A mobile robot that includes a drive system, a controller in communication with the drive system, and a volumetric point cloud imaging device supported above the drive system at a height of greater than about one feet above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.

Mobile human interface robot

Short-depth algorithms are crucial for reducing computational error on near-term quantum computers, for which decoherence and gate infidelity remain important issues. Here we present a machine-learning approach for discovering such algorithms. We apply our method to a ubiquitous primitive: computing the overlap between two quantum states ρ and σ. The standard algorithm for this task, known as the Swap Test, is used in many applications such as quantum support vector machines, and, when specialized to ρ = σ, quantifies the Renyi entanglement. Here, we find algorithms that have shorter depths than the Swap Test, including one that has a constant depth (independent of problem size). Furthermore, we apply our approach to the hardware-specific connectivity and gate sets used by Rigetti's and IBM's quantum computers and demonstrate that the shorter algorithms that we derive significantly reduce the error—compared to the Swap Test—on these computers.

https://iopscience.iop.org/article/10.1088/1367-2630/aae94a/pdf

Learning the quantum algorithm for state overlap

The Internet of Robotic Things is an emerging vision that brings together pervasive sensors and objects with robotic and autonomous systems. This survey examines how the merger of robotic and Inter...

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The Internet of Robotic Things: A review of concept, added value and applications

Five figures of merit including number of gates, quantum cost, number of constant inputs, number of garbage outputs, and delay are used casually in the literature to compare the performance of different reversible or quantum logic circuits. In this paper we propose new definitions and enhancements, and identify similarities between these figures of merit. We evaluate these measures to show their strength and weakness. Instead of the number of gates, we introduce the weighted number of gates, where a weighting factor is assigned to each quantum or reversible gate, based on its type, size and technology. We compare the quantum cost with weighted number of gates of a circuit and show three major differences between these measures. It is proved that it is not possible to define a universal reversible logic gate without adding constant inputs. We prove that there is an optimum value for number of constant inputs to obtain a circuit with minimum quantum cost. Some reversible logic benchmarks have been synthesized using Toffoli and Fredkin gates to obtain their optimum values of number of constant inputs. We show that the garbage outputs can also be used to decrease the quantum cost of the circuit. A new definition of delay in quantum and reversible logic circuits is proposed for music line style representation. We also propose a procedure to calculate the delay of a circuit, based on the quantum cost and the depth of the circuit. The results of this research show that to achieve a fair comparison among designs, figures of merit should be considered more thoroughly.

On figures of merit in reversible and quantum logic designs

In recent years, reversible logic has emerged as a promising computing paradigm having application in low-power CMOS, quantum computing, nanotechnology and optical computing. Optical logic gates have the potential to work at macroscopic (light pulses carry information), or quantum (single photons carry information) levels with great efficiency. However, relatively little has been published on designing reversible logic circuits in all-optical domain. In this paper, we propose and design a novel scheme of Toffoli and Feynman gates in all-optical domain. We have described their principle of operations and used a theoretical model to assist this task, finally confirming through numerical simulations. Semiconductor optical amplifier (SOA)-based Mach–Zehnder interferometer (MZI) can play a significant role in this field of ultra-fast all-optical signal processing. The all-optical reversible circuits presented in this paper will be useful to perform different arithmetic (full adder, BCD adder) and logical (realization of Boolean function) operations in the domain of reversible logic-based information processing.

Mach–Zehnder interferometer-based all-optical reversible logic gate

The paper discusses the evolutionary computation approach to the problem of optimal synthesis of Quantum and Reversible Logic circuits. Our approach uses standard Genetic Algorithm (GA) and its relative power as compared to previous approaches comes from the encoding and the formulation of the cost and fitness functions for quantum circuits synthesis. We analyze new operators and their role in synthesis and optimization processes. Cost and fitness functions for Reversible Circuit synthesis are introduced as well as local optimizing transformations. It is also shown that our approach can be used alternatively for synthesis of either reversible or quantum circuits without a major change in the algorithm. Results are illustrated on synthesized Margolus, Toffoli, Fredkin and other gates and Entanglement Circuits. This is for the first time that several variants of these gates have been automatically synthesized from quantum primitives.

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Evolutionary Approach to Quantum andReversible Circuits Synthesis

In order to handle complex navigational commands, this paper proposes a novel algorithm that can modify a walking period and a step length in both sagittal and lateral planes. By allowing a variation of zero moment point (ZMP) over the convex hull of foot polygon, it is possible to change the center of mass (CM) position and velocity independently throughout the single support phase. This permits a range of dynamic walking motion, which is not achievable using the 3-D linear inverted pendulum mode (3D-LIPM). In addition, the proposed algorithm enables to determine the dynamic feasibility of desired motion via the construction of feasible region, which is explicitly computed from the current CM state with simple ZMP functions. Moreover, adopting the closed-form functions makes it possible to calculate the algorithm in real time. The effectiveness of the proposed algorithm is demonstrated through both computer simulation and experiment on the humanoid robot, HanSaRam-VII, developed at the Robot Intelligence Technology (RIT) laboratory, Korea Advanced Institute of Science and Technology (KAIST).

Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

/pdf/ubiquitous-robot-a-new-paradigm-for-integrated-services-2dmx806n1a.pdf

Ubiquitous Robot: A New Paradigm for Integrated Services

This paper proposes a control method to absorb the landing force or the ground reaction force for a stable dynamic walking of a humanoid robot. Humanoid robot may become unstable during walking due to the impulsive contact force of the sudden landing of its foot. Therefore, a control method to decrease the landing force is required. In this paper, time-domain passivity control approach is applied for this purpose. Ground and the foot of the robot are modeled as two one-port network systems that are connected, and exchange energy with each other. The time-domain passivity controller with admittance causality is implemented, which has the landing force as input and foot's position to trim off the force as output. The proposed landing force controller can enhance the stability of the walking robot from simple computation. The small-sized humanoid robot, HanSaRam-VII that has 27 DOFs, is developed to verify the proposed scheme through dynamic walking experiments.

Yong-Duk Kim

Papers

Evolutionary Approach to Quantum andReversible Circuits Synthesis

Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation

Ubiquitous Robot: A New Paradigm for Integrated Services

Landing Force Control for Humanoid Robot by Time-Domain Passivity Approach

Evolutionary approach to quantum and reversible circuits synthesis