Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes

Posted by Caltech

Kavli Affiliate: Morteza Gharib | First 5 Authors: Shreyansh Pitroda, Eric Sihite, Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Adarsh Salagame | Summary: Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds […]


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Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

Posted by Caltech

Kavli Affiliate: Morteza Gharib | First 5 Authors: Kaushik Venkatesh Krishnamurthy, Eric Sihite, Chenghao Wang, Shreyansh Pitroda, Adarsh Salagame | Summary: Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum […]


Continue.. Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot

Posted by Caltech

Kavli Affiliate: Morteza Gharib | First 5 Authors: Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda, Eric Sihite, Alireza Ramezani | Summary: Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that […]


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Numerical Analysis of Lensless Imaging with Active Metasurfaces and Single-Pixel Detectors

Posted by dbos Caltech, This Week: Nanoscience

Kavli Affiliate: Harry A. Atwater | First 5 Authors: Julie Belleville, Prachi Thureja, Harry A. Atwater, , | Summary: We introduce a conceptual framework for a lensless imaging system which employs an active metasurface as a high-frequency, continuously tunable amplitude and phase modulation aperture, coupled to a discrete single-pixel detector. Using an array factor formalism, […]


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Modeling Extensive Defects in Metals through Active Machine Learning and Automated Configuration Reconstruction

Posted by dbos Caltech, This Week: Nanoscience

Kavli Affiliate: Wei Gao | First 5 Authors: Fei Shuang, Kai Liu, Yucheng Ji, Wei Gao, Luca Laurenti | Summary: Extended defects such as dislocation networks and complex grain boundaries are ubiquitous in metals, and accurately modeling these extensive defects is crucial for understanding their deformation mechanisms. Existing machine learning interatomic potentials (MLIPs) often fall […]


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Fast Unconditional Reset and Leakage Reduction of a Tunable Superconducting Qubit via an Engineered Dissipative Bath

Posted by dbos Caltech

Kavli Affiliate: Oskar Painter | First 5 Authors: Gihwan Kim, Andreas Butler, Vinicius S. Ferreira, Xueyue Zhang, Alex Hadley | Summary: Rapid and accurate initialization of qubits, reset, is a crucial building block for various tasks in quantum information processing, such as quantum error-correction and estimation of statistics of noisy quantum devices with many qubits. […]


Continue.. Fast Unconditional Reset and Leakage Reduction of a Tunable Superconducting Qubit via an Engineered Dissipative Bath

Fast Unconditional Reset and Leakage Reduction of a Tunable Superconducting Qubit via an Engineered Dissipative Bath

Posted by dbos Caltech

Kavli Affiliate: Oskar Painter | First 5 Authors: Gihwan Kim, Andreas Butler, Vinicius S. Ferreira, Xueyue Zhang, Alex Hadley | Summary: Rapid and accurate initialization of qubits, reset, is a crucial building block for various tasks in quantum information processing, such as quantum error-correction and estimation of statistics of noisy quantum devices with many qubits. […]


Continue.. Fast Unconditional Reset and Leakage Reduction of a Tunable Superconducting Qubit via an Engineered Dissipative Bath

High temperature diffusion enabled epitaxy of the Ti-O system

Posted by dbos Caltech

Kavli Affiliate: Joseph Falson | First 5 Authors: Jeong Rae Kim, Sandra Glotzer, Adrian Llanos, Salva Salmani-Rezaie, Joseph Falson | Summary: High temperatures promote kinetic processes which can drive crystal synthesis towards ideal thermodynamic conditions, thereby realizing samples of superior quality. While accessing very high temperatures in thin-film epitaxy is becoming increasingly accessible through laser-based […]


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Towards Nanoscale and Element-Specific Lattice Temperature Measurements using Core-Loss Electron Energy-Loss Spectroscopy

Posted by dbos Caltech

Kavli Affiliate: Scott K. Cushing | First 5 Authors: Levi D. Palmer, Wonseok Lee, Javier Fajardo, Jr., A. Alec Talin, Thomas E. Gage | Summary: Measuring nanoscale local temperatures, particularly in vertically integrated and multi-component systems, remains challenging. Spectroscopic techniques like X-ray absorption and core-loss electron energy-loss spectroscopy (EELS) are sensitive to lattice temperature, but […]


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Dynamic Competition Between Orbital and Exchange Interactions Selectively Localizes Electrons and Holes Through Polarons

Posted by dbos Caltech

Kavli Affiliate: Scott K. Cushing | First 5 Authors: Jocelyn L. Mendes, Hyun Jun Shin, Jae Yeon Seo, Nara Lee, Young Jai Choi | Summary: Controlling the effects of photoexcited polarons in transition metal oxides can enable the long timescale charge separation necessary for renewable energy applications as well as controlling new quantum phases through […]


Continue.. Dynamic Competition Between Orbital and Exchange Interactions Selectively Localizes Electrons and Holes Through Polarons