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Chris Ford

Publications and source records attributed to Chris Ford.

13 recordsLinked to original sources
arXiv2024

AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch

Human hands are capable of in-hand manipulation in the presence of different hand motions. For a robot hand, harnessing rich tactile information to achieve this level of dexterity still remains a significant challenge. In this paper, we present AnyRotate, a system for gravity-invariant multi-axis in-hand object rotation using dense featured sim-to-real touch. We tackle this problem by training a dense tactile policy in simulation and present a sim-to-real method for rich tactile sensing to achieve zero-shot policy transfer. Our formulation allows the training of a unified policy to rotate unseen objects about arbitrary rotation axes in any hand direction. In our experiments, we highlight the benefit of capturing detailed contact information when handling objects of varying properties. Interestingly, we found rich multi-fingered tactile sensing can detect unstable grasps and provide a reactive behavior that improves the robustness of the policy. The project website can be found at https://maxyang27896.github.io/anyrotate/.

cs.RO↗
arXiv2021

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic optical tactile sensor based on the human sense of touch. Our focus is how a sense of touch can be used to control an anthropomorphic hand with one degree of actuation, based on an integration that respects the hand's mechanical functionality. We consider: (i) closed-loop tactile control to establish a light contact on an unknown held object, based on the structural similarity with an undeformed tactile image; and (ii) controlling the estimated pose of an edge feature of a held object, using a convolutional neural network approach developed for controlling other sensors in the TacTip family. Overall, this gives a foundation to endow soft robotic hands with human-like touch, with implications for autonomous grasping, manipulation, human-robot interaction and prosthetics. Supplemental video: https://youtu.be/ndsxj659bkQ

cs.RO↗
arXiv2016

Series Solutions of PT-Symmetric Schrödinger Equations

We consider series solutions of the Schrödinger equation for the Bender-Boettcher potentials V(x)=-(ix)^N with integer N. A simple truncation is introduced which provides accurate results regarding the ground state and first few excited states for any N. This is illustrated with explicit computations of energy levels, node structure and expectation values for some integer N.

math-ph↗
arXiv2014

Density-dependent thermopower oscillations in mesoscopic two-dimensional electron gases

We present thermopower $S$ and resistance $R$ measurements on GaAs-based mesoscopic two-dimensional electron gases (2DEGs) as functions of the electron density $n_s$. At high $n_s$ we observe good agreement between the measured $S$ and $S_{\rm{MOTT}}$, the Mott prediction for a non-interacting metal. As $n_s$ is lowered, we observe a crossover from Mott-like behaviour to that where $S$ shows strong oscillations and even sign changes. Remarkably, there are absolutely no features in $R$ corresponding to those in $S$. In fact, $R$ is devoid of even any universal conductance fluctuations. A statistical analysis of the thermopower oscillations from two devices of dissimilar dimensions suggest a universal nature of the oscillations. We critically examine whether they can be mesoscopic fluctuations of the kind described by Lesovik and Khmelnitskii in Sov. Phys. JETP. \textbf{67}, 957 (1988).

cond-mat.mes-hall↗
arXiv2013

Fermion Zero Modes for Abelian BPS Monopoles

Fermion zero modes for abelian BPS monopoles are considered. In the spherically symmetric case the normalisable zero modes are determined for arbitrary monopole charge N. If N>1 the zero modes are zero along $N-1$ half-lines emanating from the monopole.

hep-th↗
arXiv2009

Electric-Magnetic Duality in Massless QED?

The possibility that QED and recently developed non-Hermitian, or magnetic, versions of QED are equivalent is considered. Under this duality the Hamiltonians and anomalous axial currents of the two theories are identified. A consequence of such a duality is that particles described by QED carry magnetic as well as electric charges. The proposal requires a vanishing zero bare fermion mass in both theories; Dirac mass terms are incompatible with the conservation of magnetic charge much as Majorana masses spoil the conservation of electric charge. The physical spectrum comprises photons and massless spin-1/2 particles carrying equal or opposite electric and magnetic charges. The four particle states described by the Dirac fermion correspond to the four possible charge assignments of elementary dyons. This scale invariant spectrum indicates that the quantum field theory is finite. The Johnson Baker Willey eigenvalue equation for the fine structure constant in finite spinor QED is interpreted as a Dirac-like charge quantisation condition for dyons.

hep-th↗
arXiv2008

Magnetic QED

A non-Hermitian form of QED is presented which describes interacting Dirac monopoles. The theory is related by a canonical transformation to a model proposed by Milton. As in Hermitian QED an abelian gauge potential is coupled to a four-component fermion. Under proper Lorentz transformations and time-reversal the fermion field transforms like a Dirac spinor but has a non-standard parity transformation. This implements the property that magnetic charge, unlike electric charge, is parity-odd. A consequence of the non-Hermiticity is that there is an attractive force between identical charged particles, at least in the weakly coupled regime. This effect can be understood even at the classical level; a simple calculation of the force between classical Dirac monopoles is presented which shows that like charge monopoles attract and opposite charges repel.

hep-th↗
arXiv2005

A Causal Algebra for Liouville Exponentials

A causal Poisson bracket algebra for Liouville exponentials on a cylinder is derived using an exchange algebra for free fields describing the in and out asymptotics. The causal algebra involves an even number of space-time points with a minimum of four. A quantum realisation of the algebra is obtained which preserves causality and the local form of non-equal time brackets.

hep-th↗
arXiv2005

Zero-bias anomaly and Kondo-assisted quasi-ballistic 2D transport

Nonequilibrium transport measurements in mesoscopic quasi-ballistic 2D electron systems show an enhancement in the differential conductance around the Fermi energy. At very low temperatures, such a zero-bias anomaly splits, leading to a suppression of linear transport at low energies. We also observed a scaling of the nonequilibrium characteristics at low energies which resembles electron scattering by two-state systems, addressed in the framework of two-channel Kondo model. Detailed sample-to-sample reproducibility indicates an intrinsic phenomenon in unconfined 2D systems in the low electron-density regime.

cond-mat.mes-hall↗
arXiv2005

Doubly Periodic Instanton Zero Modes

Fermionic zero modes associated with doubly periodic SU(2) instantons of unit charge are considered. In cases where the action density exhibits two `instanton cores' the zero mode peaks on one of four line-segments joining the two constituents. Which of the four possibilities is realised depends on the fermionic boundary conditions; doubly periodic, doubly anti-periodic or mixed.

hep-th↗
arXiv2004

Doubly Periodic Instantons and their Constituents

Using the Nahm transform we investigate doubly periodic charge one SU(2) instantons with radial symmetry. Two special points where the Nahm zero modes have softer singularities are identified as the locations of instanton core constituents. For a square torus this constituent picture is closely reflected in the action density. In rectangular tori with large aspect ratios the cores merge to form monopole-like objects. For particular values of the parameters the torus can be cut in half yielding two copies of a twisted charge 1/2 instanton. These findings are illustrated with plots of the action density within a two-dimensional slice containing the constituents.

hep-th↗
arXiv2002

Constituents of Doubly Periodic Instantons

Using the Nahm transform we investigate doubly periodic charge one SU(2) instantons with radial symmetry. Two special points where the Nahm zero modes have softer singularities are identified as constituent locations. To support this picture, the action density is computed analytically and numerically within a two dimensional slice containing the two constituents. For particular values of the parameters the torus can be cut in half yielding two copies of a twisted charge 1/2 instanton. Such objects comprise a single constituent.

hep-th↗