Towards Python-based Domain-specific Languages for Self-reconfigurable Modular Robotics Research

This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable robotics and describe the development of a software system for ATRON II which utilizes Linux and Python to significantly improve software abstraction and portability while providing some basic features which could prove useful when using Python, either stand-alone or via a DSL, on a self-reconfigurable robot system. These features include transparent socket communication, module identification, easy software transfer and reliable module-to-module communication. The end result is a software platform for modular robots that where appropriate builds on existing work in operating systems, virtual machines, middleware and high-level languages.Comment: Presented at DSLRob 2011 (arXiv:1212.3308

Topological sound pumping of zero-dimensional bound states

Topological phases have spurred unprecedented abilities for sound, light and matter engineering and recent progress has shown how waves not only confine at the interfaces between topologically distinct insulators, but in the form of zero-dimensional non-propagating states bound to defects or corners. Majorana-like bound states have recently been observed in man-made Kekul\'e textured lattices. We show here how the acoustic version of the associated Jackiw-Rossi vortex embodies a Thouless pumping process, in which the spectral flow of corner states adiabatically merge with the said Majorana-like state. Moreover, we argue how the chirality of the Kekul\'e vortex additionally maps into a 2D quantum-Hall system comprising spatially separated sonic hotspots. We foresee that our findings should provide novel exotic tools to enable contemporary control over sound

Ultrasonic nodal chains in topological granular metamaterials

Three-dimensional (3D) Weyl and Dirac semimetals garner considerable attention in condensed matter physics due to the exploration of entirely new topological phases and related unconventional surface states. Nodal line and ring semimetals on the other hand can facilitate 3D band crossings characterized by nontrivial links such as coupled chains and knots that are protected by the underlying crystal symmetry. Experimental complexities, detrimental effects of the spin-orbit interaction, along with the merging of the underlying surface states into the bulk pose great challenges for growing advancements, but fortunately enable other systems, such as bosonic lattices, as ideal platforms to overcome these obstacles. Here we demonstrate a 3D mechanical metamaterial made of granular beads, which is predicted to provide multiple intersecting nodal rings in the ultrasonic regime. By unveiling these yet unseen classical topological phases, we discuss the resilience of the associated novel surface states that appear entirely unaffected to the type of crystal termination, making them a superb platform in ultrasonic devices for non-destructive testing and material characterization

Topological vortices for sound and light

Localized zero-energy fermionic states can bind to topological defects such as two-dimensional vortices, which can be realized in the bulk of artificial acoustic and optical lattices

Topological radiation engineering in hyperbolic sonic semimetals

Hyperbolic dispersion enables unprecedented abilities for wave-field engineering which so far chiefly has been realized by man-made metamaterials. Recent classical explorations of topological media and semimetals suggest that these exotic structures may enable a novel route toward hyperbolic sound control. Here, we demonstrate that a three-dimensional acoustic semimetal implementation exhibits nodal lines of hyperbolic shape that are topologically protected due to translational symmetry. The structure comprises a cubic arrangement of crossed hollow channels whose hopping strengths are determined by their cross sections, which facilitate analytically exact prediction of tunable spin-Hall textures. Interestingly, thanks to these nodal signatures of hyperbolic shape, we are able to acquire an array of unusual emission features, spanning from directional collimation to either horizontally or vertically split radiation. We foresee that our findings will provide remarkable opportunities for advanced wave control with hyperbolic and topological attributes.J.C. acknowledges support from the European Research Council (ERC) through the Starting Grant No. 714577 PHONOMETA and from the MINECO through a Ramón y Cajal grant (Grant No. RYC-2015-17156). L.Y.Z. acknowledges the support from the CONEX-Plus project (H2020-MSCA-COFUND-2017-UE, Grant No. 2018/00578/012)

The influence of expert groups: a citation analysis

acceptedVersio