arXiv subjects

Matteo Villa

Publications and source records attributed to Matteo Villa.

6 recordsLinked to original sources

arXiv2025

Load-Based Variable Transmission Mechanism for Robotic Applications

This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission systems that require additional actuators for active control, the proposed LBVT mechanism leverages a pre-tensioned spring and a four-bar linkage to passively modify the transmission ratio, thereby reducing the complexity of robot joint actuation systems. The effectiveness of the LBVT mechanism is evaluated through simulation-based analyses. The results confirm that the system achieves up to a 40 percent increase in transmission ratio upon reaching a predefined torque threshold, effectively amplifying joint torque when required without additional actuation. Furthermore, the simulations demonstrate a torque amplification effect triggered when the applied force exceeds 18 N, highlighting the system ability to autonomously respond to varying load conditions. This research contributes to the development of lightweight, efficient, and adaptive transmission systems for robotic applications, particularly in legged robots where dynamic torque adaptation is critical.

cs.RO↗

arXiv2025

Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes

Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the rover on loose and inclined surfaces, such as crater walls and cave slopes. This paper introduces a preliminary study that compares the Cost of Transport (CoT) of walking and torso-based sliding locomotion for quadruped robots across different slopes, friction conditions and speed levels. By identifying intersections between walking and sliding CoT curves, we aim to define threshold conditions that may trigger transitions between the two strategies. The methodology combines physics-based simulations in Isaac Sim with particle interaction validation in ANSYS-Rocky. Our results represent an initial step towards adaptive locomotion strategies for planetary legged rovers.

cs.RO↗

arXiv2019

An integrated optical device for frequency conversion across the full telecom C-band spectrum

High-density communication through optical fiber is made possible by Wavelength Division Multiplexing, which is the simultaneous transmission of many discrete signals at different optical frequencies. Vast quantities of data may be transmitted without interference using this scheme but flexible routing of these signals requires an electronic middle step, carrying a cost in latency. We present a technique for frequency conversion across the entire WDM spectrum with a single device, which removes this latency cost. Using an optical waveguide in lithium niobate and two infrared pump beams, we show how to maximize conversion efficiency between arbitrary frequencies by analyzing the role of dispersion in cascaded nonlinear processes. The technique is presented generally and may be applied to any suitable nonlinear material or platform, and to classical or quantum optical signals.

physics.optics↗

arXiv2018

Integrated photonic platform for quantum information with continuous variables

Integrated quantum photonics provides a scalable platform for the generation, manipulation, and detection of optical quantum states by confining light inside miniaturized waveguide circuits. Here we show the generation, manipulation, and interferometric stage of homodyne detection of non-classical light on a single device, a key step towards a fully integrated approach to quantum information with continuous variables. We use a dynamically reconfigurable lithium niobate waveguide network to generate and characterize squeezed vacuum and two-mode entangled states, key resources for several quantum communication and computing protocols. We measure a squeezing level of -1.38+-0.04 dB and demonstrate entanglement by verifying an inseparability criterion I=0.77+-0.02<1. Our platform can implement all the processes required for optical quantum technology and its high nonlinearity and fast reconfigurability makes it ideal for the realization of quantum computation with time encoded continuous variable cluster states.

quant-ph↗

arXiv2017

Direct characterization of a nonlinear photonic circuit's wave function with laser light

Integrated photonics is a leading platform for quantum technologies including nonclassical state generation \cite{Vergyris:2016-35975:SRP, Solntsev:2014-31007:PRX, Silverstone:2014-104:NPHOT, Solntsev:2016:RPH}, demonstration of quantum computational complexity \cite{Lamitral_NJP2016} and secure quantum communications \cite{Zhang:2014-130501:PRL}. As photonic circuits grow in complexity, full quantum tomography becomes impractical, and therefore an efficient method for their characterization \cite{Lobino:2008-563:SCI, Rahimi-Keshari:2011-13006:NJP} is essential. Here we propose and demonstrate a fast, reliable method for reconstructing the two-photon state produced by an arbitrary quadratically nonlinear optical circuit. By establishing a rigorous correspondence between the generated quantum state and classical sum-frequency generation measurements from laser light, we overcome the limitations of previous approaches for lossy multimode devices \cite{Liscidini:2013-193602:PRL, Helt:2015-1460:OL}. We applied this protocol to a multi-channel nonlinear waveguide network, and measured a 99.28$\pm$0.31\% fidelity between classical and quantum characterization. This technique enables fast and precise evaluation of nonlinear quantum photonic networks, a crucial step towards complex, large-scale, device production.

quant-ph↗

arXiv2015

Quantum Photonic Interconnect

Integrated photonics has enabled much progress towards quantum technologies. Many applications, including quantum communication, sensing, and distributed and cloud quantum computing, will require coherent photonic interconnection between separate chip-based sub-systems. Large-scale quantum computing systems and architectures may ultimately require quantum interconnects to enable scaling beyond the limits of a single wafer and towards "multi-chip" systems. However, coherently interconnecting separate chips is challenging due to the fragility of these quantum states and the demanding challenges of transmitting photons in at least two media within a single coherent system. Distribution and manipulation of qubit entanglement between multiple devices is one of the most stringent requirements of the interconnected system. Here, we report a quantum photonic interconnect demonstrating high-fidelity entanglement distribution and manipulation between two separate chips, implemented using state-of-the-art silicon photonics. Path-entangled states are generated and manipulated on-chip, and distributed between the chips by interconverting between path-encoding and polarisation-encoding. We use integrated state analysers to confirm a Bell-type violation of $S$=2.638+-0.039 between two chips. With improvements in loss, this quantum interconnect will provide new levels of flexible systems and architectures for quantum technologies.

quant-ph↗