Adaptive assistive robotics: a framework for triadic collaboration between humans and robots.

Robots and other assistive technologies have a huge potential to help society in domains ranging from factory work to healthcare. However, safe and effective control of robotic agents in these environments is complex, especially when it involves close interactions and multiple actors. We propose an effective framework for optimizing the behaviour of robots and complementary assistive technologies in systems comprising a mix of human and technological agents with numerous high-level goals. The framework uses a combination of detailed biomechanical modelling and weighted multi-objective optimization to allow for the fine tuning of robot behaviours depending on the specification of the task at hand. We illustrate our framework via two case studies across assisted living and rehabilitation scenarios, and conduct simulations and experiments of triadic collaboration in practice. Our results indicate a marked benefit to the triadic approach, showing the potential to improve outcome measures for human agents in robot-assisted tasks.

Enhanced stimulated Raman scattering during intense laser propagation.

Stimulated Raman scattering is ubiquitous in many high-intensity laser environments. Parametric four-wave mixing between the pump and Raman sidebands can affect the Raman gain, but stringent phase matching requirements and strongly nonlinear dynamics obscure clear understanding of its effects at high laser powers. Here we investigate four-wave mixing in the presence of strong self-focusing and weak ionization at laser powers above the Kerr critical power. Theoretical analysis shows that the plasma generated at focus naturally leads to phase matching conditions suitable for enhanced Raman gain, almost without regard to the initial phase mismatch. Multidimensional nonlinear optical simulations with multiphoton and collisional ionization confirm the enhancement and suggest that it may lead to significantly higher Raman losses in some high-intensity laser environments.

Effectively Quantifying the Performance of Lower-Limb Exoskeletons Over a Range of Walking Conditions.

Exoskeletons and other wearable robotic devices have a wide range of potential applications, including assisting patients with walking pathologies, acting as tools for rehabilitation, and enhancing the capabilities of healthy humans. However, applying these devices effectively in a real-world setting can be challenging, as the optimal design features and control commands for an exoskeleton are highly dependent on the current user, task and environment. Consequently, robust metrics and methods for quantifying exoskeleton performance are required. This work presents an analysis of walking data collected for healthy subjects walking with an active pelvis exoskeleton over three assistance scenarios and five walking contexts. Spatial and temporal, kinematic, kinetic and other novel dynamic gait metrics were compared to identify which metrics exhibit desirable invariance properties, and so are good candidates for use as a stability metric over varying walking conditions. Additionally, using a model-based approach, the average metabolic power consumption was calculated for a subset of muscles crossing the hip, knee and ankle joints, and used to analyse how the energy-reducing properties of an exoskeleton are affected by changes in walking context. The results demonstrated that medio-lateral centre of pressure displacement and medio-lateral margin of stability exhibit strong invariance to changes in walking conditions. This suggests that these dynamic gait metrics are optimised in human gait and are potentially suitable metrics for optimising in an exoskeleton control paradigm. The effectiveness of the exoskeleton at reducing human energy expenditure was observed to increase when walking on an incline, where muscles aiding in hip flexion were assisted, but decrease when walking at a slow speed. These results underline the need for adaptive control algorithms for exoskeletons if they are to be used in varied environments.

Tunneling Time and Weak Measurement in Strong Field Ionization.

Tunneling delays represent a hotly debated topic, with many conflicting definitions and little consensus on when and if such definitions accurately describe the physical observables. Here, we relate these different definitions to distinct experimental observables in strong field ionization, finding that two definitions, Larmor time and Bohmian time, are compatible with the attoclock observable and the resonance lifetime of a bound state, respectively. Both of these definitions are closely connected to the theory of weak measurement, with Larmor time being the weak measurement value of tunneling time and Bohmian trajectory corresponding to the average particle trajectory, which has been recently reconstructed using weak measurement in a two-slit experiment [S. Kocsis, B. Braverman, S. Ravets, M. J. Stevens, R. P. Mirin, L. K. Shalm, and A. M. Steinberg, Science 332, 1170 (2011)]. We demonstrate a big discrepancy in strong field ionization between the Bohmian and weak measurement values of tunneling time, and we suggest this arises because the tunneling time is calculated for a small probability postselected ensemble of electrons. Our results have important implications for the interpretation of experiments in attosecond science, suggesting that tunneling is unlikely to be an instantaneous process.

Tunable, high peak power terahertz radiation from optical rectification of a short modulated laser pulse.

A new way of generating high peak power terahertz radiation using ultra-short pulse lasers is demonstrated. The optical pulse from a titanium:sapphire laser system is stretched and modulated using a spatial filtering technique to produce a several picosecond long pulse modulated at the terahertz frequency. A collinear type II phase matched interaction is realized via angle tuning in a gallium selenide crystal. Peak powers of at least 1.5 kW are produced in a 5 mm thick crystal, and tunability is demonstrated between 0.7 and 2.0 THz. Simulations predict that 150 kW of peak power can be produced in a 5 mm thick crystal. The technique also allows for control of the terahertz bandwidth.

Direct characterization of self-guided femtosecond laser filaments in air.

High-power femtosecond laser pulses propagating in air form self-guided filaments that can persist for many meters. Characterizing these filaments has always been challenging owing to their high intensity. An apparently novel diagnostic is used to directly measure the fluence distribution of femtosecond laser pulses after they have formed self-guided optical filaments in air. The diagnostic is unique in that the information contained in the filaments is not lost owing to the interaction with the apparatus. This allows filament characteristics such as energy and size to be unambiguously determined for the first time.