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Christian Ott

Publications and source records attributed to Christian Ott.

At least 37 records · Page 2Linked to original sources

Observing the relative sign of excited-state dipole transitions by combining attosecond streaking and transient absorption spectroscopy

The electronic structure of atomic quantum systems and their dynamical interaction with light is reflected in transition dipole matrix elements coupling the system's energy eigenstates. In this work, we measure phase shifts of the time-dependent ultrafast absorption to determine the relative signs of. the transition-dipole matrix elements. The measurement relies on precise absolute calibration of the relative timing between the used light pulses, which is achieved by combining attosecond transient absorption and attosecond streaking spectroscopy to simultaneously measure the resonant photoabsorption spectra of laser-coupled doubly excited states in helium, together with the attosecond streaked photoelectron spectra. The streaking measurement reveals the absolute timing and the full temporal profile of the interacting electric fields which is then used to quantify the state-specific dynamics of the measured photoabsorption spectra. By comparing the 1-fs time-scale modulation across the absorption lines corresponding to the 2s2p (1P) and sp2,3+ (1P) doubly excited states between simulation and measurement, we quantify the signs of the transition dipole matrix elements for the laser-coupled autoionizing states 2s2p-2p2 and 2p2-sp2,3+ to be opposite of each other.

physics.atom-ph↗

Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform

In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double pendulum. A state estimator is designed in order to obtain the deflection angles of the platform, which uses only onboard IMU measurements. The state estimator is an extended Kalman filter (EKF) with intermittent measurements obtained at different frequencies. An optimal state feedback controller and a PD+ controller are designed in order to dampen the oscillations of the platform in the joint space and task space respectively. The proposed underactuated platform is found to be more energy-efficient than an omnidirectional platform and requires fewer actuators. The effectiveness of our proposed system is validated using both simulations and experimental studies.

cs.RO↗

Flexible experimental platform for dispersion-free temporal characterization of ultrashort pulses

The precise temporal characterization of laser pulses is crucial for ultrashort applications in biology, chemistry, and physics. Especially in femto- and attosecond science, diverse laser pulse sources in different spectral regimes from the visible to the short-wavelength infrared as well as pulse durations ranging from picoseconds to few femtoseconds are employed. In this article, we present a versatile temporal-characterization apparatus that can access these different temporal and spectral regions in a dispersion-free manner and without phase-matching constraints. The design combines transient-grating and surface third-harmonic-generation frequency-resolved optical gating in one device with optimized alignment capabilities based on a noncollinear geometry.

physics.optics↗

Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winchbased actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.

cs.RO↗

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.

cs.RO↗

Laser control of an excited-state vibrational wave packet in neutral H$_2$

We observe and control a molecular vibrational wave packet in an electronically excited state of the neutral hydrogen molecule. In an extreme-ultraviolet (XUV) transient-absorption experiment we launch a vibrational wave packet in the $D ^1Π_u 3pπ$ state of H$_2$ and observe its time evolution via the coherent dipole response. The reconstructed time-dependent dipole from experimentally measured XUV absorption spectra provides access to the revival of the vibrational wave packet, which we control via an intense near-infrared (NIR) pulse. Tuning the intensity of the NIR pulse we observe the revival of the wave packet to be significantly modified, which is supported by the results of a multi-level simulation. The NIR field is applied only 7 fs after the creation of the wave packet but influences its evolution up to at least its first revival at 270 fs. This experimental approach for nonlocal-in-time laser control of quantum dynamics is generally applicable to a large range of molecules and materials as it only requires the observation of absorption spectra.

physics.atom-ph↗

Resolving Vibrations in a Polyatomic Molecule with Femtometer Precision

We measure molecular vibrations with femtometer precision using time-resolved x-ray absorption spectroscopy. For a demonstration, a Raman process excites the A$_{1g}$ mode in gas-phase SF$_6$ molecules with an amplitude of $\approx50$ fm, which is probed by a time-delayed soft x-ray pulse at the sulfur $L_{2,3}$-edge. Mapping the extremely small measured energy shifts to internuclear distances requires an understanding of the electronic contributions provided by a many-body ab initio simulation. Our study establishes core-level spectroscopy as a precision tool for time-dependent molecular-structure metrology.

physics.chem-ph↗

Thermal origin of light emission in non-resonant and resonant tunnel junctions

Electron tunneling is associated with light emission. In order to elucidate its generating mechanism, we provide a novel experimental ansatz that employs fixed-distance epitaxial graphene as metallic electrodes. In contrast to previous experiments, this permits an unobscured light spread from the tunnel junction, enabling both a reliable calibration of the visible to infrared emission spectrum and a detailed analysis of the dependence of the parameters involved. In an open, non-resonant geometry, the emitted light is perfectly characterized by a Planck spectrum. In an electromagnetically resonant environment, resonant radiation is added to the thermal spectrum, both being strictly proportional in intensity. In full agreement with a simple heat conduction model, we provide evidence that in both cases the light emission stems from a hot electronic subsystem in interaction with its linear electromagnetic environment. These very clear results should resolve any ambiguity about the mechanism of light emission in nano contacts.

cond-mat.mes-hall↗

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provide full information on the system state. To overcome this difficulty, we design a controller motivated by a simplified SAM model. The proposed controller is very simple yet robust to model uncertainties. Moreover, we propose a gain tuning rule by formulating the proposed controller in the form of output feedback linear quadratic regulation problem. Consequently, it is possible to quickly dampen oscillations with minimal energy consumption. The proposed approach is validated through simulations and experiments.

