Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.Comment: 10 pages, 6 figures, ISER 2018 conference submissio

4D STEM: high efficiency phase contrast imaging using a fast pixelated detector

Phase contrast imaging is widely used for imaging beam sensitive and weak phase objects in electron microscopy. In this work we demonstrate the achievement of high efficient phase contrast imaging in STEM using the pnCCD, a fast direct electron pixelated detector, which records the diffraction patterns at every probe position with a speed of 1000 to 4000 frames per second, forming a 4D STEM dataset simultaneously with the incoherent Z-contrast imaging. Ptychographic phase reconstruction has been applied and the obtained complex transmission function reveals the phase of the specimen. The results using GaN and Ti, Nd- doped BiFeO3 show that this imaging mode is especially powerful for imaging light elements in the presence of much heavier elements

Modeling and control of UAV bearing formations with bilateral high-level steering

In this paper we address the problem of controlling the motion of a group of unmanned aerial vehicles (UAVs) bound to keep a formation defined in terms of only relative angles (i.e. a bearing formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g. exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information.The controller still leaves the possibility of imposing group motions tangent to the current bearing formation. These can be either autonomously chosen by the robots because of any additional task (e.g. exploration), or exploited by an assisting human co-operator. For this latter 'human-in-the-loop' case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g. limited field-of-view, are also considered. © The Author(s) 2012

6D physical interaction with a fully actuated aerial robot

This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geometric control, and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector using an admittance control paradigm. An outer loop control governs the desired admittance behavior and an inner loop based on geometric control ensures pose tracking. The interaction forces are estimated by a momentum based observer. Control and observation are made possible by a precise control and measurement of the speed of each propeller. An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction

Physical realization of a quantum spin liquid based on a novel frustration mechanism

Unlike conventional magnets where the magnetic moments are partially or completely static in the ground state, in a quantum spin liquid they remain in collective motion down to the lowest temperatures. The importance of this state is that it is coherent and highly entangled without breaking local symmetries. Such phenomena is usually sought in simple lattices where antiferromagnetic interactions and/or anisotropies that favor specific alignments of the magnetic moments are "frustrated" by lattice geometries incompatible with such order e.g. triangular structures. Despite an extensive search among such compounds, experimental realizations remain very few. Here we describe the investigation of a novel, unexplored magnetic system consisting of strong ferromagnetic and weaker antiferromagnetic isotropic interactions as realized by the compound Ca$_{10}$Cr$_7$O$_{28}$. Despite its exotic structure we show both experimentally and theoretically that it displays all the features expected of a quantum spin liquid including coherent spin dynamics in the ground state and the complete absence of static magnetism.Comment: Modified version accepted in Nature Physic

Dealloying of Platinum-Aluminum Thin Films Part I. Dynamics of Pattern Formation

Applying focused ion beam (FIB) nanotomography and Rutherford backscattering spectroscopy (RBS) to dealloyed platinum-aluminum thin films an in-depth analysis of the dominating physical mechanisms of porosity formation during the dealloying process is performed. The dynamical porosity formation due to the dissolution of the less noble aluminum in the alloy is treated as result of a reaction-diffusion system. The RBS analysis yields that the porosity formation is mainly caused by a linearly propagating diffusion front, i.e. the liquid/solid interface, with a uniform speed of 42(3) nm/s when using a 4M aqueous NaOH solution at room temperature. The experimentally observed front evolution is captured by the normal diffusive Fisher-Kolmogorov-Petrovskii-Piskounov (FKPP) equation and can be interpreted as a branching random walk phenomenon. The etching front produces a gradual porosity with an enhanced porosity in the surface-near regions of the thin film due to prolonged exposure of the alloy to the alkaline solution.Comment: 4 pages, 5 figure

Mutual induction of magnetic 3d and 4f order in multiferroic hexagonal ErMnO3

The complex interplay between the 3d and 4f moments in hexagonal ErMnO3 is investigated by magnetization, optical second harmonic generation, and neutron-diffraction measurements. We revise the phase diagram and provide a microscopic model for the emergent spin structures with a special focus on the intermediary phase transitions. Our measurements reveal that the 3d exchange between Mn^{3+} ions dominates the magnetic symmetry at 10 K < T < T_N with Mn^3+ order according to the Gamma_4 representation triggering 4f ordering according to the same representation on the Er^{3+}(4b) site. Below 10 K the magnetic order is governed by 4f exchange interactions of Er^{3+} ions on the 2a site. The magnetic Er^{3+}(2a) order according to the representation Gamma_2 induces a magnetic reorientation (Gamma_4 --> Gamma_2) at the Er^{3+}(4b) and the Mn^{3+} sites. Our findings highlight the fundamentally different roles the Mn^{3+}, R^{3+}(2a), and R^{3+}(4b) magnetism play in establishing the magnetic phase diagram of the hexagonal RMnO3 system

Formula for the nnth kk-Generalized Fibonacci-like Number

In this paper we provided a formula for the $n$th term of the $k$-generalized Fibonacci-like sequence, a generalization of the well-known Fibonacci sequence, having $k$ arbitrary initial terms, where the succeeding terms are obtained by adding its previous $k$ terms. The formula for the $n$th term of the $k$-generalized Fibonacci-like sequence was obtained by observing patterns in the derived formula for the nth term of the Fibonacci-like, Tribonacci-like, and Tetrabonacci-like sequence. The formula for the $k$-generalized Fibonacci sequence was also derived and was used in the process of proving the main result of this paper

Computable de Finetti measures

We prove a computable version of de Finetti's theorem on exchangeable sequences of real random variables. As a consequence, exchangeable stochastic processes expressed in probabilistic functional programming languages can be automatically rewritten as procedures that do not modify non-local state. Along the way, we prove that a distribution on the unit interval is computable if and only if its moments are uniformly computable.Comment: 32 pages. Final journal version; expanded somewhat, with minor corrections. To appear in Annals of Pure and Applied Logic. Extended abstract appeared in Proceedings of CiE '09, LNCS 5635, pp. 218-23

Phonons in mesoporous silicon The influence of nanostructuring on the dispersion in the Debye regime

We present a comprehensive scattering study of nanostructured silicon. Neutron and x ray scattering experiments elucidate structural and dynamical properties of electrochemically etched, porous silicon membranes with pores roughly 8 nm across. In particular, inelastic cold neutron scattering techniques reveal the phonon dispersion of the nanostructured, single crystalline samples in the linear Debye regime for energy transfers up to 4 meV. A modified dispersion relation characterized by systematically reduced sound velocities manifests itself in altered elastic properties of porous silicon when compared to bulk silicon. Its relevance for nanostructured silicon as thermoelectric material of interest is discusse