Multiple configuration shell-core structured robotic manipulator with interchangeable mechatronic joints : a thesis presented in partial fulfilment of the requirements for the degree of Masters of Engineering in Mechatronics at Massey University, Turitea Campus, Palmerston North, New Zealand

With the increase of robotic technology utilised throughout industry, the need for skilled labour in this area has increased also. As a result, education dealing with robotics has grown at both the high-school and tertiary educational level. Despite the range of pedagogical robots currently on the market, there seems to be a low variety of these systems specifically related to the types of robotic manipulator arms popular for industrial applications. Furthermore, a fixed-arm system is limited to only serve as an educational supplement for that specific configuration and therefore cannot demonstrate more than one of the numerous industrial-type robotic arms. The Shell-Core structured robotic manipulator concept has been proposed to improve the quality and variety of available pedagogical robotic arm systems on the market. This is achieved by the reconfigurable nature of the concept, which incorporates shell and core structural units to make the construction of at least 5 mainstream industrial arms possible. The platform will be suitable, but not limited to use within the educational robotics industry at high-school and higher educational levels and may appeal to hobbyists. Later dubbed SMILE (Smart Manipulator with Interchangeable Links and Effectors), the system utilises core units to provide either rotational or linear actuation in a single plane. A variety of shell units are then implemented as the body of the robotic arm, serving as appropriate offsets to achieve the required configuration. A prototype consisting of a limited number of ‘building blocks’ was developed for proof-of-concept, found capable of achieving several of the proposed configurations. The outcome of this research is encouraging, with a Massey patent search confirming the unique features of the proposed concept. The prototype system is an economic, easy to implement, plug and play, and multiple-configuration robotic manipulator, suitable for various applications

Magnetometry with nitrogen-vacancy defects in diamond

The isolated electronic spin system of the Nitrogen-Vacancy (NV) centre in diamond offers unique possibilities to be employed as a nanoscale sensor for detection and imaging of weak magnetic fields. Magnetic imaging with nanometric resolution and field detection capabilities in the nanotesla range are enabled by the atomic-size and exceptionally long spin-coherence times of this naturally occurring defect. The exciting perspectives that ensue from these characteristics have triggered vivid experimental activities in the emerging field of "NV magnetometry". It is the purpose of this article to review the recent progress in high-sensitivity nanoscale NV magnetometry, generate an overview of the most pertinent results of the last years and highlight perspectives for future developments. We will present the physical principles that allow for magnetic field detection with NV centres and discuss first applications of NV magnetometers that have been demonstrated in the context of nano magnetism, mesoscopic physics and the life sciences.Comment: Review article, 28 pages, 16 figure

The Equivalence of the Dekel-Fudenberg Iterative Procedure and Weakly Perfect Rationalizability

Two approaches have been proposed in the literature to refine the rationalizability solution concept: either assuming that players make small errors when playing their strategies, or assuming that there is a small amount of payoff uncertainty. We show that both approaches lead to the same refinement if errors are made according to the concept of weakly perfect rationalizability, and there is payoff uncertainty as in Dekel and Fudenberg [Journal of Economic Theory 52 (1990), 243-267]. For both cases, the strategies that survive are obtained by starting with one round of elimination of weakly dominated strategies followed by many rounds of elimination of strictly dominated strategies.Rationalizability, refinements

Magnetic-field-dependent photodynamics of single NV defects in diamond: Application to qualitative all-optical magnetic imaging

Magnetometry and magnetic imaging with nitrogen-vacancy (NV) defects in diamond rely on the optical detection of electron spin resonance (ESR). However, this technique is inherently limited to magnetic fields that are weak enough to avoid electron spin mixing. Here we focus on the high off-axis magnetic field regime for which spin mixing alters the NV defect spin dynamics. We first study in a quantitative manner the dependence of the NV defect optical properties on the magnetic field vector B. Magnetic-field-dependent time-resolved photoluminescence (PL) measurements are compared to a seven-level model of the NV defect that accounts for field-induced spin mixing. The model reproduces the decreases in (i) ESR contrast, (ii) PL intensity and (iii) excited level lifetime with an increasing off-axis magnetic field. We next demonstrate that those effects can be used to perform all-optical magnetic imaging in the high off-axis magnetic field regime. Using a scanning NV defect microscope, we map the stray field of a magnetic hard disk through both PL and fluorescence lifetime imaging. This all-optical method for high magnetic field imaging at the nanoscale might be of interest in the field of nanomagnetism, where samples producing fields in excess of several tens of milliteslas are typical