cs.RO↗

Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator

Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of perception and cognition, bilateral teleoperation arises as a reasonable solution. However, since most telemanipulation tasks require visual feedback in addition to the haptic one, real-time (task-dependent) positioning of a video camera, which is usually attached to the flying base, becomes an additional objective to be fulfilled. Since the flying base is part of the kinematic structure of the robot, if proper care is not taken, moving the video camera could undesirably disturb the end-effector motion. For that reason, the necessity of controlling the base position in the null space of the manipulation task arises. In order to provide the operator with meaningful information about the limits of the allowed motions in the null space, this paper presents a novel haptic concept called Null-Space Wall. In addition, a framework to allow stable bilateral teleoperation of both tasks is presented. Numerical simulation data confirm that the proposed framework is able to keep the system passive while allowing the operator to perform time-delayed telemanipulation and command the base to a task-dependent optimal pose.

cs.RO↗

Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation

When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused by admittance type passivity controllers, namely position drift. Previous works focused on developing TDPA-based drift compensation methods to solve this issue. It was shown that, in addition to reducing drift, one of the proposed methods was able to keep the force signals within their normal range, guaranteeing the safety of the task. However, no multi-DoF treatment of those approaches has been addressed. In that scope, this paper focuses on providing an extension of previous TDPA-based approaches to multi-DoF Cartesian-space teleoperation. An analysis of the convergence properties of the presented method is also provided. In addition, its applicability to multi-DoF devices is shown through hardware experiments and numerical simulation with round-trip time delays up to 700 ms.

cs.RO↗

Nonlinear coherence effects in transient-absorption ion spectroscopy with stochastic extreme-ultraviolet free-electron laser pulses

We demonstrate time-resolved nonlinear extreme-ultraviolet absorption spectroscopy on multiply charged ions, here applied to the doubly charged neon ion, driven by a phase-locked sequence of two intense free-electron laser pulses. Absorption signatures of resonance lines due to 2$p$--3$d$ bound--bound transitions between the spin-orbit multiplets $^3$P$_{0,1,2}$ and $^3$D$_{1,2,3}$ of the transiently produced doubly charged Ne$^{2+}$ ion are revealed, with time-dependent spectral changes over a time-delay range of $(2.4\pm0.3)\,\text{fs}$. Furthermore, we observe 10-meV-scale spectral shifts of these resonances owing to the AC Stark effect. We use a time-dependent quantum model to explain the observations by an enhanced coupling of the ionic quantum states with the partially coherent free-electron-laser radiation when the phase-locked pump and probe pulses precisely overlap in time.

physics.atom-ph↗

Strong-field extreme-ultraviolet dressing of atomic double excitation

We report on the experimental observation of strong-field dressing of an autoionizing two-electron state in helium with intense extreme-ultraviolet laser pulses from a free-electron laser. The asymmetric Fano line shape of this transition is spectrally resolved, and we observe modifications of the resonance asymmetry structure for increasing free-electron-laser pulse energy on the order of few tens of $μ$J. A quantum-mechanical calculation of the time-dependent dipole response of this autoionizing state, driven by classical extreme-ultraviolet (XUV) electric fields, reveals a direct link between strong-field-induced energy and phase shifts of the doubly excited state and the Fano line-shape asymmetry. The experimental results obtained at the Free-Electron Laser in Hamburg (FLASH) thus correspond to transient energy shifts on the order of few meV, induced by strong XUV fields. These results open up a new way of performing non-perturbative XUV nonlinear optics for the light-matter interaction of resonant electronic transitions in atoms at short wavelengths.

physics.atom-ph↗

Model-free Friction Observers for Flexible Joint Robots with Torque Measurements

This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By doing so, asymptotic stability and passivity of the controller are maintained. Another advantage of the proposed observer is that it provides a clear understanding for the stiction compensation which is hard to be captured in model-free approaches. This allows to design observers that do not overcompensate for the stiction. The proposed scheme is validated through simulations and experiments.

cs.RO↗

A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions

This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental interaction in the control loop. The robot interacts with the human operator via F/T sensor and interacts with the environment mainly via end-effectors. Although the environmental interaction cannot be detected by any sensors (hence unknown), passivity allows us to have natural interaction. An analysis shows that the behavior of the actual system mimics that of a nominal model as the control gain goes to infinity, which implies that the proposed approach is an admittance controller. However, because the control gain cannot grow infinitely in practice, the performance limitation according to the achievable control gain is also analyzed. The result of this analysis indicates that the performance in the sense of infinite norm increases linearly with the control gain. In the experiments, the proposed properties were verified using 1 degree-of-freedom testbench, and an actual powered upper-limb exoskeleton was used to lift and maneuver the unknown payload.

cs.RO↗

A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements

In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic capture of such a non-cooperative Target, due to lack of navigational aids, only a relative pose estimate may be obtained from slow-sampled and noisy exteroceptive sensors. The velocity, however, cannot be measured directly. To address this problem, we develop a model-based observer which acts as an internal model for Target kinematics/dynamics and therefore, may act as a predictor during periods of no measurement. To this end, firstly, we formalize the estimation problem on the SE(3) Lie group with different state and measurement spaces. Secondly, we develop the kinematics and dynamics observer such that the overall observer error dynamics possesses a stability property. Finally, the proposed observer is validated through robust Monte-Carlo simulations and experiments on a robotic facility.

cs.RO↗

Development of SAM: cable-Suspended Aerial Manipulator

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.

cs.RO↗

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses

This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were installed on top of the platform. In this paper, asymptotic stability of the platform (which implies oscillation damping) is achieved by designing reference acceleration of the moving masses properly. A main feature of this work is that we can achieve asymptotic stability of not only the platform, but also the moving masses, which may be challenging due to the under-actuation nature. The proposed scheme is validated by the simulation studies.

cs.RO↗