Motion coordination and programmable teleoperation between two industrial robots

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions

Spin relaxation and decoherence of two-level systems

We revisit the concepts of spin relaxation and spin decoherence of two level (spin-1/2) systems. From two toy-models, we clarify two issues related to the spin relaxation and decoherence: 1) For an ensemble of two-level particles each subjected to a different environmental field, there exists an ensemble relaxation time $T_1^*$ which is fundamentally different from $T_1$. When the off-diagonal coupling of each particle is in a single mode with the same frequency but a random coupling strength, we show that $T_1^*$ is finite while the spin relaxation time of a single spin $T_1$ and the usual ensemble decoherence time $T_2^*$ are infinite. 2) For a two-level particle under only a random diagonal coupling, its relaxation time $T_1$ shall be infinite but its decoherence time $T_2$ is finite.Comment: 5 pages, 2 figure

Achieving control of in-plane elastic waves

We derive the elastic properties of a cylindrical cloak for in-plane coupled shear and pressure waves. The cloak is characterized by a rank 4 elasticity tensor with 16 spatially varying entries which are deduced from a geometric transform. Remarkably, the Navier equations retain their form under this transform, which is generally untrue [Milton et al., New J. Phys. 8, 248 (2006)]. We numerically check that clamped and freely vibrating obstacles located inside the neutral region are cloaked disrespectful of the frequency and the polarization of an incoming elastic wave.Comment: 9 pages, 4 figure

Dynamics of two atoms coupled to a cavity field

We investigate the interaction of two two-level atoms with a single mode cavity field. One of the atoms is exactly at resonance with the field, while the other is well far from resonance and hence is treated in the dispersive limit. We find that the presence of the non-resonant atom produces a shift in the Rabi frequency of the resonant atom, as if it was detuned from the field. We focus on the discussion of the evolution of the state purity of each atom.Comment: LaTex, 2 figure

^{115}In-NQR evidence for unconventional superconductivity in CeIn_3 under pressure

We report evidence for unconventional superconductivity in CeIn_3 at a pressure P = 2.65 GPa above critical pressure (P_c ~ 2.5 GPa) revealed by the measurements of nuclear-spin-lattice-relaxation time (T_1) and ac-susceptibility (ac-chi). Both the measurements of T_1 and ac-chi have pointed to a superconducting transition at T_c = 95 mK, which is much lower than an onset temperature T_{onset} = 0.15 K at zero resistance. The temperature dependence of 1/T_1 shows no coherence peak just below T_c, indicative of an unconventional nature for the superconductivity induced in CeIn_3.Comment: 4 pages, 4 figures, to be published in Phys.Rev.