Coherent population trapping of a single nuclear spin under ambient conditions

Coherent control of quantum systems has far-reaching implications in quantum engineering. In this context, coherent population trapping (CPT) involving dark resonances has played a prominent role, leading to a wealth of major applications including laser cooling of atoms and molecules, optical magnetometry, light storage and highly precise atomic clocks. Extending CPT methods to individual solid-state quantum systems has been only achieved in cryogenic environments for electron spin impurities and superconducting circuits. Here, we demonstrate efficient CPT of a single nuclear spin in a room temperature solid. To this end, we make use of a three-level system with a $\Lambda$-configuration in the microwave domain, which consists of nuclear spin states addressed through their hyperfine coupling to the electron spin of a single nitrogen-vacancy defect in diamond. Dark state pumping requires a relaxation mechanism which, in atomic systems, is simply provided by spontaneous emission. In this work, the relaxation process is externally controlled through incoherent optical pumping and separated in time from consecutive coherent microwave excitations of the nuclear spin $\Lambda$-system. Such a pumping scheme with controlled relaxation allows us (i) to monitor the sequential accumulation of population into the dark state and (ii) to reach a new regime of CPT dynamics for which periodic arrays of dark resonances can be observed, owing to multiple constructive interferences. This work offers new prospects for quantum state preparation, information storage in hybrid quantum systems and metrology.Comment: 13 pages including supplementary information, links to figures correcte

Coherent population trapping of a single nuclear spin under ambient conditions

Coherent control of quantum systems has far-reaching implications in quantum engineering. In this context, coherent population trapping (CPT) involving dark resonances has played a prominent role, leading to a wealth of major applications including laser cooling of atoms and molecules, optical magnetometry, light storage and highly precise atomic clocks. Extending CPT methods to individual solid-state quantum systems has been only achieved in cryogenic environments for electron spin impurities and superconducting circuits. Here, we demonstrate efficient CPT of a single nuclear spin in a room temperature solid. To this end, we make use of a three-level system with a $\Lambda$-configuration in the microwave domain, which consists of nuclear spin states addressed through their hyperfine coupling to the electron spin of a single nitrogen-vacancy defect in diamond. Dark state pumping requires a relaxation mechanism which, in atomic systems, is simply provided by spontaneous emission. In this work, the relaxation process is externally controlled through incoherent optical pumping and separated in time from consecutive coherent microwave excitations of the nuclear spin $\Lambda$-system. Such a pumping scheme with controlled relaxation allows us (i) to monitor the sequential accumulation of population into the dark state and (ii) to reach a new regime of CPT dynamics for which periodic arrays of dark resonances can be observed, owing to multiple constructive interferences. This work offers new prospects for quantum state preparation, information storage in hybrid quantum systems and metrology.Comment: 13 pages including supplementary information, links to figures correcte

Measuring the magnetic moment density in patterned ultrathin ferromagnets with submicron resolution

We present a new approach to infer the surface density of magnetic moments $I_s$ in ultrathin ferromagnetic films with perpendicular anisotropy. It relies on quantitative stray field measurements with an atomic-size magnetometer based on the nitrogen-vacancy center in diamond. The method is applied to microstructures patterned in a 1-nm-thick film of CoFeB. We report measurements of $I_s$ with a few percent uncertainty and a spatial resolution in the range of $(100$ nm)$^2$, an improvement by several orders of magnitude over existing methods. As an example of application, we measure the modifications of $I_s$ induced by local irradiation with He$^+$ ions in an ultrathin ferromagnetic wire. This method offers a new route to study variations of magnetic properties at the nanoscale.Comment: 9 pages and 7 figures including main text and Supplemental Informatio