can be directly applied to hardware.Comment: Video: https://youtu.be/sILuqJBsyK

Quantum black holes from null expansion operators

Using a recently developed quantization of spherically symmetric gravity coupled to a scalar field, we give a construction of null expansion operators that allow a definition of general, fully dynamical quantum black holes. These operators capture the intuitive idea that classical black holes are defined by the presence of trapped surfaces, that is surfaces from which light cannot escape outward. They thus provide a mechanism for classifying quantum states of the system into those that describe quantum black holes and those that do not. We find that quantum horizons fluctuate, confirming long-held heuristic expectations. We also give explicit examples of quantum black hole states. The work sets a framework for addressing the puzzles of black hole physics in a fully quantized dynamical setting.Comment: 5 pages, version to appear in CQ

Spin relaxation in an InAs quantum dot in the presence of terahertz driving fields

The spin relaxation in a 1D InAs quantum dot with the Rashba spin-orbit coupling under driving THz magnetic fields is investigated by developing the kinetic equation with the help of the Floquet-Markov theory, which is generalized to the system with the spin-orbit coupling, to include both the strong driving field and the electron-phonon scattering. The spin relaxation time can be effectively prolonged or shortened by the terahertz magnetic field depending on the frequency and strength of the terahertz magnetic field. The effect can be understood as the sideband-modulated spin-phonon scattering. This offers an additional way to manipulate the spin relaxation time.Comment: 8 pages, 1 figure, to be published in PR